Windows Port (WIP)

moveit_core/CMakeLists.txt

@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 3.10.2)
 project(moveit_core VERSION 2.0.0 LANGUAGES CXX)
 
+set(CMAKE_VERBOSE_MAKEFILE ON)
+
 # Common cmake code applied to all moveit packages
 find_package(moveit_common REQUIRED)
 moveit_package()
@@ -13,7 +15,9 @@ find_package(Eigen3 REQUIRED)
 # Finds Boost Components
 include(ConfigExtras.cmake)
 
+if(NOT MSVC)
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
+endif()
 
 # TODO: Move collision detection into separate packages
 find_package(Bullet 2.87 REQUIRED)
@@ -25,6 +29,26 @@ pkg_check_modules(LIBFCL REQUIRED "fcl>=0.5.0")
 find_library(LIBFCL_LIBRARIES_FULL ${LIBFCL_LIBRARIES} ${LIBFCL_LIBRARY_DIRS})
 set(LIBFCL_LIBRARIES "${LIBFCL_LIBRARIES_FULL}")
 
+if(WIN32)
+pkg_check_modules(LIBCCD REQUIRED ccd)
+find_library(LIBCCD_LIBRARIES_FULL ${LIBCCD_LIBRARIES} ${LIBCCD_LIBRARY_DIRS})
+set(LIBCCD_LIBRARIES "${LIBCCD_LIBRARIES_FULL}")
+endif()
+
+find_package(ASSIMP QUIET)
+if(NOT ASSIMP_FOUND)
+  find_package(PkgConfig REQUIRED)
+  # assimp is required, so REQUIRE the second attempt
+  pkg_check_modules(ASSIMP_PC REQUIRED assimp)
+  set(ASSIMP_INCLUDE_DIRS ${ASSIMP_PC_INCLUDE_DIRS})
+endif()
+
+# find *absolute* paths to ASSIMP_LIBRARIES
+# Both, pkg-config and assimp's cmake-config don't provide an absolute library path.
+# For, pkg-config the path is in ASSIMP_PC_LIBRARY_DIRS, for cmake in ASSIMP_LIBRARY_DIRS.
+find_library(ASSIMP_ABS_LIBRARIES NAMES ${ASSIMP_LIBRARIES} assimp HINTS ${ASSIMP_LIBRARY_DIRS} ${ASSIMP_PC_LIBRARY_DIRS})
+set(ASSIMP_LIBRARIES "${ASSIMP_ABS_LIBRARIES}")
+
 find_package(angles REQUIRED)
 find_package(OCTOMAP REQUIRED)
 find_package(urdfdom REQUIRED)

moveit_core/ConfigExtras.cmake

@@ -2,7 +2,7 @@
 
 # boost::iostreams on Windows depends on boost::zlib
 if(WIN32)
-  set(EXTRA_BOOST_COMPONENTS zlib)
+#  set(EXTRA_BOOST_COMPONENTS zlib)
 endif()
 find_package(Boost REQUIRED
   chrono

moveit_core/background_processing/CMakeLists.txt

@@ -2,6 +2,7 @@ set(MOVEIT_LIB_NAME moveit_background_processing)
 
 add_library(${MOVEIT_LIB_NAME} SHARED src/background_processing.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   Boost
   rclcpp

moveit_core/collision_detection/CMakeLists.txt

@@ -12,6 +12,14 @@ add_library(${MOVEIT_LIB_NAME} SHARED
 )
 
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME}
+  PRIVATE "COLLISION_DETECTION_BUILDING_LIBRARY")
+
+
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
   rmw_implementation

moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h

@@ -38,6 +38,7 @@
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection/allvalid/collision_env_allvalid.h>
+#include <moveit/collision_detection/visibility_control.hpp>
 
 namespace collision_detection
 {
@@ -46,6 +47,6 @@ class CollisionDetectorAllocatorAllValid
   : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid>
 {
 public:
-  static const std::string NAME;  // defined in collision_env_allvalid.cpp
+  COLLISION_DETECTION_PUBLIC static const std::string NAME;  // defined in collision_env_allvalid.cpp
 };
 }  // namespace collision_detection

moveit_core/collision_detection/include/moveit/collision_detection/collision_plugin.h

@@ -37,6 +37,7 @@
 #include <moveit/macros/class_forward.h>
 #include <moveit/collision_detection/collision_env.h>
 #include <moveit/planning_scene/planning_scene.h>
+#include <moveit/collision_detection/visibility_control.hpp>
 
 namespace collision_detection
 {

moveit_core/collision_detection/include/moveit/collision_detection/visibility_control.hpp

@@ -0,0 +1,70 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef COLLISION_DETECTION__VISIBILITY_CONTROL_HPP_
+#define COLLISION_DETECTION__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define COLLISION_DETECTION_EXPORT __attribute__ ((dllexport))
+    #define COLLISION_DETECTION_IMPORT __attribute__ ((dllimport))
+  #else
+    #define COLLISION_DETECTION_EXPORT __declspec(dllexport)
+    #define COLLISION_DETECTION_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef COLLISION_DETECTION_BUILDING_LIBRARY
+    #define COLLISION_DETECTION_PUBLIC COLLISION_DETECTION_EXPORT
+  #else
+    #define COLLISION_DETECTION_PUBLIC COLLISION_DETECTION_IMPORT
+  #endif
+  #define COLLISION_DETECTION_PUBLIC_TYPE COLLISION_DETECTION_PUBLIC
+  #define COLLISION_DETECTION_LOCAL
+#else
+  #define COLLISION_DETECTION_EXPORT __attribute__ ((visibility("default")))
+  #define COLLISION_DETECTION_IMPORT
+  #if __GNUC__ >= 4
+    #define COLLISION_DETECTION_PUBLIC __attribute__ ((visibility("default")))
+    #define COLLISION_DETECTION_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define COLLISION_DETECTION_PUBLIC
+    #define COLLISION_DETECTION_LOCAL
+  #endif
+  #define COLLISION_DETECTION_PUBLIC_TYPE
+#endif
+
+#endif  // COLLISION_DETECTION__VISIBILITY_CONTROL_HPP_

