From b45c681b82f9fdfd0317ee1e5ebe202ad4c99bb0 Mon Sep 17 00:00:00 2001
From: madratman <ratneshmadaan@gmail.com>
Date: Mon, 13 Apr 2020 09:34:21 -0700
Subject: [PATCH] [ros] fix build - add libc++ with gcc in ros/cmakelists, move
 clang only flags in if-else clause in commonsetup.cmake

---
 cmake/cmake-modules/CommonSetup.cmake       | 5 +++--
 docs/airsim_ros_pkgs.md                     | 4 ++++
 ros/src/airsim_ros_pkgs/CMakeLists.txt      | 7 ++++++-
 ros/src/airsim_tutorial_pkgs/CMakeLists.txt | 1 -
 4 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/cmake/cmake-modules/CommonSetup.cmake b/cmake/cmake-modules/CommonSetup.cmake
index a40d7276fd..bae440fb44 100644
--- a/cmake/cmake-modules/CommonSetup.cmake
+++ b/cmake/cmake-modules/CommonSetup.cmake
@@ -53,14 +53,15 @@ macro(CommonSetup)
             set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wstrict-aliasing -D__CLANG__")
         else ()
             set(CMAKE_CXX_FLAGS "\
-                -std=c++17 -stdlib=libc++ -ggdb -Wall -Wextra -Wstrict-aliasing -Wunreachable-code -Wcast-qual -Wctor-dtor-privacy \
+                -std=c++17 -ggdb -Wall -Wextra -Wstrict-aliasing -Wunreachable-code -Wcast-qual -Wctor-dtor-privacy \
                 -Wdisabled-optimization -Wformat=2 -Winit-self -Wmissing-include-dirs -Wswitch-default \
                 -Wold-style-cast -Woverloaded-virtual -Wredundant-decls -Wshadow -Wstrict-overflow=5 -Wswitch-default -Wundef \
-                -Wno-variadic-macros -Wno-parentheses -Wno-unused-function -Wno-unused -Wno-documentation -fdiagnostics-show-option \
+                -Wno-variadic-macros -Wno-parentheses -Wno-unused-function -Wno-unused -fdiagnostics-show-option \
                 -pthread \
                 ${RPC_LIB_DEFINES} ${CMAKE_CXX_FLAGS}")
 
             if (${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
+                set(CMAKE_CXX_FLAGS "-stdlib=libc++ -Wno-documentation ${CMAKE_CXX_FLAGS}")
                 set(CXX_EXP_LIB "-lc++fs -ferror-limit=10")
             else()
                 set(CXX_EXP_LIB "-lstdc++fs -fmax-errors=10 -Wnoexcept -Wstrict-null-sentinel")
diff --git a/docs/airsim_ros_pkgs.md b/docs/airsim_ros_pkgs.md
index 56ef7767cc..07b1d4af24 100644
--- a/docs/airsim_ros_pkgs.md
+++ b/docs/airsim_ros_pkgs.md
@@ -3,6 +3,10 @@
 A ROS wrapper over the AirSim C++ client library. 
 
 ##  Setup 
+- Install gcc >= 8.0.0
+`sudo apt-get install gcc-8 g++-8`
+Verify version by `gcc --version`
+
 - Ubuntu 16.04
   * Install [ROS kinetic](https://wiki.ros.org/kinetic/Installation/Ubuntu)
 
diff --git a/ros/src/airsim_ros_pkgs/CMakeLists.txt b/ros/src/airsim_ros_pkgs/CMakeLists.txt
index 65ab3dff9b..a508575d17 100644
--- a/ros/src/airsim_ros_pkgs/CMakeLists.txt
+++ b/ros/src/airsim_ros_pkgs/CMakeLists.txt
@@ -8,7 +8,12 @@ add_subdirectory("${AIRSIM_ROOT}/cmake/rpclib_wrapper" rpclib_wrapper)
 add_subdirectory("${AIRSIM_ROOT}/cmake/AirLib" AirLib)
 add_subdirectory("${AIRSIM_ROOT}/cmake/MavLinkCom" MavLinkCom)
 
-set(CMAKE_CXX_STANDARD 11) 
+set(CMAKE_CXX_STANDARD 11)
+set(CXX_EXP_LIB "-nostdinc++ -I/usr/include/c++/8 -I/usr/include/x86_64-linux-gnu/c++/8 -nodefaultlibs 
+-l/usr/lib/x86_64-linux-gnu/libc++.so -l/usr/lib/x86_64-linux-gnu/libc++abi.so
+-lm -lc -lgcc_s -lgcc  
+-lstdc++fs -fmax-errors=10 -Wnoexcept -Wstrict-null-sentinel") 
+
 set(RPC_LIB_INCLUDES " ${AIRSIM_ROOT}/external/rpclib/rpclib-2.2.1/include")
 set(RPC_LIB rpc) # name of .a file with lib prefix
 message(STATUS "found RPC_LIB_INCLUDES=${RPC_LIB_INCLUDES}")
diff --git a/ros/src/airsim_tutorial_pkgs/CMakeLists.txt b/ros/src/airsim_tutorial_pkgs/CMakeLists.txt
index 1ded5756c7..db27f90aa6 100644
--- a/ros/src/airsim_tutorial_pkgs/CMakeLists.txt
+++ b/ros/src/airsim_tutorial_pkgs/CMakeLists.txt
@@ -18,7 +18,6 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_ros
 )
 
-
 catkin_package(
   INCLUDE_DIRS
   CATKIN_DEPENDS message_runtime roscpp std_msgs airsim_ros_pkgs