ethz-asl / voxblox

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.

BSD 3-Clause "New" or "Revised" License

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Support for ROS1 Noetic #370

Open FullMetalNicky opened 3 years ago

FullMetalNicky commented 3 years ago

As many EU-funded projects now target Ubuntu 20.04, it would be nice if you added support for ROS1 Noetic. I tried building the project according to the instructions here with ROS Noetic. I got an endless list of compilation errors related to PCL in the voxblox_ros package. ROS Noetic uses PCL 1.10 which requires C++14 to compile, so I changed the CMakeLists.txt in voxblox/voxblox_ros:

add_definitions(-std=c++11 -Wall -Wextra)

set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD_REQUIRED ON)

Now the package was built with a warning "Policy CMP0048 is not set: project() command manages VERSION variables.". I have no idea what that means :) I just ran your cow demo and it seems to run correctly.

Should I make a PR? I didn't not thoroughly test the solution....

helenol commented 2 years ago

@FullMetalNicky please make a PR :)

tkazik commented 2 years ago

The following branch contains the minimal fix to compile voxblox_ros under noetic: Link

Some thoughts:

Background: pcl requires C++14
Should we bump the version here as well? (does not seem to be required)
Merging this to master would probably break voxblox_ros for ros versions older than melodic (which are all anyway EOL, ref)

Linking these issues here as well: https://github.com/ethz-asl/voxblox/issues/330, https://github.com/ethz-asl/voxblox/issues/364

alexmillane commented 2 years ago

@tkazik I can confirm that this fixes things on 20.04. We should absolutely merge this to master, however, it would be best not to break 18.04.... Can you get one of your antiquated officemates @clanegge or @michaelpantic to try to build this branch? Otherwise I'lll set up a dockerfile...

clanegge commented 2 years ago

@tkazik I can confirm that this fixes things on 20.04. We should absolutely merge this to master, however, it would be best not to break 18.04.... Can you get one of your antiquated officemates @clanegge or @michaelpantic to try to build this branch? Otherwise I'lll set up a dockerfile...

@alexmillane Just tried it out on my machine running good, old & reliable 18.04. The branch feature/noetic still compiled and I was able to run the basement dataset.

alexmillane commented 2 years ago

Cheers bro. Thanks for testing that :). I'll make a PR from Tim's branch and merge it, as well as ethz-asl/cblox#43 and ethz-asl/voxgraph#57