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Compilation Fixes for MoveIt on macOS #498

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Merged
merged 25 commits into from
Jun 28, 2021
Merged

Compilation Fixes for MoveIt on macOS #498

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fdc4c9c
Fixed location of GLUT framework on macOS
nkalupahana May 26, 2021
1831a6b
Update CMakeLists.txt
nkalupahana May 26, 2021
ed279a4
Update CMakeLists.txt
nkalupahana May 26, 2021
c5b597d
Update CMakeLists.txt
nkalupahana May 26, 2021
bcf5928
Update CMakeLists.txt
nkalupahana May 26, 2021
8bcef3b
Update CMakeLists.txt
nkalupahana May 27, 2021
1279415
Update gl_renderer.cpp
nkalupahana May 27, 2021
131a28a
Update gl_renderer.cpp
nkalupahana May 27, 2021
9de53f0
Revert include changes
nkalupahana May 27, 2021
391f6d2
glew/glut linking fixes (temp)
nkalupahana Jun 8, 2021
da802ab
stabilization for glut and glew for mac
nkalupahana Jun 8, 2021
51ded29
Merge branch 'ros-planning:main' into patch-1
nkalupahana Jun 8, 2021
84ad79a
mark dep for only apple
nkalupahana Jun 8, 2021
49c92ed
Merge branch 'patch-1' of https://github.com/nkalupahana/moveit2 into…
nkalupahana Jun 8, 2021
98afb1e
revert cmake version change
nkalupahana Jun 8, 2021
9addf97
Merge branch 'ros-planning:main' into patch-1
nkalupahana Jun 12, 2021
ae88ec8
Fix "ld can't link -lode" issue
nkalupahana Jun 13, 2021
6f8189b
Revert changes
nkalupahana Jun 13, 2021
e9e113d
Merge branch 'main' into patch-1
nkalupahana Jun 16, 2021
3dda2cf
formatting fixes
nkalupahana Jun 16, 2021
977fbc4
switch to one variable for glut and glew
nkalupahana Jun 17, 2021
4846050
Merge branch 'main' into patch-1
nkalupahana Jun 21, 2021
90ebdae
Merge branch 'main' into patch-1
nkalupahana Jun 22, 2021
7c9dc82
Merge branch 'main' into patch-1
nkalupahana Jun 28, 2021
76cbad4
Merge branch 'main' into patch-1
henningkayser Jun 28, 2021
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9 changes: 8 additions & 1 deletion moveit_ros/perception/CMakeLists.txt
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Expand Up @@ -21,8 +21,15 @@ if(WITH_OPENGL)
endif()
find_package(OpenGL REQUIRED)
find_package(GLEW REQUIRED)
find_package(GLUT REQUIRED)

set(gl_LIBS ${gl_LIBS} ${OPENGL_LIBRARIES})
if(APPLE)
find_package(FreeGLUT REQUIRED)
set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW FreeGLUT::freeglut)
else()
find_package(GLUT REQUIRED)
set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLUT::GLUT)
endif()
set(perception_GL_INCLUDE_DIRS "mesh_filter/include" "depth_image_octomap_updater/include")
set(SYSTEM_GL_INCLUDE_DIRS ${GLEW_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
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@henningkayser henningkayser Jun 16, 2021

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If using ament_target_dependencies doesn't work, I'd suggest adding a SYSTEM_GL_LIBRARIES variable like this one.

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@nkalupahana nkalupahana Jun 17, 2021

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Alright, did that!

endif()
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11 changes: 7 additions & 4 deletions moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
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Expand Up @@ -120,7 +120,8 @@ bool DepthImageOctomapUpdater::initialize(const rclcpp::Node::SharedPtr& node)
mesh_filter_->setShadowThreshold(shadow_threshold_);
mesh_filter_->setPaddingOffset(padding_offset_);
mesh_filter_->setPaddingScale(padding_scale_);
mesh_filter_->setTransformCallback(boost::bind(&DepthImageOctomapUpdater::getShapeTransform, this, _1, _2));
mesh_filter_->setTransformCallback(boost::bind(&DepthImageOctomapUpdater::getShapeTransform, this,
boost::placeholders::_1, boost::placeholders::_2));