moveit_core/collision_detection_bullet/CMakeLists.txt

@@ -10,6 +10,7 @@ add_library(${MOVEIT_LIB_NAME}
   src/bullet_integration/ros_bullet_utils.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
@@ -58,16 +59,25 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_bullet_collision_detection test/test_bullet_collision_detection_pr2.cpp)
   target_link_libraries(test_bullet_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})
-  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_bullet_collision_detection PRIVATE -Wno-deprecated-declarations)
+
+  if(NOT WIN32)
+    # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+    target_compile_options(test_bullet_collision_detection PRIVATE -Wno-deprecated-declarations)
+  endif()
 
   ament_add_gtest(test_bullet_collision_detection_panda test/test_bullet_collision_detection_panda.cpp)
   target_link_libraries(test_bullet_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME})
-  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_bullet_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+
+  if(NOT WIN32)
+    # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+    target_compile_options(test_bullet_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+  endif()
 
   ament_add_gtest(test_bullet_continuous_collision_checking test/test_bullet_continuous_collision_checking.cpp)
   target_link_libraries(test_bullet_continuous_collision_checking moveit_test_utils ${MOVEIT_LIB_NAME})
-  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_bullet_continuous_collision_checking PRIVATE -Wno-deprecated-declarations)
+
+  if(NOT WIN32)
+    # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+    target_compile_options(test_bullet_continuous_collision_checking PRIVATE -Wno-deprecated-declarations)
+  endif()
 endif()

moveit_core/collision_detection_fcl/CMakeLists.txt

@@ -5,22 +5,36 @@ add_library(${MOVEIT_LIB_NAME} SHARED
   src/collision_env_fcl.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
   rmw_implementation
   urdf
   urdfdom
   urdfdom_headers
   LIBFCL
+  LIBCCD
   Boost
   visualization_msgs
 )
 target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_collision_detection
 )
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME}
+  PRIVATE "COLLISION_DETECTION_FCL_BUILDING_LIBRARY")
+
 add_library(collision_detector_fcl_plugin SHARED src/collision_detector_fcl_plugin_loader.cpp)
 set_target_properties(collision_detector_fcl_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+set_target_properties(collision_detector_fcl_plugin PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(collision_detector_fcl_plugin
+  PRIVATE "COLLISION_DETECTION_FCL_PLUGIN_BUILDING_LIBRARY")
+
+
 ament_target_dependencies(collision_detector_fcl_plugin
   rclcpp
   urdf
@@ -47,11 +61,16 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection_pr2.cpp)
   target_link_libraries(test_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})
-  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_fcl_collision_detection PRIVATE -Wno-deprecated-declarations)
+  if (NOT WIN32)  
+    # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+    target_compile_options(test_fcl_collision_detection PRIVATE -Wno-deprecated-declarations)
+  endif()
 
   ament_add_gtest(test_fcl_collision_detection_panda test/test_fcl_collision_detection_panda.cpp)
   target_link_libraries(test_fcl_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME})
-  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_fcl_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+
+  if (NOT WIN32)  
+    # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+    target_compile_options(test_fcl_collision_detection PRIVATE -Wno-deprecated-declarations)
+  endif()
 endif()

moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h

@@ -41,6 +41,7 @@
 #include <moveit/macros/class_forward.h>
 #include <moveit/collision_detection_fcl/fcl_compat.h>
 #include <geometric_shapes/check_isometry.h>
+#include <moveit/collision_detection_fcl/visibility_control.hpp>
 
 #if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
 #include <fcl/broadphase/broadphase_collision_manager.h>

moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h

@@ -38,11 +38,12 @@
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection_fcl/collision_env_fcl.h>
+#include <moveit/collision_detection_fcl/visibility_control.hpp>
 
 namespace collision_detection
 {
 /** \brief An allocator for FCL collision detectors */
-class CollisionDetectorAllocatorFCL
+class COLLISION_DETECTION_FCL_PUBLIC CollisionDetectorAllocatorFCL
   : public CollisionDetectorAllocatorTemplate<CollisionEnvFCL, CollisionDetectorAllocatorFCL>
 {
 public:

moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h

@@ -38,10 +38,11 @@
 
 #include <moveit/collision_detection/collision_plugin.h>
 #include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
+#include <moveit/collision_detection_fcl/visibility_control.hpp>
 
 namespace collision_detection
 {
-class CollisionDetectorFCLPluginLoader : public CollisionPlugin
+class COLLISION_DETECTION_FCL_PLUGIN_PUBLIC CollisionDetectorFCLPluginLoader : public CollisionPlugin
 {
 public:
   bool initialize(const planning_scene::PlanningScenePtr& scene) const override;