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carla
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Fix build of RSS version with python 3.10 and Ubuntu 22.04

This commit is contained in:
Bernd Gassmann 2023-11-16 16:03:58 +01:00 committed by Blyron
parent f64c09e2f6
commit 800b394d2a
4 changed files with 29 additions and 14 deletions
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4
LibCarla/cmake/client/CMakeLists.txt
View File

@ -28,6 +28,10 @@ if (BUILD_RSS_VARIANT)
install(FILES ${proj_lib} DESTINATION lib)
list(APPEND ADRSS_LIBS ${proj_lib})
# as long as the libosm2dr uses the same odrSprial interface it is enough to copy the built static library
set(odr_lib ${ADRSS_INSTALL_DIR}/../src/ad-rss-lib/dependencies/map/dependencies/odrSpiral/lib/libodrSpiral.a)
install(FILES ${odr_lib} DESTINATION lib)
list(APPEND ADRSS_LIBS ${odr_lib})
foreach(ad_lib ad_physics ad_rss ad_map_access ad_map_opendrive_reader ad_rss_map_integration)
set(${ad_lib}_file ${ADRSS_INSTALL_DIR}/${ad_lib}/lib/lib${ad_lib}.a)

3
PythonAPI/carla/setup.py
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@ -55,7 +55,7 @@ def get_libcarla_extensions():
os.path.join(pwd, 'dependencies/lib/libxerces-c.a')]
extra_link_args += ['-lz']
extra_compile_args = [
'-isystem', 'dependencies/include/system', '-fPIC', '-std=c++14',
'-isystem', os.path.join(pwd, 'dependencies/include/system'), '-fPIC', '-std=c++14',
'-Werror', '-Wall', '-Wextra', '-Wpedantic', '-Wno-self-assign-overloaded',
'-Wdeprecated', '-Wno-shadow', '-Wuninitialized', '-Wunreachable-code',
'-Wpessimizing-move', '-Wold-style-cast', '-Wnull-dereference',
@ -77,6 +77,7 @@ def get_libcarla_extensions():
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libad_physics.a')]
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libad_map_opendrive_reader.a')]
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libboost_program_options.a')]
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libodrSpiral.a')]
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libspdlog.a')]
extra_link_args += ['-lrt']
extra_link_args += ['-ltbb']

34
Util/BuildTools/Ad-rss.sh
View File

@ -29,7 +29,7 @@ IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
# -- Get ad-rss -------------------------------------------
# ==============================================================================
ADRSS_VERSION=4.5.3
ADRSS_VERSION=4.4.4
ADRSS_BASENAME=ad-rss-${ADRSS_VERSION}
ADRSS_COLCON_WORKSPACE="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}"
ADRSS_SRC_DIR="${ADRSS_COLCON_WORKSPACE}/src"
@ -46,6 +46,7 @@ if [[ ! -d "${ADRSS_SRC_DIR}" ]]; then
# 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'
grep -rl "find_package(Boost" | xargs sed -i 's/find_package(Boost/find_package(Boost 1.80/g'
popd
cat >"${ADRSS_COLCON_WORKSPACE}/colcon.meta" <<EOL
@ -81,13 +82,16 @@ fi
# ==============================================================================
ADRSS_INSTALL_DIR="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/install"
CARLA_LLVM_VERSION_MAJOR=$(cut -d'.' -f1 <<<"$(clang --version | head -n 1 | sed -r 's/^([^.]+).*$/\1/; s/^[^0-9]*([0-9]+).*$/\1/')")
if [ -z "$CARLA_LLVM_VERSION_MAJOR" ] ; then
fatal_error "Failed to retrieve the installed version of the clang compiler."
else
echo "Using clang-$CARLA_LLVM_VERSION_MAJOR as the CARLA compiler."
fi
# Automation doesn't work if the clang installed within the system is not matching the one that is provided by Unreal
# Setup.sh would have to be adapted to reflect it
# so we need to change
#CARLA_LLVM_VERSION_MAJOR=$(cut -d'.' -f1 <<<"$(clang --version | head -n 1 | sed -r 's/^([^.]+).*$/\1/; s/^[^0-9]*([0-9]+).*$/\1/')")
#if [ -z "$CARLA_LLVM_VERSION_MAJOR" ] ; then
# fatal_error "Failed to retrieve the installed version of the clang compiler."
#else
# echo "Using clang-$CARLA_LLVM_VERSION_MAJOR as the CARLA compiler."
#fi
CXX_TAG=c10
#
# Since it it not possible with boost-python to build more than one python version at once (find_package has some bugs)
@ -102,11 +106,17 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
log "Building ${ADRSS_BASENAME} for python${PY_VERSION}"
pushd "${ADRSS_COLCON_WORKSPACE}" >/dev/null
CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH};${CARLA_BUILD_FOLDER}/boost-1.80.0-c$CARLA_LLVM_VERSION_MAJOR-install;${CARLA_BUILD_FOLDER}/proj-install"
if [[ "${CMAKE_PREFIX_PATH}" == "" ]]; then
CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.80.0-$CXX_TAG-install;${CARLA_BUILD_FOLDER}/proj-install"
else
CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.80.0-$CXX_TAG-install;${CARLA_BUILD_FOLDER}/proj-install;${CMAKE_PREFIX_PATH}"
fi
# get the python version of the binding to be built
PYTHON_VERSION=3
PYTHON_BINDING_VERSIONS=${PYTHON_VERSION:8}
# get the python version of the binding to be built, need to query the binary,
# because might be just provided a '3' as PY_VERSION and then the symbolic linked python3 is called
PYTHON_VERSION=$(/usr/bin/env python${PY_VERSION} -V 2>&1)
PYTHON_BINDING_VERSIONS=${PYTHON_VERSION:7}
PYTHON_BINDING_VERSIONS=${PYTHON_BINDING_VERSIONS%.*}
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=${CARLA_BUILD_FOLDER}/ad-rss-4.5.3/install"
CMAKE_EXTRA_OPTIONS="${CMAKE_EXTRA_OPTIONS:+${CMAKE_EXTRA_OPTIONS} }-DBUILD_RSS_VARIANT=ON -DADRSS_INSTALL_DIR=${CARLA_BUILD_FOLDER}/ad-rss-4.4.4/install"
else
fatal_error "Invalid build configuration \"$1\""
fi