Add builds for EasyNav + NavMap + PlanSys2 #260
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@@ -42,6 +42,15 @@ pcl_conversions: | |
| add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"] | ||
| pcl_ros: | ||
| add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"] | ||
| easynav_bonxai_maps_manager: | ||
| # robostack-jazzy's already-published pcl_ros requires the newer eigen-abi | ||
| # package (>=5.0.1.80); pin eigen-abi-devel so this package resolves it too. | ||
| add_host: ["eigen-abi-devel"] | ||
| easynav_octomap_maps_manager: | ||
| # "octomap" isn't auto-resolved from rosdep for this package (same gap as | ||
| # geometric_shapes below); without it CMake fails to find octomapConfig.cmake. | ||
| add_host: ["octomap"] | ||
| add_run: ["octomap"] | ||
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Member
There was a problem hiding this comment. Similar to https://github.com/RoboStack/ros-jazzy/pull/260/changes#r3773763070, this is actully fixed in 0.4.2 by adding the correct dep key in package.xml, can we add a comment saying that this can be dropped once we have easynav_octomap_maps_manager ? |
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| rviz_rendering: | ||
| add_host: ["glew"] | ||
| behaviortree_cpp: | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| diff --git a/CMakeLists.txt b/CMakeLists.txt | ||
| index 3f6c3f0..4b2c4d4 100644 | ||
| --- a/CMakeLists.txt | ||
| +++ b/CMakeLists.txt | ||
| @@ -1,6 +1,27 @@ | ||
| cmake_minimum_required(VERSION 3.10) | ||
| project(navmap_ros) | ||
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| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() | ||
| + | ||
| +# Avoid leaking system Eigen (e.g. /usr/include/eigen3) into exported include | ||
| +# directories through PCL. | ||
| +set(_eigen_prefix "") | ||
| +if(DEFINED ENV{PREFIX}) | ||
| + set(_eigen_prefix "$ENV{PREFIX}") | ||
| +elseif(DEFINED ENV{CONDA_PREFIX}) | ||
| + set(_eigen_prefix "$ENV{CONDA_PREFIX}") | ||
| +endif() | ||
| +if(_eigen_prefix) | ||
| + set(Eigen3_DIR "${_eigen_prefix}/share/eigen3/cmake" CACHE PATH "" FORCE) | ||
| + set(EIGEN3_INCLUDE_DIR "${_eigen_prefix}/include/eigen3" CACHE PATH "" FORCE) | ||
| + set(EIGEN3_INCLUDE_DIRS "${_eigen_prefix}/include/eigen3" CACHE PATH "" FORCE) | ||
| +endif() | ||
| +find_package(Eigen3 CONFIG QUIET) | ||
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| set(CMAKE_CXX_STANDARD 23) | ||
| set(CMAKE_CXX_STANDARD_REQUIRED ON) | ||
| @@ -15,7 +36,18 @@ find_package(navmap_ros_interfaces REQUIRED) | ||
| find_package(geometry_msgs REQUIRED) | ||
| find_package(nav_msgs REQUIRED) | ||
| find_package(sensor_msgs REQUIRED) | ||
| find_package(std_srvs REQUIRED) | ||
| find_package(PCL REQUIRED COMPONENTS common io kdtree search) | ||
| + | ||
| +# PCLConfig.cmake may inject system Eigen include paths; filter them out to | ||
| +# prevent mixing system Eigen with the conda/pixi Eigen. | ||
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Member
There was a problem hiding this comment. I disagree with this comment. conda-forge's PCL build should never leak any system eigen3, unless there is something wrong somewhere. Can you please report the error you get if this patch is not here? |
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| if(PCL_INCLUDE_DIRS) | ||
| # Be permissive: the entry may have a trailing slash or whitespace depending | ||
| # on how PCL was configured. | ||
| list(FILTER PCL_INCLUDE_DIRS EXCLUDE REGEX "/usr/include/eigen3") | ||
| endif() | ||
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| +if(EIGEN3_INCLUDE_DIRS AND PCL_INCLUDE_DIRS) | ||
| + list(FIND PCL_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIRS}" _eigen_idx) | ||
| + if(_eigen_idx EQUAL -1) | ||
| + list(APPEND PCL_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIRS}") | ||
| + endif() | ||
| +endif() | ||
| + | ||
| find_package(pcl_conversions REQUIRED) | ||
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| add_library(${PROJECT_NAME} SHARED | ||
| src/${PROJECT_NAME}/conversions.cpp | ||
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This is strange,
eigen-abi-develshould already end up in host thanks to the eigen's package.xml dep of easynav_bonxai_maps_manager, see https://github.com/RoboStack/ros-jazzy/blob/main/robostack.yaml#L83-L84 . I guess this is necessary only we are trying to package easynav_boxmai_maps_manager 0.4.0 here, while 0.4.2 has the right fix (i.e. EasyNavigation/easynav_plugins@0b95273)?Can we add a comment here writing that we can drop this once easynav_bonxai_maps_manager is updated to the version 0.4.2 ?