Support ROS2 build #5
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Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
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It seems action-ros-ci doesn't install dependencies that have |
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Seeing the code of action-ros-ci, it's a bit annoying to fix this problem... 🥺 (because of ROS1 and Windows support) |
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Posted a PR. ros-tooling/action-ros-ci#697 |
Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
| @@ -11,8 +10,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ | |||
| RUN mkdir -p /root/catkin_ws/src | |||
| WORKDIR /root/catkin_ws/src | |||
| RUN /bin/bash -c '. /opt/ros/melodic/setup.bash; catkin_init_workspace' | |||
| RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive | |||
| RUN git clone https://github.com/koide3/hdl_graph_slam.git | |||
| RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive --depth=1 | |||
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I added the --depth=1 option to avoid git clone errors.
https://github.com/KeisukeShima/ndt_omp/runs/4639280919?check_suite_focus=true#step:4:3179
Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
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@kenji-miyake It looks good to me. Please check my changes before you merge this PR. |
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| if(OpenMP_CXX_FOUND) | ||
| target_link_libraries(ndt_omp PUBLIC OpenMP::OpenMP_CXX) | ||
| target_link_libraries(ndt_omp OpenMP::OpenMP_CXX) |
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Why did you remove PUBLIC?
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This is because the docker CI for ROS2 failed with the following error.
And the solution to this error is to remove PUBLIC.
https://stackoverflow.com/questions/59522267/cmake-rejects-a-second-target-link-libraries-talking-about-keyword-vs-plain
Starting >>> ndt_omp
--- stderr: ndt_omp
CMake Warning (dev) at CMakeLists.txt:87 (find_package):
Policy CMP0074 is not set: find_package uses <PackageName>_ROOT variables.
Run "cmake --help-policy CMP0074" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.
CMake variable PCL_ROOT is set to:
/usr
For compatibility, CMake is ignoring the variable.
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Error at CMakeLists.txt:107 (target_link_libraries):
The plain signature for target_link_libraries has already been used with
the target "ndt_omp". All uses of target_link_libraries with a target must
be either all-keyword or all-plain.
The uses of the plain signature are here:
* /opt/ros/foxy/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:145 (target_link_libraries)
---
Failed <<< ndt_omp [9.05s, exited with code 1]
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Is this because of ament_auto_add_library?
I feel all-keyword is better if possible.
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ament_auto_add_library(ndt_omp SHARED PUBLIC
src/pclomp/voxel_grid_covariance_omp.cpp
src/pclomp/ndt_omp.cpp
src/pclomp/gicp_omp.cpp
)
target_link_libraries(ndt_omp PUBLIC ${PCL_LIBRARIES})
if(OpenMP_CXX_FOUND)
target_link_libraries(ndt_omp PUBLIC OpenMP::OpenMP_CXX)There was a problem hiding this comment.
Ah, but since the upstream's style is plain, I think it's okay.
https://github.com/koide3/ndt_omp/blob/399d61318a471758234e0d747ab4e407c74fcb76/CMakeLists.txt
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ament_auto_add_library(ndt_omp SHARED PUBLIC src/pclomp/voxel_grid_covariance_omp.cpp src/pclomp/ndt_omp.cpp src/pclomp/gicp_omp.cpp ) target_link_libraries(ndt_omp PUBLIC ${PCL_LIBRARIES}) if(OpenMP_CXX_FOUND) target_link_libraries(ndt_omp PUBLIC OpenMP::OpenMP_CXX)
It doesn't work. 😢
Ah, but since the upstream's style is plain, I think it's okay.
Thanks for letting me know. I'll keep the current code.
Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
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@wep21 Could you please double-check? 🙏 |
Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
* Support ROS2 build Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix merge error Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * fix git clone error Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * remove duplicate command Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * add Dockerfile for foxy and galactic Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * fix build error Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * fix git clone error Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * add new line Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * remove ROS2 build Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * change to be able to run ci in pull request Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
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