Version 1.27 does not compile on CI (issue with mkdoc/pybind/stdc++13)

[j-rivero]

I've tried to bump the version in this repo to the latest 1.27 and found that GitHub action returned a problem that I think it is related to mkdoc when trying to compile the pybind headers:

2024-03-26T14:03:19.9089434Z �[32m[3,276 / 5,262]�[0m Action bindings/pydrake/documentation_pybind.h; 36s linux-sandbox ... (6 actions, 3 running)
2024-03-26T14:03:19.9090413Z �[32m[3,279 / 5,264]�[0m Action bindings/pydrake/documentation_pybind.h; 37s linux-sandbox ... (6 actions, 3 running)
2024-03-26T14:03:19.9093670Z �[31m�[1mERROR: �[0m/home/runner/work/ros-drake-vendor/ros-drake-vendor/ros_ws/build/drake/drake-prefix/src/drake/bindings/pydrake/BUILD.bazel:55:37: Action bindings/pydrake/documentation_pybind.h failed: (Exit 1): mkdoc failed: error executing Action command (from target //bindings/pydrake:generate_pybind_documentation_header) bazel-out/k8-opt-exec-ST-13d3ddad9198/bin/tools/workspace/pybind11/mkdoc -DDRAKE_COMMON_SYMBOLIC_EXPRESSION_DETAIL_HEADER -DFMT_LOCALE -DFMT_SHARED -DSPDLOG_SHARED_LIB -DSPDLOG_COMPILED_LIB ... (remaining 882 arguments skipped)
2024-03-26T14:03:19.9096367Z 
2024-03-26T14:03:19.9096853Z Use --sandbox_debug to see verbose messages from the sandbox and retain the sandbox build root for debugging
2024-03-26T14:03:19.9098266Z /../lib/gcc/x86_64-linux-gnu/13/../../../../include/c++/13/chrono:2320:48: error: call to consteval function 'std::chrono::hh_mm_ss::_S_fractional_width' is not a constant expression
2024-03-26T14:03:19.9099717Z /../lib/gcc/x86_64-linux-gnu/13/../../../../include/c++/13/chrono:2320:48: note: undefined function '_S_fractional_width' cannot be used in a constant expression
2024-03-26T14:03:19.9100766Z /../lib/gcc/x86_64-linux-gnu/13/../../../../include/c++/13/chrono:2275:2: note: declared here
2024-03-26T14:03:19.9101300Z Traceback (most recent call last):
2024-03-26T14:03:19.9102477Z   File "/tmp/bazel-working-directory/drake/bazel-out/k8-opt-exec-ST-13d3ddad9198/bin/tools/workspace/pybind11/mkdoc.runfiles/drake/tools/workspace/pybind11/mkdoc.py", line 816, in <module>
2024-03-26T14:03:19.9103522Z     main()
2024-03-26T14:03:19.9104572Z   File "/tmp/bazel-working-directory/drake/bazel-out/k8-opt-exec-ST-13d3ddad9198/bin/tools/workspace/pybind11/mkdoc.runfiles/drake/tools/workspace/pybind11/mkdoc.py", line 782, in main
2024-03-26T14:03:19.9105591Z     raise RuntimeError(
2024-03-26T14:03:19.9106137Z RuntimeError: Parsing headers using the clang library failed with 1 error(s) and 0 fatal error(s)
2024-03-26T14:03:19.9106735Z Target //:install failed to build
2024-03-26T14:03:19.9107232Z Use --verbose_failures to see the command lines of failed build steps.
2024-03-26T14:03:19.9107819Z �[32mINFO: �[0mElapsed time: 97.034s, Critical Path: 38.82s
2024-03-26T14:03:19.9108429Z �[32mINFO: �[0m3286 processes: 2534 internal, 747 linux-sandbox, 5 worker.
2024-03-26T14:03:19.9109000Z �[31m�[1mERROR: �[0mBuild did NOT complete successfully
2024-03-26T14:03:19.9109698Z �[0mgmake[5]: *** [CMakeFiles/drake_cxx_python.dir/build.make:70: CMakeFiles/drake_cxx_python] Error 1
2024-03-26T14:03:19.9110449Z gmake[4]: *** [CMakeFiles/Makefile2:83: CMakeFiles/drake_cxx_python.dir/all] Error 2
2024-03-26T14:03:19.9110970Z gmake[3]: *** [Makefile:136: all] Error 2
2024-03-26T14:03:19.9111617Z gmake[2]: *** [CMakeFiles/drake.dir/build.make:86: drake-prefix/src/drake-stamp/drake-build] Error 2
2024-03-26T14:03:19.9112444Z gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/drake.dir/all] Error 2
2024-03-26T14:03:19.9112915Z gmake: *** [Makefile:146: all] Error 2

Version reported in the logs for CXX is a GNU 11.4.0. There is a mismatch between the compiler version and the stdc++ since one is 11.x and the other is 13.x. I think that the problem could come from the fact of using the ppa of ubuntu-toolchain-r/test:

...
2024-03-26T13:57:39.3807608Z Get:24 https://ppa.launchpadcontent.net/ubuntu-toolchain-r/test/ubuntu jammy/main amd64 lib32stdc++6 amd64 13.1.0-8ubuntu1~22.04 [835 kB]
...
2024-03-26T13:58:31.5111678Z Preparing to unpack .../16-lib32stdc++6_13.1.0-8ubuntu1~22.04_amd64.deb ...
2024-03-26T13:58:31.5139794Z Unpacking lib32stdc++6 (13.1.0-8ubuntu1~22.04) over (12.3.0-1ubuntu1~22.04) ...
... 

Seems like the base image could be the one installing that ppa since I don't see anything in the setup.ros code but see an script in the base image repo https://github.com/actions/runner-images/blob/9ee0335bca637272ec439ed8b9a8b9108a7d39b2/images/ubuntu/scripts/build/install-gcc-compilers.sh#L12.

[jwnimmer-tri]

Yes, this is the same thing as RobotLocomotion/drake-ros#340.

The GitHub Actions image has the toolchain PPA and installs GCC 11 (from Jammy) and GCC 12 and 13 (from the PPA).