[master] Windows bring-up (#1704)

* Windows bringup. * nullity check. * nullity check.
ros-navigation · May 13, 2020 · 879a937 · 879a937
1 parent 433c6ac
commit 879a937
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Showing 40 changed files with 206 additions and 43 deletions.
diff --git a/nav2_amcl/CMakeLists.txt b/nav2_amcl/CMakeLists.txt
@@ -22,6 +22,9 @@ include_directories(
   include
 )
 
+include(CheckSymbolExists)
+check_symbol_exists(drand48 stdlib.h HAVE_DRAND48)
+
 add_subdirectory(src/pf)
 add_subdirectory(src/map)
 add_subdirectory(src/motion_model)
@@ -39,6 +42,11 @@ add_library(${library_name} SHARED
   src/amcl_node.cpp
 )
 
+target_include_directories(${library_name} PRIVATE src/include)
+if(HAVE_DRAND48)
+  target_compile_definitions(${library_name} PRIVATE "HAVE_DRAND48")
+endif()
+
 set(dependencies
   rclcpp
   rclcpp_lifecycle
@@ -70,9 +78,13 @@ target_link_libraries(${library_name}
   map_lib motions_lib sensors_lib
 )
 
-install(TARGETS ${executable_name} ${library_name}
+install(TARGETS ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 

diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -48,6 +48,8 @@
 #include "tf2/utils.h"
 #pragma GCC diagnostic pop
 
+#include "portable_utils.h"
+
 using namespace std::placeholders;
 using namespace std::chrono_literals;
 

diff --git a/nav2_amcl/src/include/portable_utils.h b/nav2_amcl/src/include/portable_utils.h
@@ -0,0 +1,28 @@
+#ifndef PORTABLE_UTILS_H
+#define PORTABLE_UTILS_H
+
+#include <stdlib.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef HAVE_DRAND48
+// Some system (e.g., Windows) doesn't come with drand48(), srand48().
+// Use rand, and srand for such system.
+static double drand48(void)
+{
+  return ((double)rand()) / RAND_MAX;
+}
+
+static void srand48(long int seedval)
+{
+  srand(seedval);
+}
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/nav2_amcl/src/map/CMakeLists.txt b/nav2_amcl/src/map/CMakeLists.txt
@@ -10,5 +10,5 @@ install(TARGETS
   map_lib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
diff --git a/nav2_amcl/src/motion_model/CMakeLists.txt b/nav2_amcl/src/motion_model/CMakeLists.txt
@@ -12,5 +12,5 @@ install(TARGETS
   motions_lib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
diff --git a/nav2_amcl/src/pf/CMakeLists.txt b/nav2_amcl/src/pf/CMakeLists.txt
@@ -11,9 +11,14 @@ add_library(pf_lib SHARED
   pf_draw.c
 )
 
+target_include_directories(pf_lib PRIVATE ../include)
+if(HAVE_DRAND48)
+  target_compile_definitions(pf_lib PRIVATE "HAVE_DRAND48")
+endif()
+
 install(TARGETS
   pf_lib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
diff --git a/nav2_amcl/src/pf/eig3.c b/nav2_amcl/src/pf/eig3.c
@@ -7,8 +7,11 @@
 #define MAX(a, b) ((a) > (b) ? (a) : (b))
 #endif
 
-// #define n 3
-static const int n = 3;
+#ifdef _MSC_VER
+#define n 3
+#else
+static int n = 3;
+#endif
 
 static double hypot2(double x, double y)
 {

diff --git a/nav2_amcl/src/pf/pf.c b/nav2_amcl/src/pf/pf.c
@@ -35,6 +35,8 @@
 #include "nav2_amcl/pf/pf_pdf.hpp"
 #include "nav2_amcl/pf/pf_kdtree.hpp"
 
+#include "portable_utils.h"
+
 
 // Compute the required number of samples, given that there are k bins
 // with samples in them.

diff --git a/nav2_amcl/src/pf/pf_pdf.c b/nav2_amcl/src/pf/pf_pdf.c
@@ -34,6 +34,8 @@
 
 #include "nav2_amcl/pf/pf_pdf.hpp"
 
