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Support ROS2 build #5

Merged
merged 11 commits into from
Jan 13, 2022
Merged

Support ROS2 build #5

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ce56fef
Support ROS2 build
Aug 10, 2021
6e2f76b
Merge branch 'tier4/main' into support-ros2-build
KeisukeShima Dec 27, 2021
2205912
fix merge error
KeisukeShima Dec 27, 2021
d1f2998
fix git clone error
KeisukeShima Dec 27, 2021
81ce6a1
remove duplicate command
KeisukeShima Dec 27, 2021
2c14db2
add Dockerfile for foxy and galactic
KeisukeShima Dec 27, 2021
12923c0
fix build error
KeisukeShima Dec 27, 2021
e7aeafa
fix git clone error
KeisukeShima Dec 27, 2021
36a9ad5
add new line
KeisukeShima Dec 27, 2021
de1c6ed
remove ROS2 build
KeisukeShima Dec 27, 2021
0246885
change to be able to run ci in pull request
KeisukeShima Jan 13, 2022
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3 changes: 1 addition & 2 deletions .github/workflows/build.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@ on:
push:
branches: [ master ]
pull_request:
branches: [ master ]

# Allows you to run this workflow manually from the Actions tab
workflow_dispatch:
Expand All @@ -14,7 +13,7 @@ jobs:
runs-on: ubuntu-latest
strategy:
matrix:
ROS_DISTRO: [melodic, melodic_llvm, noetic, noetic_llvm]
ROS_DISTRO: [melodic, melodic_llvm, noetic, noetic_llvm, foxy, foxy_llvm, galactic, galactic_llvm]

steps:
- uses: actions/checkout@v2
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78 changes: 76 additions & 2 deletions CMakeLists.txt
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Expand Up @@ -8,6 +8,79 @@ set(CMAKE_CXX_FLAGS "-std=c++14 -msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2")
# pcl 1.7 causes a segfault when it is built with debug mode
set(CMAKE_BUILD_TYPE "RELEASE")

if($ENV{ROS_VERSION} EQUAL 1)
# ROS1
find_package(catkin REQUIRED COMPONENTS
roscpp
pcl_ros
)

find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

message(STATUS "PCL_INCLUDE_DIRS:" ${PCL_INCLUDE_DIRS})
message(STATUS "PCL_LIBRARY_DIRS:" ${PCL_LIBRARY_DIRS})
message(STATUS "PCL_DEFINITIONS:" ${PCL_DEFINITIONS})

find_package(OpenMP)
if (OPENMP_FOUND)
set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()

###################################
## catkin specific configuration ##
###################################
catkin_package(
INCLUDE_DIRS include
LIBRARIES ndt_omp
)

###########
## Build ##
###########
include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)

add_library(ndt_omp
src/pclomp/voxel_grid_covariance_omp.cpp
src/pclomp/ndt_omp.cpp
src/pclomp/gicp_omp.cpp
)

add_executable(align
apps/align.cpp
)
add_dependencies(align
ndt_omp
)
target_link_libraries(align
${catkin_LIBRARIES}
${PCL_LIBRARIES}
ndt_omp
)

#############
## INSTALL ##
#############

install(
TARGETS
ndt_omp
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

# install headers
install(DIRECTORY include/pclomp
DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
else()
# ROS2
find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()

Expand All @@ -32,12 +105,13 @@ ament_auto_add_library(ndt_omp SHARED
src/pclomp/gicp_omp.cpp
)

target_link_libraries(ndt_omp PUBLIC ${PCL_LIBRARIES})
target_link_libraries(ndt_omp ${PCL_LIBRARIES})

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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Will this work?
https://github.com/ament/ament_cmake/blob/4ac1ed1153ac774116c273021944eb3ea836495c/ament_cmake_auto/cmake/ament_auto_add_library.cmake#L66

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)

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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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Will this work? https://github.com/ament/ament_cmake/blob/4ac1ed1153ac774116c273021944eb3ea836495c/ament_cmake_auto/cmake/ament_auto_add_library.cmake#L66

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.

