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Enable RSS build with CARLA 0.9.15

This commit is contained in:
Fabian Oboril 2023-11-14 11:22:08 +01:00 committed by Blyron
parent 603633c08f
commit 0ac122b699
3 changed files with 20 additions and 13 deletions
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8
LibCarla/cmake/client/CMakeLists.txt
View File

@ -21,6 +21,14 @@ if (BUILD_RSS_VARIANT)
install(FILES ${spdlog_file} DESTINATION lib)
list(APPEND ADRSS_LIBS ${spdlog_file})
set(proj_include_dir ${ADRSS_INSTALL_DIR}/../../proj-install/include)
set(proj_lib ${ADRSS_INSTALL_DIR}/../../proj-install/lib/libproj.a)
install(DIRECTORY ${proj_include_dir} DESTINATION include/system)
list(APPEND ADRSS_INCLUDE_DIRS ${proj_include_dir})
install(FILES ${proj_lib} DESTINATION lib)
list(APPEND ADRSS_LIBS ${proj_lib})
foreach(ad_lib ad_physics ad_rss ad_map_access ad_map_opendrive_reader ad_rss_map_integration)
set(${ad_lib}_file ${ADRSS_INSTALL_DIR}/${ad_lib}/lib/lib${ad_lib}.a)
install(FILES ${${ad_lib}_file} DESTINATION lib)

23
Util/BuildTools/Ad-rss.sh
View File

@ -29,7 +29,7 @@ IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
# -- Get ad-rss -------------------------------------------
# ==============================================================================
ADRSS_VERSION=4.4.3
ADRSS_VERSION=4.5.3
ADRSS_BASENAME=ad-rss-${ADRSS_VERSION}
ADRSS_COLCON_WORKSPACE="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}"
ADRSS_SRC_DIR="${ADRSS_COLCON_WORKSPACE}/src"
@ -40,10 +40,12 @@ if [[ ! -d "${ADRSS_SRC_DIR}" ]]; then
mkdir -p "${ADRSS_SRC_DIR}"
# clone ad-rss with all submodules, but remove proj, as CARLA already uses it
pushd "${ADRSS_SRC_DIR}" >/dev/null
git clone --depth=1 -b v1.7.0 https://github.com/gabime/spdlog.git
git clone --depth=1 -b v2.4.5_hotfix https://github.com/carla-simulator/map.git
git clone --depth=1 -b v${ADRSS_VERSION} https://github.com/intel/ad-rss-lib.git
git clone -b v${ADRSS_VERSION} https://github.com/intel/ad-rss-lib.git && cd ad-rss-lib && git submodule update --init --recursive && rm -rf dependencies/map/dependencies/PROJ4 && cd ..
# ADRSS_VERSION is designed for older boost, update datatype from boost::array to std::array
grep -rl "boost::array" | xargs sed -i 's/boost::array/std::array/g'
popd
cat >"${ADRSS_COLCON_WORKSPACE}/colcon.meta" <<EOL
@ -56,7 +58,8 @@ if [[ ! -d "${ADRSS_SRC_DIR}" ]]; then
"cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
},
"ad_map_opendrive_reader": {
"cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
"cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"],
"dependencies": ["odrSpiral"]
},
"ad_rss": {
"cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
@ -99,15 +102,11 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
log "Building ${ADRSS_BASENAME} for python${PY_VERSION}"
pushd "${ADRSS_COLCON_WORKSPACE}" >/dev/null
if [ "${CMAKE_PREFIX_PATH}" == "" ]; then
CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.72.0-c$CARLA_LLVM_VERSION_MAJOR-install;${CARLA_BUILD_FOLDER}/proj-install"
else
CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH};${CARLA_BUILD_FOLDER}/boost-1.72.0-c$CARLA_LLVM_VERSION_MAJOR-install;${CARLA_BUILD_FOLDER}/proj-install"
fi
CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH};${CARLA_BUILD_FOLDER}/boost-1.80.0-c$CARLA_LLVM_VERSION_MAJOR-install;${CARLA_BUILD_FOLDER}/proj-install"
# get the python version of the binding to be built
PYTHON_VERSION=$(/usr/bin/env python${PY_VERSION} -V 2>&1)
PYTHON_BINDING_VERSIONS=${PYTHON_VERSION:7:3}
PYTHON_VERSION=3
PYTHON_BINDING_VERSIONS=${PYTHON_VERSION:8}
echo "PYTHON_BINDING_VERSIONS=${PYTHON_BINDING_VERSIONS}"
# enforce sequential executor to reduce the required memory for compilation

2
Util/BuildTools/BuildLibCarla.sh
View File

@ -146,7 +146,7 @@ function build_libcarla {
M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
M_BUILD_FOLDER=${LIBCARLA_BUILD_CLIENT_FOLDER}.rss.$(echo "$2" | tr '[:upper:]' '[:lower:]')
M_INSTALL_FOLDER=${LIBCARLA_INSTALL_CLIENT_FOLDER}
CMAKE_EXTRA_OPTIONS="${CMAKE_EXTRA_OPTIONS:+${CMAKE_EXTRA_OPTIONS} }-DBUILD_RSS_VARIANT=ON -DADRSS_INSTALL_DIR=${CARLA_BUILD_FOLDER}/ad-rss-4.4.3/install"
CMAKE_EXTRA_OPTIONS="${CMAKE_EXTRA_OPTIONS:+${CMAKE_EXTRA_OPTIONS} }-DBUILD_RSS_VARIANT=ON -DADRSS_INSTALL_DIR=${CARLA_BUILD_FOLDER}/ad-rss-4.5.3/install"
else
fatal_error "Invalid build configuration \"$1\""
fi