Make sure to use old dtags on Linux to get RPATH.

The comment in the code explains why.

Signed-off-by: Chris Lalancette <[email protected]>

bindings/pydrake/BUILD.bazel

@@ -182,6 +182,8 @@ drake_py_test(
 drake_py_test(
     name = "common_install_test",
     size = "medium",
+    # Increase the timeout so that debug builds are successful.
+    timeout = "long",
     srcs = ["test/common_install_test.py"],
     data = ["//:install"],
     main = "test/common_install_test.py",

setup/ubuntu/16.04/install_prereqs.sh

@@ -99,6 +99,7 @@ lldb-4.0
 make
 mesa-common-dev
 openjdk-8-jdk
+patchelf
 patchutils
 pkg-config
 protobuf-compiler

tools/install/install.py.in

@@ -1,6 +1,7 @@
 #!/usr/bin/env python
 
 import argparse
+import collections
 import filecmp
 import os
 import re
@@ -159,25 +160,12 @@ def macos_fix_rpaths(basename, dst_full):
 
 
 def linux_fix_rpaths(dst_full):
-    # Check that file has an rpath or a runpath tag
-    try:
-        check_output(["chrpath", "-l", dst_full])
-    except OSError as ex:
-        if ex.errno == 2 and ex.strerror == "No such file or directory":
-            print("`chrpath` not found. Please run install_prereqs.sh.")
-        raise ex
-    except CalledProcessError as ex:
-        if ex.returncode == 2 and \
-                ex.output.strip().endswith('no rpath or runpath tag found.'):
-            # Cannot be modified with `chrpath`, so we skip it.
-            return
-        raise ex
     # Check if file dependencies are found and not in install prefix.
     # The found libraries outside of the install prefix are system
     # libraries and we do not worry about these. We only make sure that
     # drake libraries will be found.
     file_output = check_output(["ldd", dst_full])
-    rpath = set()
+    rpath = []
     for line in file_output.splitlines():
         ldd_result = line.strip().split(' => ')
         # If library found and not in install prefix, then skip.
@@ -195,18 +183,28 @@ def linux_fix_rpaths(dst_full):
         diff_path = os.path.dirname(
             os.path.relpath(libs[soname][0], lib_dirname)
         )
-        rpath.add('$ORIGIN' + '/' + diff_path)
+        rpath.append('$ORIGIN' + '/' + diff_path)
+
+    # Ensure that system libraries get loaded instead of those bundled with
+    # MATLAB that are added to the LD_LIBRARY_PATH.
+    rpath.append('/usr/lib/x86_64-linux-gnu/')
+
+    # The above may have duplicated some items into the list.  Uniquify it
+    # here, preserving order.  Note that we do not just use a set() above,
+    # since order matters.
+    rpath = collections.OrderedDict.fromkeys(rpath).keys()
+
     # Replace build tree RPATH with computed install tree RPATH. Build tree
     # RPATH are automatically removed by this call. RPATH will contain the
     # necessary relative paths to find the libraries that are needed. RPATH
     # will typically be set to `$ORIGIN` or `$ORIGIN/../../..` .
-    if rpath:
-        str_rpath = ":".join(x for x in rpath)
-        check_output(
-            ['chrpath',
-             "-r", str_rpath,
-             dst_full]
-        )
+    str_rpath = ":".join(x for x in rpath)
+    check_output(
+        ["patchelf",
+         "--force-rpath",  # We need to override LD_LIBRARY_PATH.
+         "--set-rpath", str_rpath,
+         dst_full]
+    )
 
 
 def create_java_launcher(filename, classpath, main_class):

tools/install/libdrake/BUILD.bazel

@@ -19,6 +19,7 @@ load(
     "HAS_MOVED_6996",
 )
 load(":build_components.bzl", "LIBDRAKE_COMPONENTS")
+load("//tools:drake.bzl", "drake_cc_binary")
 
 LIBDRAKE_COMPONENTS = adjust_labels_for_drake_hoist(LIBDRAKE_COMPONENTS)
 
@@ -36,7 +37,7 @@ install_cmake_config(
 # LIBDRAKE_COMPONENTS and all the Drake externals. We use linkstatic=1 so
 # that the binary package will not contain any references to shared libraries
 # inside the build tree.
-cc_binary(
+drake_cc_binary(
     name = "libdrake.so",
     linkshared = 1,
     linkstatic = 1,

tools/skylark/drake_cc.bzl

@@ -355,7 +355,9 @@ def drake_cc_binary(
         data = [],
         deps = [],
         copts = [],
+        linkopts = [],
         gcc_copts = [],
+        linkshared = 0,
         linkstatic = 1,
         testonly = 0,
         add_test_rule = 0,
@@ -385,14 +387,31 @@ def drake_cc_binary(
         copts = new_copts,
         testonly = testonly,
         **kwargs)
+    if linkshared == 1:
+        # On Linux, we need to disable "new" dtags in the linker so that we use
+        # RPATH instead of RUNPATH.  When doing runtime linking, RPATH is
+        # checked *before* LD_LIBRARY_PATH, which is important to avoid using
+        # the MATLAB versions of certain libraries (protobuf).  macOS doesn't
+        # understand this flag, so it is conditional on Linux only.  Note that
+        # the string we use for rpath here doesn't actually matter; it will be
+        # replaced during installation later.
+        linkopts = select({
+            "//tools/cc_toolchain:apple": linkopts,
+            "//conditions:default": linkopts + [
+                "-Wl,-rpath=/usr/lib/x86_64-linux-gnu -Wl,--disable-new-dtags",
+            ],
+        })
+
     native.cc_binary(
         name = name,
         srcs = new_srcs,
         data = data,
         deps = new_deps,
         copts = new_copts,
         testonly = testonly,
+        linkshared = linkshared,
         linkstatic = linkstatic,
+        linkopts = linkopts,
         **kwargs)
 
     # Also generate the OS X debug symbol file for this binary.