Fixes for Windows into ros2

CMakeLists.txt

@@ -134,33 +134,54 @@ target_link_libraries(ceres_solver_plugin ${CERES_LIBRARIES}
 rosidl_target_interfaces(ceres_solver_plugin ${PROJECT_NAME} "rosidl_typesupport_cpp")
 pluginlib_export_plugin_description_file(slam_toolbox solver_plugins.xml)
 
+if(MSVC)
+  add_compile_definitions(_USE_MATH_DEFINES)
+endif()
+
 #### Tool lib for mapping
 add_library(toolbox_common src/slam_toolbox_common.cpp src/map_saver.cpp src/loop_closure_assistant.cpp src/laser_utils.cpp src/slam_mapper.cpp)
 ament_target_dependencies(toolbox_common
   ${dependencies}
 )
 target_link_libraries(toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
+set_target_properties(toolbox_common PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
 rosidl_target_interfaces(toolbox_common ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
 #### Mapping executibles
 add_library(async_slam_toolbox src/slam_toolbox_async.cpp)
+set_target_properties(async_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
 target_link_libraries(async_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
 add_executable(async_slam_toolbox_node src/slam_toolbox_async_node.cpp)
+if(MSVC)
+  target_compile_options(async_slam_toolbox_node PRIVATE "/F 40000000")
+endif()
 target_link_libraries(async_slam_toolbox_node async_slam_toolbox)
 
 add_library(sync_slam_toolbox src/slam_toolbox_sync.cpp)
+set_target_properties(sync_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
 target_link_libraries(sync_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
 add_executable(sync_slam_toolbox_node src/slam_toolbox_sync_node.cpp)
+if(MSVC)
+  target_compile_options(sync_slam_toolbox_node PRIVATE "/F 40000000")
+endif()
 target_link_libraries(sync_slam_toolbox_node sync_slam_toolbox)
 
 add_library(localization_slam_toolbox src/slam_toolbox_localization.cpp)
+set_target_properties(localization_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
 target_link_libraries(localization_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
 add_executable(localization_slam_toolbox_node src/slam_toolbox_localization_node.cpp)
+if(MSVC)
+  target_compile_options(localization_slam_toolbox_node PRIVATE "/F 40000000")
+endif()
 target_link_libraries(localization_slam_toolbox_node localization_slam_toolbox)
 
 add_library(lifelong_slam_toolbox src/experimental/slam_toolbox_lifelong.cpp)
+set_target_properties(lifelong_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
 target_link_libraries(lifelong_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
 add_executable(lifelong_slam_toolbox_node src/experimental/slam_toolbox_lifelong_node.cpp)
+if(MSVC)
+  target_compile_options(lifelong_slam_toolbox_node PRIVATE "/F 40000000")
+endif()
 target_link_libraries(lifelong_slam_toolbox_node lifelong_slam_toolbox)
 
 #### Merging maps tool

include/slam_toolbox/merge_maps_kinematic.hpp

@@ -21,7 +21,9 @@
 
 #include <thread>
 #include <sys/stat.h>
+#ifndef _WIN32
 #include <unistd.h>
+#endif
 #include <string>
 #include <map>
 #include <memory>

include/slam_toolbox/slam_toolbox_common.hpp

@@ -19,7 +19,9 @@
 #ifndef SLAM_TOOLBOX__SLAM_TOOLBOX_COMMON_HPP_
 #define SLAM_TOOLBOX__SLAM_TOOLBOX_COMMON_HPP_
 
+#ifndef _WIN32
 #include <sys/resource.h>
+#endif
 #include <boost/thread.hpp>
 #include <string>
 #include <map>

lib/karto_sdk/CMakeLists.txt

@@ -5,7 +5,9 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 set(CMAKE_BUILD_TYPE Release) #None, Debug, Release, RelWithDebInfo, MinSizeRel
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-backtrace-limit=0")
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-backtrace-limit=0")
+endif()
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
 
 find_package(ament_cmake REQUIRED)
@@ -29,6 +31,7 @@ add_definitions(${EIGEN3_DEFINITIONS})
 
 include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
 add_library(kartoSlamToolbox SHARED src/Karto.cpp src/Mapper.cpp)
+target_compile_definitions(kartoSlamToolbox PRIVATE KARTO_DYNAMIC)
 ament_target_dependencies(kartoSlamToolbox ${dependencies})
 target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} ${TBB_LIBRARIES})
 

lib/karto_sdk/src/Mapper.cpp

@@ -405,7 +405,7 @@ void MapperSensorManager::SetRunningScanBufferSize(kt_int32u rScanBufferSize)
   m_RunningBufferMaximumSize = rScanBufferSize;
 
   std::vector<Name> names = GetSensorNames();
-  for (uint i = 0; i != names.size(); i++) {
+  for (unsigned int i = 0; i != names.size(); i++) {
     GetScanManager(names[i])->SetRunningScanBufferSize(rScanBufferSize);
   }
 }
@@ -415,7 +415,7 @@ void MapperSensorManager::SetRunningScanBufferMaximumDistance(kt_double rScanBuf
   m_RunningBufferMaximumDistance = rScanBufferMaxDistance;
 
   std::vector<Name> names = GetSensorNames();
-  for (uint i = 0; i != names.size(); i++) {
+  for (unsigned int i = 0; i != names.size(); i++) {
     GetScanManager(names[i])->SetRunningScanBufferMaximumDistance(rScanBufferMaxDistance);
   }
 }
@@ -1867,7 +1867,7 @@ std::vector<Vertex<LocalizedRangeScan> *> MapperGraph::FindNearByVertices(
 
