Fixes for Windows into main (#2603) (#2606)

* Fix nav2_util * Don't include libgen.h on Windows * Replace sleep with Sleep on Windows * Fix rviz plugin Undef NO_ERROR from windows headers * Fix smac_planner * Define _USE_MATH_DEFINES for M_PI * Replace uint with unsigned int * Don't add compiler flags that aren't supported on MSVC * Use vector instead of VLA when building with MSVC * Fix dirname for \ paths * Fix typo * Fix linter (cherry picked from commit 82ce6ca) Co-authored-by: Akash <[email protected]>
ros-navigation · Oct 14, 2021 · f88c467 · f88c467
1 parent 5d23326
commit f88c467
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Showing 8 changed files with 40 additions and 9 deletions.
diff --git a/nav2_map_server/src/map_io.cpp b/nav2_map_server/src/map_io.cpp
@@ -60,6 +60,13 @@ char * dirname(char * path)
     return path;
   }
 
+  /* Replace all "\" with "/" */
+  char * c = path;
+  while (*c != '\0') {
+    if (*c == '\\') {*c = '/';}
+    ++c;
+  }
+
   /* Find last '/'.  */
   last_slash = path != NULL ? strrchr(path, '/') : NULL;
 

diff --git a/nav2_rviz_plugins/include/nav2_rviz_plugins/nav2_panel.hpp b/nav2_rviz_plugins/include/nav2_rviz_plugins/nav2_panel.hpp
@@ -17,6 +17,7 @@
 
 #include <QtWidgets>
 #include <QBasicTimer>
+#undef NO_ERROR
 
 #include <memory>
 #include <string>

diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt
@@ -30,7 +30,11 @@ endif()
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
 
-add_compile_options(-O3 -Wextra -Wdeprecated -fPIC)
+if(MSVC)
+  add_compile_definitions(_USE_MATH_DEFINES)
+else()
+  add_compile_options(-O3 -Wextra -Wdeprecated -fPIC)
+endif()
 
 include_directories(
   include

diff --git a/nav2_smac_planner/src/costmap_downsampler.cpp b/nav2_smac_planner/src/costmap_downsampler.cpp
@@ -90,8 +90,8 @@ nav2_costmap_2d::Costmap2D * CostmapDownsampler::downsample(
   }
 
   // Assign costs
-  for (uint i = 0; i < _downsampled_size_x; ++i) {
-    for (uint j = 0; j < _downsampled_size_y; ++j) {
+  for (unsigned int i = 0; i < _downsampled_size_x; ++i) {
+    for (unsigned int j = 0; j < _downsampled_size_y; ++j) {
       setCostOfCell(i, j);
     }
   }
@@ -130,12 +130,12 @@ void CostmapDownsampler::setCostOfCell(
   unsigned int x_offset = new_mx * _downsampling_factor;
   unsigned int y_offset = new_my * _downsampling_factor;
 
-  for (uint i = 0; i < _downsampling_factor; ++i) {
+  for (unsigned int i = 0; i < _downsampling_factor; ++i) {
     mx = x_offset + i;
     if (mx >= _size_x) {
       continue;
     }
-    for (uint j = 0; j < _downsampling_factor; ++j) {
+    for (unsigned int j = 0; j < _downsampling_factor; ++j) {
       my = y_offset + j;
       if (my >= _size_y) {
         continue;

diff --git a/nav2_smac_planner/test/deprecated/smoother.hpp b/nav2_smac_planner/test/deprecated/smoother.hpp
@@ -105,8 +105,13 @@ class Smoother
   {
     _options.max_solver_time_in_seconds = params.max_time;
 
-    double parameters[path.size() * 2];  // NOLINT
-    for (uint i = 0; i != path.size(); i++) {
+#ifdef _MSC_VER
+    std::vector<double> parameters_vec(path.size() * 2);
+    double * parameters = parameters_vec.data();
+#else
+    double parameters[path.size() * 2];    // NOLINT
+#endif
+    for (unsigned int i = 0; i != path.size(); i++) {
       parameters[2 * i] = path[i][0];
       parameters[2 * i + 1] = path[i][1];
     }
@@ -123,7 +128,7 @@ class Smoother
       return false;
     }
 
-    for (uint i = 0; i != path.size(); i++) {
+    for (unsigned int i = 0; i != path.size(); i++) {
       path[i][0] = parameters[2 * i];
       path[i][1] = parameters[2 * i + 1];
     }

diff --git a/nav2_smac_planner/test/deprecated/smoother_cost_function.hpp b/nav2_smac_planner/test/deprecated/smoother_cost_function.hpp
@@ -122,7 +122,7 @@ class UnconstrainedSmootherCostFunction : public ceres::FirstOrderFunction
     Eigen::Vector2d xi;
     Eigen::Vector2d xi_p1;
     Eigen::Vector2d xi_m1;
-    uint x_index, y_index;
+    unsigned int x_index, y_index;
     cost[0] = 0.0;
     double cost_raw = 0.0;
     double grad_x_raw = 0.0;

diff --git a/nav2_util/src/dump_params.cpp b/nav2_util/src/dump_params.cpp
@@ -12,7 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#ifndef _WIN32
 #include <libgen.h>
+#endif
 
 #include <iomanip>
 #include <iostream>

diff --git a/nav2_util/test/test_lifecycle_cli_node.cpp b/nav2_util/test/test_lifecycle_cli_node.cpp
@@ -23,6 +23,10 @@
 #include "nav2_util/node_thread.hpp"
 #include "rclcpp/rclcpp.hpp"
 
+#ifdef _WIN32
+#include <windows.h>
+#endif
+
 class DummyNode : public nav2_util::LifecycleNode
 {
 public:
@@ -80,7 +84,11 @@ TEST(LifeycleCLI, fails_no_node_name)
   Handle handle;
   auto rc = system("ros2 run nav2_util lifecycle_bringup");
   (void)rc;
+#ifdef _WIN32
+  Sleep(1000);
+#else
   sleep(1);
+#endif
   // check node didn't mode
   EXPECT_EQ(handle.node->activated, false);
   SUCCEED();
@@ -90,7 +98,11 @@ TEST(LifeycleCLI, succeeds_node_name)
 {
   Handle handle;
   auto rc = system("ros2 run nav2_util lifecycle_bringup nav2_test_cli");
+#ifdef _WIN32
+  Sleep(3000);
+#else
   sleep(3);
+#endif
   // check node moved
   (void)rc;
   EXPECT_EQ(handle.node->activated, true);