Fix Windows build (#258)

* Fix Windows build * ID is not a member anymore * Export C++ libController * Fix libController * Update module * Fix controller spawner * Update robot_launch.py
cyberbotics · Jul 30, 2021 · 091357a · 091357a
1 parent dfe630b
commit 091357a
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Showing 4 changed files with 62 additions and 26 deletions.
diff --git a/webots_ros2_driver/CMakeLists.txt b/webots_ros2_driver/CMakeLists.txt
@@ -4,26 +4,6 @@ project(webots_ros2_driver)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-if (UNIX)
-  set(WEBOTS_LIB_BASE webots/lib/linux-gnu)
-endif (UNIX)
-if (WIN32)
-  set(WEBOTS_LIB_BASE webots/lib/msys)
-endif (WIN32)
-if (MSVC)
-  set(WEBOTS_LIB_BASE webots/lib/darwin19)
-endif (MSVC)
-link_directories(${WEBOTS_LIB_BASE})
-set(WEBOTS_LIB
-  ${CMAKE_SHARED_LIBRARY_PREFIX}Controller${CMAKE_SHARED_LIBRARY_SUFFIX}
-  ${CMAKE_SHARED_LIBRARY_PREFIX}CppController${CMAKE_SHARED_LIBRARY_SUFFIX}
-)
-include_directories(
-  include
-  webots/include/c
-  webots/include/cpp
-)
-
 # ROS2 Packages
 find_package(ament_cmake REQUIRED)
 find_package(rosgraph_msgs REQUIRED)
@@ -38,6 +18,52 @@ find_package(webots_ros2_msgs REQUIRED)
 find_package(tinyxml2_vendor REQUIRED)
 find_package(TinyXML2 REQUIRED)
 
+if (UNIX AND NOT APPLE)
+  set(WEBOTS_LIB_BASE webots/lib/linux-gnu)
+endif ()
+if (APPLE)
+  set(WEBOTS_LIB_BASE webots/lib/darwin19)
+endif ()
+if (MSVC OR MSYS OR MINGW OR WIN32)
+  set(WEBOTS_LIB_BASE webots/lib/msys)
+endif ()
+
+include_directories(
+  include
+  webots/include/c
+  webots/include/cpp
+)
+link_directories(${WEBOTS_LIB_BASE})
+
+if (MSVC OR MSYS OR MINGW OR WIN32)
+  # Windows requires the libController C++ part to be compiled.
+  # See more here: https://cyberbotics.com/doc/guide/using-your-ide#visual-studio
+
+  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+  file(GLOB CppController_SRC CONFIGURE_DEPENDS "webots/source/cpp/*.cpp")
+  add_library(
+    CppController
+    SHARED
+    ${CppController_SRC}
+  )
+  target_link_libraries(CppController
+    ${CMAKE_SHARED_LIBRARY_PREFIX}Controller${CMAKE_SHARED_LIBRARY_SUFFIX}
+  )
+  install(TARGETS CppController
+    LIBRARY DESTINATION lib
+  )
+  set(WEBOTS_LIB
+    ${CMAKE_SHARED_LIBRARY_PREFIX}Controller${CMAKE_SHARED_LIBRARY_SUFFIX}
+    CppController
+  )
+  ament_export_libraries(CppController)
+else()
+  set(WEBOTS_LIB
+    ${CMAKE_SHARED_LIBRARY_PREFIX}Controller${CMAKE_SHARED_LIBRARY_SUFFIX}
+    ${CMAKE_SHARED_LIBRARY_PREFIX}CppController${CMAKE_SHARED_LIBRARY_SUFFIX}
+  )
+endif()
+
 add_executable(driver
   src/Driver.cpp
   src/WebotsNode.cpp
@@ -116,6 +142,13 @@ install(
   DIRECTORY ${WEBOTS_LIB_BASE}/
   DESTINATION lib/
 )
+if (MSVC OR MSYS OR MINGW OR WIN32)
+  # Windows requires the library to be placed with executable
+  install(
+    FILES "${WEBOTS_LIB_BASE}/${CMAKE_SHARED_LIBRARY_PREFIX}Controller${CMAKE_SHARED_LIBRARY_SUFFIX}"
+    DESTINATION lib/${PROJECT_NAME}
+  )
+endif()
 
 # Prevent pluginlib from using boost
 target_compile_definitions(driver PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")

diff --git a/webots_ros2_driver/src/plugins/static/Ros2Camera.cpp b/webots_ros2_driver/src/plugins/static/Ros2Camera.cpp
@@ -134,7 +134,6 @@ namespace webots_ros2_driver
       // Object Info -> Detection2D
       vision_msgs::msg::Detection2D detection;
       vision_msgs::msg::ObjectHypothesisWithPose hypothesis;
-      hypothesis.id = std::string(objects[i].model);
       hypothesis.pose.pose.position = position;
       hypothesis.pose.pose.orientation = orientation;
       detection.results.push_back(hypothesis);

diff --git a/webots_ros2_driver/webots b/webots_ros2_driver/webots
diff --git a/webots_ros2_turtlebot/launch/robot_launch.py b/webots_ros2_turtlebot/launch/robot_launch.py
@@ -38,20 +38,24 @@ def generate_launch_description():
         world=PathJoinSubstitution([package_dir, 'worlds', world])
     )
 
+    # TODO: Revert once the https://github.com/ros-controls/ros2_control/pull/444 PR gets into the release
+    controller_manager_timeout = ['--controller-manager-timeout', '50'] if os.name == 'nt' else []
+    controller_manager_prefix = 'python.exe' if os.name == 'nt' else "bash -c 'sleep 10; $0 $@' "
+
     diffdrive_controller_spawner = Node(
         package='controller_manager',
         executable='spawner.py',
         output='screen',
-        prefix="bash -c 'sleep 10; $0 $@' ",
-        arguments=['diffdrive_controller'],
+        prefix=controller_manager_prefix,
+        arguments=['diffdrive_controller'] + controller_manager_timeout,
     )
 
     joint_state_broadcaster_spawner = Node(
         package='controller_manager',
         executable='spawner.py',
         output='screen',
-        prefix="bash -c 'sleep 10; $0 $@' ",
-        arguments=['joint_state_broadcaster'],
+        prefix=controller_manager_prefix,
+        arguments=['joint_state_broadcaster'] + controller_manager_timeout,
     )
 
     turtlebot_driver = Node(