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🥺
Okay, thank you!

else()
message(WARNING "OpenMP not found")
endif()

ament_auto_package()
endif()
25 changes: 25 additions & 0 deletions docker/foxy/Dockerfile
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@@ -0,0 +1,25 @@
FROM ros:foxy

RUN apt-get update && apt-get install -y --no-install-recommends \
wget nano build-essential libomp-dev clang lld git\
ros-foxy-geodesy ros-foxy-pcl-ros ros-foxy-nmea-msgs \
ros-foxy-rviz2 ros-foxy-libg2o \
&& apt-get clean \
&& rm -rf /var/lib/apt/lists/*

RUN mkdir -p /root/colcon_ws/src
WORKDIR /root/colcon_ws/src
# Comment it out until the repository supports ROS2 builds.
# RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive --depth=1
# RUN git clone https://github.com/koide3/hdl_graph_slam.git --depth=1

COPY . /root/colcon_ws/src/ndt_omp/

WORKDIR /root/colcon_ws
RUN /bin/bash -c '. /opt/ros/foxy/setup.bash; colcon build'
RUN sed -i "6i source \"/root/colcon_ws/devel/setup.bash\"" /ros_entrypoint.sh

WORKDIR /

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]
27 changes: 27 additions & 0 deletions docker/foxy_llvm/Dockerfile
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FROM ros:foxy

RUN apt-get update && apt-get install -y --no-install-recommends \
wget nano build-essential libomp-dev clang lld git\
ros-foxy-geodesy ros-foxy-pcl-ros ros-foxy-nmea-msgs \
ros-foxy-rviz2 ros-foxy-libg2o \
&& apt-get clean \
&& rm -rf /var/lib/apt/lists/*

RUN mkdir -p /root/colcon_ws/src
WORKDIR /root/colcon_ws/src
# Comment it out until the repository supports ROS2 builds.
# RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive --depth=1
# RUN git clone https://github.com/koide3/hdl_graph_slam.git --depth=1

COPY . /root/colcon_ws/src/ndt_omp/

RUN update-alternatives --install /usr/bin/ld ld /usr/bin/ld.lld 50

WORKDIR /root/colcon_ws
RUN /bin/bash -c '. /opt/ros/foxy/setup.bash; CC=clang CXX=clang++ colcon build'
RUN sed -i "6i source \"/root/colcon_ws/devel/setup.bash\"" /ros_entrypoint.sh

WORKDIR /

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]
25 changes: 25 additions & 0 deletions docker/galactic/Dockerfile
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FROM ros:galactic

RUN apt-get update && apt-get install -y --no-install-recommends \
wget nano build-essential libomp-dev clang lld git\
ros-galactic-geodesy ros-galactic-pcl-ros ros-galactic-nmea-msgs \
ros-galactic-rviz2 ros-galactic-libg2o \
&& apt-get clean \
&& rm -rf /var/lib/apt/lists/*

RUN mkdir -p /root/colcon_ws/src
WORKDIR /root/colcon_ws/src
# Comment it out until the repository supports ROS2 builds.
# RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive --depth=1
# RUN git clone https://github.com/koide3/hdl_graph_slam.git --depth=1

COPY . /root/colcon_ws/src/ndt_omp/

WORKDIR /root/colcon_ws
RUN /bin/bash -c '. /opt/ros/galactic/setup.bash; colcon build'
RUN sed -i "6i source \"/root/colcon_ws/devel/setup.bash\"" /ros_entrypoint.sh

WORKDIR /

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]
27 changes: 27 additions & 0 deletions docker/galactic_llvm/Dockerfile
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FROM ros:galactic

RUN apt-get update && apt-get install -y --no-install-recommends \
wget nano build-essential libomp-dev clang lld git\
ros-galactic-geodesy ros-galactic-pcl-ros ros-galactic-nmea-msgs \
ros-galactic-rviz2 ros-galactic-libg2o \
&& apt-get clean \
&& rm -rf /var/lib/apt/lists/*

RUN mkdir -p /root/colcon_ws/src
WORKDIR /root/colcon_ws/src
# Comment it out until the repository supports ROS2 builds.
# RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive --depth=1
# RUN git clone https://github.com/koide3/hdl_graph_slam.git --depth=1

