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Beluga to windows as well #123

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Beluga to windows as well #123

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12 changes: 12 additions & 0 deletions shared/patch/ros2-beluga-amcl.win.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
diff --git a/beluga_amcl/CMakeLists.txt b/beluga_amcl/CMakeLists.txt
index 85d042e..dafb64f 100644
--- a/beluga_amcl/CMakeLists.txt
+++ b/beluga_amcl/CMakeLists.txt
@@ -71,6 +71,7 @@ if(NOT PARANOID)
endif()
endforeach()
endif()
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)

add_library(beluga_amcl_ros2_common SHARED)
target_sources(beluga_amcl_ros2_common PRIVATE src/ros2_common.cpp)
18 changes: 18 additions & 0 deletions shared/patch/ros2-beluga-ros.win.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
diff --git a/beluga_ros/CMakeLists.txt b/beluga_ros/CMakeLists.txt
index 212972e..8395c83 100644
--- a/beluga_ros/CMakeLists.txt
+++ b/beluga_ros/CMakeLists.txt
@@ -73,7 +73,12 @@ if(NOT PARANOID)
endforeach()
endif()

-add_library(beluga_ros)
+if(WIN32)
+ add_library(beluga_ros STATIC)
+else()
+ add_library(beluga_ros)
+endif()
+
target_sources(beluga_ros PRIVATE src/amcl.cpp src/ndt_ellipsoid.cpp)
target_include_directories(
beluga_ros PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
13 changes: 13 additions & 0 deletions shared/patch/ros2-beluga.patch
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Original file line number Diff line number Diff line change
Expand Up @@ -51,3 +51,16 @@ index 9d7ad43..5cb6d95 100644
};

/// Implementation detail for the on_motion_fn object.
diff --git a/include/beluga/sensor/ndt_sensor_model.hpp b/include/beluga/sensor/ndt_sensor_model.hpp
index 21d4d6f..35aff49 100644
--- a/include/beluga/sensor/ndt_sensor_model.hpp
+++ b/include/beluga/sensor/ndt_sensor_model.hpp
@@ -271,7 +271,7 @@ NDTMapRepresentationT load_from_hdf5(const std::filesystem::path& path_to_hdf5_f
throw std::invalid_argument(ss.str());
}

- const H5::H5File file(path_to_hdf5_file, H5F_ACC_RDONLY);
+ const H5::H5File file(path_to_hdf5_file.string(), H5F_ACC_RDONLY);
const H5::DataSet means_dataset = file.openDataSet("means");
const H5::DataSet covariances_dataset = file.openDataSet("covariances");
const H5::DataSet resolution_dataset = file.openDataSet("resolution");
7 changes: 5 additions & 2 deletions shared/vinca.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -395,8 +395,6 @@ packages_select_by_deps:
- apex_containers
- apriltag_ros # These packages are currently only build on Linux,; as trying to build them in the past on macos or Windows resulted in errors
- avt_vimba_camera # ships some Linux .so in the repo, so it only supports linux
- beluga_amcl # macOS: libc++ lacks std::execution::sequenced_policy; requested in https://github.com/RoboStack/ros-jazzy/pull/298
- beluga_ros # macOS: libc++ lacks std::execution::sequenced_policy; requested in https://github.com/RoboStack/ros-jazzy/pull/298
- camera_ros # Depends on libcamera that is only available on linux; Depends on libcamera, only available on linux
- can_dbc_parser
- easynav
Expand Down Expand Up @@ -513,6 +511,11 @@ packages_select_by_deps:
- v4l2_camera
- yaets

- if: not osx
then:
- beluga_amcl # macOS: libc++ lacks std::execution::sequenced_policy; requested in https://github.com/RoboStack/ros-jazzy/pull/298
- beluga_ros # macOS: libc++ lacks std::execution::sequenced_policy; requested in https://github.com/RoboStack/ros-jazzy/pull/298

- if: linux and not aarch64
then:
- franka_ros2 # Franka robots support; see PR #338 for macOS/Windows errors
Expand Down