+#include "portable_utils.h"
+
 // Random number generator seed value
 static unsigned int pf_pdf_seed;
 

diff --git a/nav2_amcl/src/pf/pf_vector.c b/nav2_amcl/src/pf/pf_vector.c
@@ -53,7 +53,7 @@ int pf_vector_finite(pf_vector_t a)
   int i;
 
   for (i = 0; i < 3; i++) {
-    if (!finite(a.v[i])) {
+    if (!isfinite(a.v[i])) {
       return 0;
     }
   }
@@ -152,7 +152,7 @@ int pf_matrix_finite(pf_matrix_t a)
 
   for (i = 0; i < 3; i++) {
     for (j = 0; j < 3; j++) {
-      if (!finite(a.m[i][j])) {
+      if (!isfinite(a.m[i][j])) {
         return 0;
       }
     }

diff --git a/nav2_amcl/src/sensors/CMakeLists.txt b/nav2_amcl/src/sensors/CMakeLists.txt
@@ -4,11 +4,12 @@ add_library(sensors_lib SHARED
   laser/likelihood_field_model.cpp
   laser/likelihood_field_model_prob.cpp
 )
-target_link_libraries(sensors_lib pf_lib)
+# map_update_cspace
+target_link_libraries(sensors_lib pf_lib map_lib)
 
 install(TARGETS
   sensors_lib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
diff --git a/nav2_amcl/src/sensors/laser/laser.cpp b/nav2_amcl/src/sensors/laser/laser.cpp
@@ -23,7 +23,6 @@
 #include <math.h>
 #include <stdlib.h>
 #include <assert.h>
-#include <unistd.h>
 
 #include "nav2_amcl/sensors/laser/laser.hpp"
 

diff --git a/nav2_behavior_tree/CMakeLists.txt b/nav2_behavior_tree/CMakeLists.txt
@@ -110,7 +110,7 @@ install(TARGETS ${library_name}
                 ${plugin_libs}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/

diff --git a/nav2_bt_navigator/CMakeLists.txt b/nav2_bt_navigator/CMakeLists.txt
@@ -60,9 +60,13 @@ ament_target_dependencies(${library_name}
   ${dependencies}
 )
 
-install(TARGETS ${executable_name} ${library_name}
+install(TARGETS ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 

diff --git a/nav2_bt_navigator/src/ros_topic_logger.cpp b/nav2_bt_navigator/src/ros_topic_logger.cpp
@@ -39,8 +39,12 @@ void RosTopicLogger::callback(
 
   // BT timestamps are a duration since the epoch. Need to convert to a time_point
   // before converting to a msg.
+#ifndef _WIN32
   event.timestamp =
     tf2_ros::toMsg(std::chrono::time_point<std::chrono::high_resolution_clock>(timestamp));
+#else
+  event.timestamp = tf2_ros::toMsg(timestamp);
+#endif
   event.node_name = node.name();
   event.previous_status = toStr(prev_status, false);
   event.current_status = toStr(status, false);

diff --git a/nav2_common/cmake/nav2_package.cmake b/nav2_common/cmake/nav2_package.cmake
@@ -42,4 +42,16 @@ macro(nav2_package)
     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
     set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} --coverage")
   endif()
+
+  # Defaults for Microsoft C++ compiler
+  if(MSVC)
+    # https://blog.kitware.com/create-dlls-on-windows-without-declspec-using-new-cmake-export-all-feature/
+    set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+    # Enable Math Constants
+    # https://docs.microsoft.com/en-us/cpp/c-runtime-library/math-constants?view=vs-2019
+    add_compile_definitions(
+      _USE_MATH_DEFINES
+    )
+  endif()
 endmacro()
diff --git a/nav2_controller/CMakeLists.txt b/nav2_controller/CMakeLists.txt
@@ -59,9 +59,13 @@ ament_target_dependencies(${executable_name}
 
 target_link_libraries(${executable_name} ${library_name})
 
-install(TARGETS ${executable_name} ${library_name}
+install(TARGETS ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 

diff --git a/nav2_controller/src/nav2_controller.cpp b/nav2_controller/src/nav2_controller.cpp
@@ -88,7 +88,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
     exit(-1);
   }
 
-  for (uint i = 0; i != controller_types_.size(); i++) {
+  for (size_t i = 0; i != controller_types_.size(); i++) {
     try {
       nav2_core::Controller::Ptr controller =
         lp_loader_.createUniqueInstance(controller_types_[i]);
@@ -105,7 +105,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
     }
   }
 
