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SteveMacenski / spatio_temporal_voxel_layer

A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations
http://wiki.ros.org/spatio_temporal_voxel_layer
GNU Lesser General Public License v2.1
644 stars 189 forks source link

Fix arm64 build #303

Closed Rayman closed 2 months ago

Rayman commented 2 months ago

The cmake module was located in another folder.

Timple commented 2 months ago

That actually does make a lot of sense!

I was under the (wrong) impression that openvdb wasn't apt installable there...

SteveMacenski commented 2 months ago

I'm backporting and releasing jazzy again

Rayman commented 2 months ago

@tfoote can you give me some pointers on which conditions this should be enabled.

Alternatively, what about searching for OpenVDBConfig.cmake in all paths under /usr and adding the parent folder?

tfoote commented 2 months ago

In this case you should only be appending the path for the current architecture. Right now you're appending the path for both architectures, which probably will be ok, but could give some very weird errors if someone happens to be doing some multi-arch builds and it picks up the wrong architecture from their system.

I don't have the exact commands but GNUInstallDirs is commonly used for picking the installation targets like this: https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html#result-variables so I presume it should be able to help set the search path.

Otherwise you could simply check the arch in your CMake manually and then extend the CMAKE_MODULE_PATH conditionally.

SteveMacenski commented 2 months ago

Good idea.

Otherwise you could simply check the arch in your CMake manually and then extend the CMAKE_MODULE_PATH conditionally.

Do you have an example of best practices for this? I see ways of doing it with CMAKE_SYSTEM_PROCESSOR which seems a little fragile since its OS dependent, 32/64 bit dependent, and even Linux flavor dependent. If that's SOP, I'll do that, but otherwise I'd love to know if there's a better solution that some ROS core packages currently leverage

Rayman commented 2 months ago

In the cmake these variables are available that could be of use:

-- CMAKE_CXX_LIBRARY_ARCHITECTURE=x86_64-linux-gnu
-- CMAKE_C_IMPLICIT_LINK_DIRECTORIES=/usr/lib/gcc/x86_64-linux-gnu/13;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib
-- CMAKE_C_LIBRARY_ARCHITECTURE=x86_64-linux-gnu
-- CMAKE_LIBRARY_ARCHITECTURE=x86_64-linux-gnu

A solution could be to append /usr/lib/${CMAKE_LIBRARY_ARCHITECTURE}/cmake/OpenVDB?