search

moveit / srdfdom

Semantic Robot Description Format
BSD 3-Clause "New" or "Revised" License
12 stars 68 forks source link

Fixes for usage on windows #91

Closed Ace314159 closed 3 years ago

Ace314159 commented 3 years ago

I changed 2 things to get this building on Windows and working with MoveIt 2.

  1. There were linking errors of being unable to find the member empty_vector_ when build the tests. This is because the WINDOWS_EXPORT_ALL_SYMBOLS CMake property doesn't work for static variables, so in such cases manual visibility control headers are required.
  2. When building moveit_core, including model.h gave an error of being unable to find tinyxml2.h. I was able to fix this by using ament_export_dependencies
ooeygui commented 3 years ago

This change looks good. We (Azure Edge Robotics) were making an equivalent fix.

ooeygui commented 3 years ago

@Ace314159 In parallel, We are working on MoveIt2 for Windows - https://github.com/ros-planning/moveit2/issues/504.

codecov[bot] commented 3 years ago

Codecov Report

Merging #91 (1e712ba) into ros2 (c6ea3aa) will not change coverage. The diff coverage is n/a.

Impacted file tree graph

@@           Coverage Diff           @@
##             ros2      #91   +/-   ##
=======================================
  Coverage   68.21%   68.21%           
=======================================
  Files           3        3           
  Lines         607      607           
=======================================
  Hits          414      414           
  Misses        193      193
Impacted Files Coverage Δ
include/srdfdom/model.h 100.00% <ø> (ø)

Continue to review full report at Codecov.

Legend - Click here to learn more Δ = absolute <relative> (impact), ø = not affected, ? = missing data Powered by Codecov. Last update c6ea3aa...1e712ba. Read the comment docs.

Ace314159 commented 3 years ago

There was one more change I had to make that I didn't realize. Loading the MoveIt Rviz plugins fails because it is unable to find srdfdom.dll in the path. It seems to only look for it in the bin folder when it is in the lib folder. This last commit installs the dll in the bin folder and that fixes it.

ooeygui commented 3 years ago

@Ace314159 great catch!

ooeygui commented 3 years ago

We have a document on Visibility on Windows: https://aka.ms/ros/visibility. For many cases, the cmake macro for Windows will work; but there are limitations - such as when there is a static export from a class.