Fix boost linking errors for Windows

[Ace314159]

Description

For Windows, #900 isn't enough to fix the boost linking errors and similar fixes were needed in background_processing and profiler. This also needs to be backported to foxy.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

Merging #957 (703e17e) into main (4804ffa) will decrease coverage by 0.01%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #957      +/-   ##
==========================================
- Coverage   57.77%   57.77%   -0.00%     
==========================================
  Files         309      309              
  Lines       26120    26120              
==========================================
- Hits        15089    15087       -2     
- Misses      11031    11033       +2     

Impacted Files	Coverage Δ
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	74.82% <0.00%> (-1.11%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	48.94% <0.00%> (+0.12%)	⬆️

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[JafarAbdi]

We shouldn't need an explicit link against individual targets in Boost since we already have Boost in ament_target_dependencies

I'm on on my phone right now so I can't push the fix will do it later today

[Ace314159]

The issue seems to arise because when doing find_package(geometric_shapes) it calls find_package(Boost ...) again with different and fewer components than what moveit_core initially calls it with, causing Boost_LIBRARIES to be overwritten. Then, ament_target_dependencies can't properly link all the Boost components.

I wasn't sure how to prevent Boost_LIBRARIES from being overwritten, so I chose to manually link. I was able to find this thread detailing a similar issue, but according to them, just maintaining the internal Boost variables should be sufficient to avoid Boost_LIBRARIES, but that doesn't seem to be the case anymore from what I observed.

If you are able to find a better fix, I'd be happy to use that instead.

[JafarAbdi]

The issue seems to arise because when doing find_package(geometric_shapes) it calls find_package(Boost ...) again with different and fewer components than what moveit_core initially calls it with, causing Boost_LIBRARIES to be overwritten. Then, ament_target_dependencies can't properly link all the Boost components.

I wasn't sure how to prevent Boost_LIBRARIES from being overwritten, so I chose to manually link. I was able to find this thread detailing a similar issue, but according to them, just maintaining the internal Boost variables should be sufficient to avoid Boost_LIBRARIES, but that doesn't seem to be the case anymore from what I observed.

If you are able to find a better fix, I'd be happy to use that instead.

Thanks for the detailed explanation and sorry for the late response, we discussed this last moveit stand-up and we're not sure what the best solution is, we either need to
1- run include(ConfigExtras.cmake) after calling all find_packages(...) and rely on ament_* to link (we need to make sure no call to find_packages(...) depend on Boost)
2- Remove Boost from ament_target_dependencies calls and manually specify each boost component like what's done in this PR but we have to do it throughout the whole codebase

Personally, I prefer the first solution since it takes advantage of the ament functionalities

[Ace314159]

The first solution sounds good to me too. I've made the necessary changes.

[tylerjw]

It looks like you just moved this line?

[Ace314159]

Sorry, I forgot to revert the previous commit as well. Is that what you were implying was missing?

[tylerjw]

Further up in this file you removed these two lines and then added them back here. I'm confused about what difference that would make.

[Ace314159]

As per what Jafar said, the first solution involves moving the include(ConfigExtras.cmake) line after all the find_pakage calls. When we do this, the include(ConfigExtras.cmake) will be the last one to call find_package(Boost ...), so Boost_LIBRARIES will not be overwritten by any dependencies, allowing us to use ament_* to link.

That's what I did when I removed those two lines from above and added them back there.

[tylerjw]

Thank you for the explination. I misunderstood what this would do.

[JafarAbdi]

@Ace314159 Super sorry for the delay, do you mind testing this PR ? I'll merge then immediately

[vatanaksoytezer]

If we are reverting #900. We should also revert #925 as well.

[Ace314159]

@JafarAbdi This looks good on Windows.