fuse -> ROS 2 fuse_constraints: Port fuse_constraints

[methylDragon]

See: #276

Description

This PR ports the entirety of fuse_constraints, including:

• CMakeLists and packages
• Source code
• Tests

Other stuff like docs are in other PRs.
Caught a bug from the time port in the tests due to signature changes between ros::Time and rclcpp::Time, fixed (rclcpp time needed a conversion to nanoseconds from seconds)

Notes

• This PR is branched off the branch from fuse -> ROS 2 fuse_graphs : Port fuse_graphs #289
  • i.e. fuse -> ROS 2 fuse_graphs : Port fuse_graphs #289 should be merged FIRST
  • (otherwise merging this will merge 289 (and 288 and 287 and 286) as well)

Pinging @svwilliams for visibility.

[methylDragon]

@ros-pull-request-builder retest this please!

[sloretz]

There's a utility ament_add_google_benchmark that could be used here. It's a little different from this pattern. Instead of finding Google benchmark quietly, it requires it but disables the test unless -DAMENT_RUN_PERFORMANCE_TESTS=ON is set.

https://github.com/ros2/rclcpp/blob/91bc312190e61c8915b0152e5c927c987fc22d6c/rclcpp_components/CMakeLists.txt#L137-L140

[sloretz]

Ah it looked good to me, but CI is failing with

16:16:16 CMake Error at CMakeLists.txt:34 (add_library):
16:16:16   Target "fuse_constraints" links to target "SuiteSparse::CCOLAMD" but the
16:16:16   target was not found.  Perhaps a find_package() call is missing for an
16:16:16   IMPORTED target, or an ALIAS target is missing?

[sloretz]

Two comments. First:

This target doesn't exist, but we can create it in FindSUITESPARCE.cmake.

At the bottom of that find module, create an imported target

add_library(SuiteSparce::CC0LAMD IMPORTED)
target_link_libraries(SuiteSparce::CC0LAMD IMPORTED ${SUITESPARCE_LIBRARIES}`)
target_include_directories(SuiteSparce::CC0LAMD IMPORTED ${SUITESPARCE_INCLUDE_DIRS}`)

The advantage of doing it that way is the target can still be transitively depended upon downstream.

Second:

I didn't see any use of SuiteSparce in the header files. I think that means we can make this a PRIVATE dependency here:

target_link_libraries(${PROJECT_NAME} PRIVATE
    SuiteSparce::CC0LAMD)

[methylDragon]

@ros-pull-request-builder retest this please!

[methylDragon]

@ros-pull-request-builder retest this please!

[methylDragon]

@ros-pull-request-builder retest this please!

[methylDragon]

@ros-pull-request-builder retest this please!

[methylDragon]

@ros-pull-request-builder retest this please!