-  for (uint i = 0; i != controller_ids_.size(); i++) {
+  for (size_t i = 0; i != controller_ids_.size(); i++) {
     controller_ids_concat_ += controller_ids_[i] + std::string(" ");
   }
 

diff --git a/nav2_costmap_2d/CMakeLists.txt b/nav2_costmap_2d/CMakeLists.txt
@@ -131,13 +131,17 @@ target_link_libraries(nav2_costmap_2d
 
 install(TARGETS
   nav2_costmap_2d_core
-  nav2_costmap_2d
   layers
   nav2_costmap_2d_client
-  nav2_costmap_2d_markers
-  nav2_costmap_2d_cloud
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS
+  nav2_costmap_2d
+  nav2_costmap_2d_markers
+  nav2_costmap_2d_cloud
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 

diff --git a/nav2_dwb_controller/costmap_queue/CMakeLists.txt b/nav2_dwb_controller/costmap_queue/CMakeLists.txt
@@ -45,7 +45,7 @@ endif()
 install(TARGETS ${PROJECT_NAME}
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib
-        RUNTIME DESTINATION lib/${PROJECT_NAME}
+        RUNTIME DESTINATION bin
 )
 install(DIRECTORY include/
         DESTINATION include/

diff --git a/nav2_dwb_controller/dwb_core/CMakeLists.txt b/nav2_dwb_controller/dwb_core/CMakeLists.txt
@@ -58,7 +58,7 @@ ament_target_dependencies(dwb_core
 install(TARGETS dwb_core
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/

diff --git a/nav2_dwb_controller/dwb_critics/CMakeLists.txt b/nav2_dwb_controller/dwb_critics/CMakeLists.txt
@@ -60,7 +60,7 @@ ament_target_dependencies(${PROJECT_NAME}
 install(TARGETS ${PROJECT_NAME}
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib
-        RUNTIME DESTINATION lib/${PROJECT_NAME}
+        RUNTIME DESTINATION bin
 )
 install(DIRECTORY include/
         DESTINATION include/

diff --git a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
@@ -63,7 +63,7 @@ endif()
 install(TARGETS simple_goal_checker stopped_goal_checker standard_traj_generator
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib
-        RUNTIME DESTINATION lib/${PROJECT_NAME}
+        RUNTIME DESTINATION bin
 )
 install(DIRECTORY include/
         DESTINATION include/

diff --git a/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt b/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
@@ -46,7 +46,7 @@ ament_target_dependencies(path_ops
 install(TARGETS conversions path_ops
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib
-        RUNTIME DESTINATION lib/${PROJECT_NAME}
+        RUNTIME DESTINATION bin
 )
 install(DIRECTORY include/
         DESTINATION include/

diff --git a/nav2_lifecycle_manager/CMakeLists.txt b/nav2_lifecycle_manager/CMakeLists.txt
@@ -57,10 +57,14 @@ ament_target_dependencies(lifecycle_manager
 )
 
 install(TARGETS
-  lifecycle_manager
   ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS
+  lifecycle_manager
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 

diff --git a/nav2_map_server/CMakeLists.txt b/nav2_map_server/CMakeLists.txt
@@ -88,6 +88,11 @@ target_link_libraries(${library_name}
 target_link_libraries(${map_server_executable}
   ${library_name})
 
+if(WIN32)
+  target_compile_definitions(${map_server_executable} PRIVATE
+    YAML_CPP_DLL)
+endif()
+
 target_link_libraries(${map_saver_cli_executable}
   ${library_name})
 
@@ -100,10 +105,19 @@ target_include_directories(${map_io_library_name} SYSTEM PRIVATE
 target_link_libraries(${map_io_library_name}
   ${GRAPHICSMAGICKCPP_LIBRARIES})
 
-install(TARGETS ${map_server_executable} ${library_name} ${map_io_library_name}
-  ${map_saver_cli_executable} ${map_saver_server_executable}
+if(WIN32)
+  target_compile_definitions(${map_io_library_name} PRIVATE
+    YAML_CPP_DLL)
+endif()
+
+install(TARGETS
+    ${library_name} ${map_io_library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+install(TARGETS
+    ${map_server_executable} ${map_saver_cli_executable} ${map_saver_server_executable}
   RUNTIME DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY include/

diff --git a/nav2_map_server/cmake_modules/FindGRAPHICSMAGICKCPP.cmake b/nav2_map_server/cmake_modules/FindGRAPHICSMAGICKCPP.cmake
@@ -26,9 +26,9 @@ find_path(GRAPHICSMAGICKCPP_INCLUDE_DIRS
   PATH_SUFFIXES GraphicsMagick)
 
 find_library(GRAPHICSMAGICKCPP_LIBRARIES
-  NAMES "GraphicsMagick++")
+  NAMES "GraphicsMagick++" "graphicsmagick")
 
 find_package_handle_standard_args(
   GRAPHICSMAGICKCPP
-  GRAPHICSMAGICKCPP__LIBRARIES
+  GRAPHICSMAGICKCPP_LIBRARIES
   GRAPHICSMAGICKCPP_INCLUDE_DIRS)