COPY . /root/colcon_ws/src/ndt_omp/

RUN update-alternatives --install /usr/bin/ld ld /usr/bin/ld.lld 50

WORKDIR /root/colcon_ws
RUN /bin/bash -c '. /opt/ros/galactic/setup.bash; CC=clang CXX=clang++ colcon build'
RUN sed -i "6i source \"/root/colcon_ws/devel/setup.bash\"" /ros_entrypoint.sh

WORKDIR /

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]
6 changes: 3 additions & 3 deletions docker/melodic/Dockerfile
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@@ -1,7 +1,6 @@
FROM ros:melodic

RUN apt-get update && apt-get install -y --no-install-recommends \
&& apt-get install -y --no-install-recommends \
wget nano build-essential libomp-dev clang lld\
ros-melodic-geodesy ros-melodic-pcl-ros ros-melodic-nmea-msgs \
ros-melodic-rviz ros-melodic-tf-conversions ros-melodic-libg2o \
Expand All @@ -11,8 +10,9 @@ 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 config --global http.postBuffer 2M
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

RUN git clone https://github.com/koide3/hdl_graph_slam.git --depth=1

COPY . /root/catkin_ws/src/ndt_omp/

Expand Down
6 changes: 3 additions & 3 deletions docker/melodic_llvm/Dockerfile
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@@ -1,7 +1,6 @@
FROM ros:melodic

RUN apt-get update && apt-get install -y --no-install-recommends \
&& apt-get install -y --no-install-recommends \
wget nano build-essential libomp-dev clang lld\
ros-melodic-geodesy ros-melodic-pcl-ros ros-melodic-nmea-msgs \
ros-melodic-rviz ros-melodic-tf-conversions ros-melodic-libg2o \
Expand All @@ -11,8 +10,9 @@ 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 config --global http.postBuffer 2M
RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive --depth=1
RUN git clone https://github.com/koide3/hdl_graph_slam.git --depth=1

COPY . /root/catkin_ws/src/ndt_omp/

Expand Down
6 changes: 3 additions & 3 deletions docker/noetic/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
FROM ros:noetic

RUN apt-get update && apt-get install -y --no-install-recommends \
&& apt-get install -y --no-install-recommends \
wget nano build-essential libomp-dev clang lld git\
ros-noetic-geodesy ros-noetic-pcl-ros ros-noetic-nmea-msgs \
ros-noetic-rviz ros-noetic-tf-conversions ros-noetic-libg2o \
Expand All @@ -11,8 +10,9 @@ 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/noetic/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 config --global http.postBuffer 2M
RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive --depth=1
RUN git clone https://github.com/koide3/hdl_graph_slam.git --depth=1

COPY . /root/catkin_ws/src/ndt_omp/

Expand Down
6 changes: 3 additions & 3 deletions docker/noetic_llvm/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
FROM ros:noetic

RUN apt-get update && apt-get install -y --no-install-recommends \
&& apt-get install -y --no-install-recommends \
wget nano build-essential libomp-dev clang lld git\
ros-noetic-geodesy ros-noetic-pcl-ros ros-noetic-nmea-msgs \
ros-noetic-rviz ros-noetic-tf-conversions ros-noetic-libg2o \
Expand All @@ -11,8 +10,9 @@ 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/noetic/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 config --global http.postBuffer 2M
RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive --depth=1
RUN git clone https://github.com/koide3/hdl_graph_slam.git --depth=1

COPY . /root/catkin_ws/src/ndt_omp/

Expand Down
13 changes: 10 additions & 3 deletions package.xml
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@@ -1,4 +1,5 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ndt_omp</name>
<version>0.0.0</version>
Expand All @@ -8,10 +9,16 @@

<license>BSD</license>

<buildtool_depend>ament_cmake_auto</buildtool_depend>
<depend>libpcl-all-dev</depend>
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_auto</buildtool_depend>

<depend condition="$ROS_VERSION == 1">pcl_ros</depend>
<depend condition="$ROS_VERSION == 1">roscpp</depend>

<depend condition="$ROS_VERSION == 2">libpcl-all-dev</depend>

<export>
<build_type>ament_cmake</build_type>
<build_type condition="$ROS_VERSION == 1">catkin</build_type>
<build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
</export>
</package>