Fixes for Windows (moveit#530)

Co-authored-by: JafarAbdi <[email protected]>
Co-authored-by: Nisala Kalupahana <[email protected]>
Co-authored-by: Jorge Nicho <[email protected]>
Co-authored-by: Henning Kayser <[email protected]>
Co-authored-by: Vatan Aksoy Tezer <[email protected]>
Co-authored-by: Tyler Weaver <[email protected]>
Co-authored-by: Lior Lustgarten <[email protected]>

Author: 8 people

moveit_core/CMakeLists.txt

@@ -13,17 +13,17 @@ find_package(Eigen3 REQUIRED)
 # Finds Boost Components
 include(ConfigExtras.cmake)
 
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
-
-find_package(Bullet 2.87 REQUIRED)
-
 find_package(PkgConfig REQUIRED)
-
 pkg_check_modules(LIBFCL REQUIRED "fcl>=0.5.0")
-# replace LIBFCL_LIBRARIES with full path to the library
-find_library(LIBFCL_LIBRARIES_FULL ${LIBFCL_LIBRARIES} ${LIBFCL_LIBRARY_DIRS})
+# replace LIBFCL_LIBRARIES with full paths to the libraries
+set(LIBFCL_LIBRARIES_FULL "")
+foreach(LIBFCL_LIBRARY ${LIBFCL_LIBRARIES})
+  find_library(${LIBFCL_LIBRARY}_LIB ${LIBFCL_LIBRARY} ${LIBFCL_LIBRARY_DIRS})
+  list(APPEND LIBFCL_LIBRARIES_FULL ${${LIBFCL_LIBRARY}_LIB})
+endforeach()
 set(LIBFCL_LIBRARIES "${LIBFCL_LIBRARIES_FULL}")
 
+find_package(Bullet 2.87 REQUIRED)
 find_package(angles REQUIRED)
 find_package(OCTOMAP REQUIRED)
 find_package(urdfdom REQUIRED)

moveit_core/CMakeModules/FindBULLET.cmake

@@ -1,9 +1,5 @@
 # Extras module needed for dependencies to find boost components
 
-# boost::iostreams on Windows depends on boost::zlib
-if(WIN32)
-  set(EXTRA_BOOST_COMPONENTS zlib)
-endif()
 find_package(Boost REQUIRED
   chrono
   date_time
@@ -14,5 +10,4 @@ find_package(Boost REQUIRED
   serialization
   system
   thread
-  ${EXTRA_BOOST_COMPONENTS}
 )

moveit_core/ConfigExtras.cmake

@@ -10,7 +10,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
   src/world_diff.cpp
   src/collision_env.cpp
 )
-
+include(GenerateExportHeader)
+generate_export_header(${MOVEIT_LIB_NAME})
+target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
@@ -51,3 +53,4 @@ if(BUILD_TESTING)
 endif()
 
 install(DIRECTORY include/ DESTINATION include)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)

moveit_core/collision_detection/CMakeLists.txt

@@ -39,10 +39,12 @@
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection/allvalid/collision_env_allvalid.h>
 
+#include "moveit_collision_detection_export.h"
+
 namespace collision_detection
 {
 /** \brief An allocator for AllValid collision detectors */
-class CollisionDetectorAllocatorAllValid
+class MOVEIT_COLLISION_DETECTION_EXPORT CollisionDetectorAllocatorAllValid
   : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid>
 {
 public:

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

@@ -9,6 +9,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
   src/bullet_integration/contact_checker_common.cpp
   src/bullet_integration/ros_bullet_utils.cpp
 )
+include(GenerateExportHeader)
+generate_export_header(${MOVEIT_LIB_NAME})
+target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 ament_target_dependencies(${MOVEIT_LIB_NAME} SYSTEM
   BULLET
@@ -44,6 +47,7 @@ target_link_libraries(collision_detector_bullet_plugin
 )
 
 install(DIRECTORY include/ DESTINATION include)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
 install(TARGETS ${MOVEIT_LIB_NAME} EXPORT ${MOVEIT_LIB_NAME}
   TARGETS collision_detector_bullet_plugin EXPORT collision_detector_bullet_plugin
   LIBRARY DESTINATION lib
@@ -61,15 +65,21 @@ 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(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    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(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    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(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(test_bullet_continuous_collision_checking PRIVATE -Wno-deprecated-declarations)
+  endif()
 endif()

moveit_core/collision_detection_bullet/CMakeLists.txt

@@ -39,10 +39,12 @@
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection_bullet/collision_env_bullet.h>
 
+#include "moveit_collision_detection_bullet_export.h"
+
 namespace collision_detection
 {
 /** \brief An allocator for Bullet collision detectors */
-class CollisionDetectorAllocatorBullet
+class MOVEIT_COLLISION_DETECTION_BULLET_EXPORT CollisionDetectorAllocatorBullet
   : public CollisionDetectorAllocatorTemplate<CollisionEnvBullet, CollisionDetectorAllocatorBullet>
 {
 public:

moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h

@@ -4,6 +4,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
   src/collision_common.cpp
   src/collision_env_fcl.cpp
 )
+include(GenerateExportHeader)
+generate_export_header(${MOVEIT_LIB_NAME})
+target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
@@ -34,6 +37,7 @@ target_link_libraries(collision_detector_fcl_plugin
 )
 
 install(DIRECTORY include/ DESTINATION include)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
 
 if(BUILD_TESTING)
   if(WIN32)
@@ -48,10 +52,14 @@ 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(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    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(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(test_fcl_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+  endif()
 endif()

moveit_core/collision_detection_fcl/CMakeLists.txt

@@ -39,10 +39,12 @@
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection_fcl/collision_env_fcl.h>
 
+#include "moveit_collision_detection_fcl_export.h"
+
 namespace collision_detection
 {
 /** \brief An allocator for FCL collision detectors */
-class CollisionDetectorAllocatorFCL
+class MOVEIT_COLLISION_DETECTION_FCL_EXPORT CollisionDetectorAllocatorFCL
   : public CollisionDetectorAllocatorTemplate<CollisionEnvFCL, CollisionDetectorAllocatorFCL>
 {
 public:

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

@@ -789,6 +789,6 @@ bool PR2ArmIK::checkJointLimits(const double& joint_value, const int& joint_num)
   else
     jv = angles::normalize_angle(joint_value * angle_multipliers_[joint_num]);
 
-  return not(jv < min_angles_[joint_num] || jv > max_angles_[joint_num]);
+  return !(jv < min_angles_[joint_num] || jv > max_angles_[joint_num]);
 }
 }  // namespace pr2_arm_kinematics