   std::vector<Vertex<LocalizedRangeScan> *> rtn_vertices;
   rtn_vertices.reserve(ret_matches.size());
-  for (uint i = 0; i != ret_matches.size(); i++) {
+  for (unsigned int i = 0; i != ret_matches.size(); i++) {
     rtn_vertices.push_back(vertices_to_search[ret_matches[i].first]);
   }
   return rtn_vertices;
@@ -2941,7 +2941,7 @@ void Mapper::ClearLocalizationBuffer()
   }
 
   std::vector<Name> names = m_pMapperSensorManager->GetSensorNames();
-  for (uint i = 0; i != names.size(); i++)
+  for (unsigned int i = 0; i != names.size(); i++)
   {
     m_pMapperSensorManager->ClearRunningScans(names[i]);
     m_pMapperSensorManager->ClearLastScan(names[i]);

rviz_plugin/slam_toolbox_rviz_plugin.hpp

@@ -32,6 +32,7 @@
 #include <QLabel>
 #include <QFrame>
 #include <QRadioButton>
+#undef NO_ERROR
 // STL
 #include <thread>
 #include <chrono>

src/experimental/slam_toolbox_lifelong_node.cpp

@@ -29,6 +29,9 @@ int main(int argc, char ** argv)
     auto temp_node = std::make_shared<rclcpp::Node>("slam_toolbox");
     temp_node->declare_parameter("stack_size_to_use",rclcpp::ParameterType::PARAMETER_INTEGER);
     if (temp_node->get_parameter("stack_size_to_use", stack_size)) {
+#ifdef _WIN32
+      RCLCPP_WARN(temp_node->get_logger(), "Can't dynamically change stack size on Windows. Node using stack size 40000000");
+#else
       RCLCPP_INFO(temp_node->get_logger(), "Node using stack size %i", (int)stack_size);
       const rlim_t max_stack_size = stack_size;
       struct rlimit stack_limit;
@@ -37,6 +40,7 @@ int main(int argc, char ** argv)
         stack_limit.rlim_cur = stack_size;
       }
       setrlimit(RLIMIT_STACK, &stack_limit);
+#endif
     }
   }
 

src/merge_maps_kinematic.cpp

@@ -100,7 +100,11 @@ bool MergeMapsKinematic::addSubmapCallback(
       "/map_" + std::to_string(num_submaps_), rclcpp::QoS(1)));
   sstmS_.push_back(this->create_publisher<nav_msgs::msg::MapMetaData>(
       "/map_metadata_" + std::to_string(num_submaps_), rclcpp::QoS(1)));
+#ifdef _WIN32
+  Sleep(1000);
+#else
   sleep(1.0);
+#endif
 
   nav_msgs::srv::GetMap::Response map;
   nav_msgs::msg::OccupancyGrid & og = map.map;

src/slam_toolbox_async_node.cpp

@@ -29,6 +29,9 @@ int main(int argc, char ** argv)
     auto temp_node = std::make_shared<rclcpp::Node>("slam_toolbox");
     temp_node->declare_parameter("stack_size_to_use",rclcpp::ParameterType::PARAMETER_INTEGER );
     if (temp_node->get_parameter("stack_size_to_use", stack_size)) {
+#ifdef _WIN32
+      RCLCPP_WARN(temp_node->get_logger(), "Can't dynamically change stack size on Windows. Using stack size 40000000");
+#else
       RCLCPP_INFO(temp_node->get_logger(), "Node using stack size %i", (int)stack_size);
       const rlim_t max_stack_size = stack_size;
       struct rlimit stack_limit;
@@ -37,6 +40,7 @@ int main(int argc, char ** argv)
         stack_limit.rlim_cur = stack_size;
       }
       setrlimit(RLIMIT_STACK, &stack_limit);
+#endif
     }
   }
 

src/slam_toolbox_localization_node.cpp

@@ -29,6 +29,9 @@ int main(int argc, char ** argv)
     auto temp_node = std::make_shared<rclcpp::Node>("slam_toolbox");
     temp_node->declare_parameter("stack_size_to_use",rclcpp::ParameterType::PARAMETER_INTEGER );
     if (temp_node->get_parameter("stack_size_to_use", stack_size)) {
+#ifdef _WIN32
+      RCLCPP_WARN(temp_node->get_logger(), "Can't dynamically change stack size on Windows. Node using stack size 40000000");
+#else
       RCLCPP_INFO(temp_node->get_logger(), "Node using stack size %i", (int)stack_size);
       const rlim_t max_stack_size = stack_size;
       struct rlimit stack_limit;
@@ -37,6 +40,7 @@ int main(int argc, char ** argv)
         stack_limit.rlim_cur = stack_size;
       }
       setrlimit(RLIMIT_STACK, &stack_limit);
+#endif
     }
   }
 

src/slam_toolbox_sync_node.cpp

@@ -29,6 +29,9 @@ int main(int argc, char ** argv)
     auto temp_node = std::make_shared<rclcpp::Node>("slam_toolbox");
     temp_node->declare_parameter("stack_size_to_use",rclcpp::ParameterType::PARAMETER_INTEGER);
     if (temp_node->get_parameter("stack_size_to_use", stack_size)) {
+#ifdef _WIN32
+      RCLCPP_WARN(temp_node->get_logger(), "Can't dynamically change stack size on Windows. Node using stack size 40000000");
+#else
       RCLCPP_INFO(temp_node->get_logger(), "Node using stack size %i", (int)stack_size);
       const rlim_t max_stack_size = stack_size;
       struct rlimit stack_limit;
@@ -37,6 +40,7 @@ int main(int argc, char ** argv)
         stack_limit.rlim_cur = stack_size;
       }
       setrlimit(RLIMIT_STACK, &stack_limit);
+#endif
     }
   }