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Compile ROS2 dependencies using Unreal's toolchain (#8401)

This commit is contained in:
joel-mb 2024-11-22 15:05:37 +01:00 committed by GitHub
parent 753bc5f1e6
commit 1dc37692ef
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
52 changed files with 25 additions and 94 deletions
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2
LibCarla/source/carla/ros2/listeners/BasicListener.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "BasicListener.h"
#include <iostream>

1
LibCarla/source/carla/ros2/listeners/BasicListener.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>

2
LibCarla/source/carla/ros2/listeners/CarlaListener.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaListener.h"
#include <iostream>

1
LibCarla/source/carla/ros2/listeners/CarlaListener.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>

2
LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaSubscriberListener.h"
#include <iostream>

1
LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>

2
LibCarla/source/carla/ros2/publishers/BasicPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "BasicPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/BasicPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include "CarlaPublisher.h"

2
LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaClockPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaCollisionPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaDVSCameraPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaDepthCameraPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaGNSSPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>

4
LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaIMUPublisher.h"
#include <string>
@ -175,7 +173,7 @@ namespace ros2 {
geometry_msgs::msg::Quaternion orientation;
const float rx = 0.0f; // pitch
const float ry = (M_PIf32 / 2.0f) - compass; // yaw
const float ry = (float(M_PI_2) / 2.0f) - compass; // yaw
const float rz = 0.0f; // roll
const float cr = cosf(rz * 0.5f);

1
LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>

2
LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaISCameraPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaLidarPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaLineInvasionPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>

2
LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaMapSensorPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>

2
LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaNormalsCameraPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaOpticalFlowCameraPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

1
LibCarla/source/carla/ros2/publishers/CarlaPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <string>

2
LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaRGBCameraPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaRadarPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaSSCameraPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaSemanticLidarPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaSpeedometerSensor.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaTransformPublisher.h"
#include <string>

1
LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/subscribers/BasicSubscriber.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "BasicSubscriber.h"
#include "carla/ros2/types/String.h"

1
LibCarla/source/carla/ros2/subscribers/BasicSubscriber.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

2
LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp
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@ -1,5 +1,3 @@
#define _GLIBCXX_USE_CXX11_ABI 0
#include "CarlaEgoVehicleControlSubscriber.h"
#include "carla/ros2/types/CarlaEgoVehicleControl.h"

1
LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <memory>
#include <vector>

1
LibCarla/source/carla/ros2/subscribers/CarlaSubscriber.h
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@ -3,7 +3,6 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#define _GLIBCXX_USE_CXX11_ABI 0
#include <string>

41
Ros2Native/CMakeLists.txt
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@ -9,24 +9,15 @@ include (ExternalProject)
set (PROJECT_INSTALL_PATH ${CMAKE_CURRENT_BINARY_DIR}/install)
set (PROJECT_CMAKE_FLAGS
-DCMAKE_CXX_COMPILER=${GXX_COMPILER}
-DCMAKE_C_COMPILER=${GCC_COMPILER}
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-DCMAKE_CXX_FLAGS_RELEASE=-D_GLIBCXX_USE_CXX11_ABI=0
-DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
)
ExternalProject_add (
foonathan_memory
URL https://github.com/eProsima/foonathan_memory_vendor/archive/refs/heads/${CARLA_FOONATHAN_MEMORY_VENDOR_TAG}.zip
CMAKE_ARGS ${PROJECT_CMAKE_FLAGS} -DBUILD_SHARED_LIBS=ON -DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON
)
ExternalProject_add (
fastcdr
URL https://github.com/eProsima/Fast-CDR/archive/refs/heads/${CARLA_FASTCDR_TAG}.zip
CMAKE_ARGS ${PROJECT_CMAKE_FLAGS}
CMAKE_ARGS
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
-DBUILD_SHARED_LIBS=ON
-DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON
)
# Note: We are using GIT_REPOSITORY instead URL for fastdds because fastdss contains submodules
@ -35,15 +26,29 @@ ExternalProject_add (
fastdds
GIT_REPOSITORY https://github.com/eProsima/Fast-DDS.git
GIT_TAG ${CARLA_FASTDDS_TAG}
CMAKE_ARGS ${PROJECT_CMAKE_FLAGS} -DTHIRDPARTY_Asio=FORCE -DTHIRDPARTY_TinyXML2=FORCE -DCOMPILE_TOOLS=OFF
DEPENDS foonathan_memory fastcdr
CMAKE_ARGS
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
-DBUILD_SHARED_LIBS=ON
-DBUILD_TESTING=OFF
-DCOMPILE_EXAMPLES=OFF
-DCOMPILE_TOOLS=OFF
-DTHIRDPARTY_Asio=FORCE
-DTHIRDPARTY_fastcdr=FORCE
-DTHIRDPARTY_TinyXML2=FORCE
-DSQLITE3_SUPPORT=OFF
DEPENDS foonathan_memory
)
ExternalProject_Add (
carla-ros2-native-lib
DEPENDS fastdds
SOURCE_DIR ${PROJECT_SOURCE_DIR}/LibCarlaRos2Native
CMAKE_ARGS ${PROJECT_CMAKE_FLAGS}
CMAKE_ARGS
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
)
set (CARLA_PLUGIN_BINARY_PATH ${CMAKE_SOURCE_DIR}/Unreal/CarlaUnreal/Plugins/Carla/Binaries/Linux)

2
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Carla.Build.cs
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@ -176,7 +176,7 @@ public class Carla :
RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfoonathan_memory-0.7.3.so"));
RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastcdr.so"));
RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastcdr.so.1"));
RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastcdr.so.1.1.1"));
RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastcdr.so.1.1.0"));
RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastrtps.so"));
RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastrtps.so.2.11"));
RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastrtps.so.2.11.2"));