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Fix ROS build #2571

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merged 2 commits into from
Apr 13, 2020
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Merged

Fix ROS build #2571

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8962303
[ros] fix build - add libc++ with gcc in ros/cmakelists, move clang o…
madratman Apr 13, 2020
65fcfeb
[ros] fix airsim_node.launch
madratman Apr 13, 2020
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5 changes: 3 additions & 2 deletions cmake/cmake-modules/CommonSetup.cmake
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Expand Up @@ -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")
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4 changes: 4 additions & 0 deletions docs/airsim_ros_pkgs.md
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Expand Up @@ -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)

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7 changes: 6 additions & 1 deletion ros/src/airsim_ros_pkgs/CMakeLists.txt
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Expand Up @@ -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}")
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5 changes: 1 addition & 4 deletions ros/src/airsim_ros_pkgs/launch/airsim_node.launch
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Original file line number Diff line number Diff line change
@@ -1,15 +1,12 @@
<launch>
<arg name="host" default="localhost" />
<node name="airsim_node" pkg="airsim_ros_pkgs" type="airsim_node" output="screen">
<!-- <node pkg="nodelet" type="nodelet" name="airsim_nodelet_manager" args="manager" output="screen" /> -->
<!-- <node pkg="nodelet" type="nodelet" name="airsim_nodelet" args="standalone airsim_ros_pkgs/airsim_ros_nodelet airsim_nodelet_manager" output="screen"> -->

<!-- ROS timer rates. Note that timer callback will be processed at maximum possible rate, upperbounded by the following ROS params -->
<param name="is_vulkan" type="bool" value="false" />
<param name="update_airsim_img_response_every_n_sec" type="double" value="0.05" />
<param name="update_airsim_control_every_n_sec" type="double" value="0.001" />
<param name="update_lidar_every_n_sec" type="double" value="0.01" />
<param name="host_ip" type="string" value="$(arg host)"
<param name="host_ip" type="string" value="$(arg host)" />
</node>

<!-- Static transforms -->
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1 change: 0 additions & 1 deletion ros/src/airsim_tutorial_pkgs/CMakeLists.txt
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Expand Up @@ -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
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