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RSS build uses the libproj version from CARLA 

and now favours actually the boost variant from CARLA over the system
installed one
This commit is contained in:
Bernd Gassmann 2021-06-16 17:08:55 +02:00 committed by bernat
parent cdb0318e05
commit 9fe5e733ad
3 changed files with 10 additions and 16 deletions
LibCarla/cmake/client
CMakeLists.txt
PythonAPI/carla
setup.py
Util/BuildTools
Ad-rss.sh

2
LibCarla/cmake/client/CMakeLists.txt
View File

@ -21,8 +21,6 @@ if (BUILD_RSS_VARIANT)
install(FILES ${spdlog_file} DESTINATION lib)
list(APPEND ADRSS_LIBS ${spdlog_file})
install(FILES ${ADRSS_INSTALL_DIR}/PROJ4/lib/libproj.a DESTINATION lib)
foreach(ad_lib ad_physics ad_rss ad_map_access ad_map_opendrive_reader ad_rss_map_integration)
set(${ad_lib}_file ${ADRSS_INSTALL_DIR}/${ad_lib}/lib/lib${ad_lib}.a)
install(FILES ${${ad_lib}_file} DESTINATION lib)

11
PythonAPI/carla/setup.py
View File

@ -52,9 +52,7 @@ def get_libcarla_extensions():
os.path.join(pwd, 'dependencies/lib/libDetour.a'),
os.path.join(pwd, 'dependencies/lib/libDetourCrowd.a'),
os.path.join(pwd, 'dependencies/lib/libosm2odr.a'),
os.path.join(pwd, 'dependencies/lib/libxerces-c.a'),
os.path.join(pwd, 'dependencies/lib/libproj.a'),
os.path.join(pwd, 'dependencies/lib/libsqlite3.a')]
os.path.join(pwd, 'dependencies/lib/libxerces-c.a')]
extra_link_args += ['-lz']
extra_compile_args = [
'-isystem', 'dependencies/include/system', '-fPIC', '-std=c++14',
@ -79,11 +77,14 @@ def get_libcarla_extensions():
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/libspdlog.a')]
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libproj.a')]
extra_link_args += ['-lrt']
extra_link_args += ['-ltbb']
extra_link_args += [os.path.join(pwd, 'dependencies/lib', pylib)]
# libproj, libsqlite and python libs are also required for rss_variant, therefore
# place them after the rss_variant linked libraries
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libproj.a'),
os.path.join(pwd, 'dependencies/lib/libsqlite3.a'),
os.path.join(pwd, 'dependencies/lib', pylib)]
if 'TRAVIS' in os.environ and os.environ['TRAVIS'] == 'true':
print('Travis CI build detected: disabling PNG support.')

13
Util/BuildTools/Ad-rss.sh
View File

@ -42,7 +42,6 @@ if [[ ! -d "${ADRSS_SRC_DIR}" ]]; then
pushd "${ADRSS_SRC_DIR}" >/dev/null
git clone --depth=1 -b v1.7.0 https://github.com/gabime/spdlog.git
git clone --depth=1 -b 4.9.3 https://github.com/OSGeo/PROJ.git
git clone --depth=1 -b v2.3.0 https://github.com/carla-simulator/map.git
git clone --depth=1 -b v${ADRSS_VERSION} https://github.com/intel/ad-rss-lib.git
popd
@ -50,9 +49,6 @@ if [[ ! -d "${ADRSS_SRC_DIR}" ]]; then
cat >"${ADRSS_COLCON_WORKSPACE}/colcon.meta" <<EOL
{
"names": {
"PROJ4": {
"cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_LIBPROJ_SHARED=OFF"]
},
"ad_physics": {
"cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
},
@ -60,8 +56,7 @@ if [[ ! -d "${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"],
"dependencies": ["PROJ4"]
"cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
},
"ad_rss": {
"cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
@ -97,9 +92,9 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
pushd "${ADRSS_COLCON_WORKSPACE}" >/dev/null
if [ "${CMAKE_PREFIX_PATH}" == "" ]; then
export CMAKE_PREFIX_PATH=${CARLA_BUILD_FOLDER}/boost-1.72.0-c8-install
CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.72.0-c8-install;${CARLA_BUILD_FOLDER}/proj-install"
else
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:${CARLA_BUILD_FOLDER}/boost-1.72.0-c8-install
CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH};${CARLA_BUILD_FOLDER}/boost-1.72.0-c8-install;${CARLA_BUILD_FOLDER}/proj-install"
fi
# get the python version of the binding to be built
@ -108,7 +103,7 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
echo "PYTHON_BINDING_VERSIONS=${PYTHON_BINDING_VERSIONS}"
# enforce sequential executor to reduce the required memory for compilation
colcon build --executor sequential --packages-up-to ad_rss_map_integration --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_TOOLCHAIN_FILE="${CARLA_BUILD_FOLDER}/LibStdCppToolChain.cmake" -DPYTHON_BINDING_VERSIONS="${PYTHON_BINDING_VERSIONS}" --build-base ${ADRSS_BUILD_DIR} --install-base ${ADRSS_INSTALL_DIR}
colcon build --executor sequential --packages-up-to ad_rss_map_integration --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_TOOLCHAIN_FILE="${CARLA_BUILD_FOLDER}/LibStdCppToolChain.cmake" -DCMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}" -DPYTHON_BINDING_VERSIONS="${PYTHON_BINDING_VERSIONS}" --build-base ${ADRSS_BUILD_DIR} --install-base ${ADRSS_INSTALL_DIR}
COLCON_RESULT=$?
if (( COLCON_RESULT )); then