// init rclcpp time default value
last_update_time_ = node_->now();
Expand All @@ -140,9 +141,11 @@ void DepthImageOctomapUpdater::start()

pub_filtered_label_image_ = filtered_label_transport_->advertiseCamera("filtered_label", 1);

sub_depth_image_ = image_transport::create_camera_subscription(
node_.get(), image_topic_, boost::bind(&DepthImageOctomapUpdater::depthImageCallback, this, _1, _2), "raw",
custom_qos);
sub_depth_image_ =
image_transport::create_camera_subscription(node_.get(), image_topic_,
boost::bind(&DepthImageOctomapUpdater::depthImageCallback, this,
boost::placeholders::_1, boost::placeholders::_2),
"raw", custom_qos);
}

void DepthImageOctomapUpdater::stop()
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3 changes: 3 additions & 0 deletions moveit_ros/perception/lazy_free_space_updater/CMakeLists.txt
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Expand Up @@ -4,6 +4,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED src/lazy_free_space_updater.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
if(APPLE)
target_link_libraries(${MOVEIT_LIB_NAME} OpenMP::OpenMP_CXX)
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@henningkayser henningkayser Jun 16, 2021

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Did you try setting OpenMP with ament_target_dependencies?

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@nkalupahana nkalupahana Jun 16, 2021 •
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Unfortunately, using ament_target_dependencies(${MOVEIT_LIB_NAME} OpenMP) leads to a linker error. https://github.com/nkalupahana/ros2-foxy-macos/runs/2841920686?check_suite_focus=true

target_link_libraries seems to be necessary. Is that okay?

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@tylerjw tylerjw Jun 28, 2021

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@henningkayser ament_target_dependencies and target_link_libraries do two different things. ament_target_dependencies adds those dependencies to the list that gets set in the export target, where-as target_link_libraries configures linking. In this case we might need both, I'm not sure.

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@henningkayser henningkayser Jun 28, 2021

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@tylerjw ament_target_dependencies calls target_link_libraries internally and also configures include directories and other compile definitions. A well configured package should always work with ament_target_dependencies if the variables follow conventions. See https://github.com/ament/ament_cmake/blob/master/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake#L21

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@henningkayser henningkayser Jun 28, 2021

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it's fine if OpenMP doesn't work here, though

endif()
ament_target_dependencies(${MOVEIT_LIB_NAME}
rclcpp
moveit_ros_occupancy_map_monitor
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3 changes: 2 additions & 1 deletion moveit_ros/perception/mesh_filter/CMakeLists.txt
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Expand Up @@ -15,7 +15,8 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
Eigen3
Boost
)
target_link_libraries(${MOVEIT_LIB_NAME} ${gl_LIBS} GLUT::GLUT ${GLEW_LIBRARIES})

target_link_libraries(${MOVEIT_LIB_NAME} ${gl_LIBS} ${SYSTEM_GL_LIBRARIES})

# TODO: Port to ROS2
# add_library(moveit_depth_self_filter SHARED
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2 changes: 1 addition & 1 deletion moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
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Expand Up @@ -39,8 +39,8 @@
#include <OpenGL/glu.h>
#else
#include <GL/glu.h>
#endif
#include <GL/glut.h>
#endif
#include <GL/freeglut.h>
#include <moveit/mesh_filter/gl_renderer.h>
#include <sstream>
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9 changes: 6 additions & 3 deletions moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
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Expand Up @@ -86,7 +86,8 @@ bool PointCloudOctomapUpdater::initialize(const rclcpp::Node::SharedPtr& node)
tf_buffer_->setCreateTimerInterface(create_timer_interface);
tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_));
shape_mask_.reset(new point_containment_filter::ShapeMask());
shape_mask_->setTransformCallback(boost::bind(&PointCloudOctomapUpdater::getShapeTransform, this, _1, _2));
shape_mask_->setTransformCallback(boost::bind(&PointCloudOctomapUpdater::getShapeTransform, this,
boost::placeholders::_1, boost::placeholders::_2));
last_update_time_ = node_->now();
return true;
}
Expand All @@ -104,13 +105,15 @@ void PointCloudOctomapUpdater::start()
{
point_cloud_filter_ = new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(
*point_cloud_subscriber_, *tf_buffer_, monitor_->getMapFrame(), 5, node_);
point_cloud_filter_->registerCallback(boost::bind(&PointCloudOctomapUpdater::cloudMsgCallback, this, _1));
point_cloud_filter_->registerCallback(
boost::bind(&PointCloudOctomapUpdater::cloudMsgCallback, this, boost::placeholders::_1));
RCLCPP_INFO(LOGGER, "Listening to '%s' using message filter with target frame '%s'", point_cloud_topic_.c_str(),
point_cloud_filter_->getTargetFramesString().c_str());
}
else
{
point_cloud_subscriber_->registerCallback(boost::bind(&PointCloudOctomapUpdater::cloudMsgCallback, this, _1));
point_cloud_subscriber_->registerCallback(
boost::bind(&PointCloudOctomapUpdater::cloudMsgCallback, this, boost::placeholders::_1));
RCLCPP_INFO(LOGGER, "Listening to '%s'", point_cloud_topic_.c_str());
}
}
Expand Down