Merge pull request #137 from traversaro/patch-3

Various Fixes for January Rebuild on Windows

.github/workflows/testpr.yml

@@ -1,7 +1,5 @@
 on:
-  pull_request:
-    paths:
-      - '*.yaml'
+  pull_request
 
 env:
   ROS_VERSION: 2

patch/ros-humble-ackermann-steering-controller.patch

@@ -0,0 +1,13 @@
+diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
+index 66f09c5f09..71d0cf5f80 100644
+--- a/ackermann_steering_controller/CMakeLists.txt
++++ b/ackermann_steering_controller/CMakeLists.txt
+@@ -44,7 +44,7 @@ ament_target_dependencies(ackermann_steering_controller PUBLIC ${THIS_PACKAGE_IN
+
+ # Causes the visibility macros to use dllexport rather than dllimport,
+ # which is appropriate when building the dll but not consuming it.
+-target_compile_definitions(ackermann_steering_controller PRIVATE "ACKERMANN_STEERING_CONTROLLER_BUILDING_DLL")
++target_compile_definitions(ackermann_steering_controller PRIVATE "ACKERMANN_STEERING_CONTROLLER__VISIBILITY_BUILDING_DLL")
+
+ pluginlib_export_plugin_description_file(
+   controller_interface ackermann_steering_controller.xml)

patch/ros-humble-admittance-controller.patch

@@ -0,0 +1,37 @@
+diff --git a/include/admittance_controller/admittance_controller.hpp b/include/admittance_controller/admittance_controller.hpp
+index b6473c6ff..3f1ccadbd 100644
+--- a/include/admittance_controller/admittance_controller.hpp
++++ b/include/admittance_controller/admittance_controller.hpp
+@@ -95,8 +95,10 @@ public:
+     const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+ protected:
++  ADMITTANCE_CONTROLLER_PUBLIC
+   std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
+
++  ADMITTANCE_CONTROLLER_PUBLIC
+   controller_interface::return_type update_reference_from_subscribers() override;
+
+   size_t num_joints_ = 0;
+@@ -168,6 +170,7 @@ protected:
+    * @brief Read values from hardware interfaces and set corresponding fields of state_current and
+    * ft_values
+    */
++  ADMITTANCE_CONTROLLER_PUBLIC
+   void read_state_from_hardware(
+     trajectory_msgs::msg::JointTrajectoryPoint & state_current,
+     geometry_msgs::msg::Wrench & ft_values);
+@@ -176,11 +179,13 @@ protected:
+    * @brief Set fields of state_reference with values from controllers exported position and
+    * velocity references
+    */
++  ADMITTANCE_CONTROLLER_PUBLIC
+   void read_state_reference_interfaces(trajectory_msgs::msg::JointTrajectoryPoint & state);
+
+   /**
+    * @brief Write values from state_command to claimed hardware interfaces
+    */
++  ADMITTANCE_CONTROLLER_PUBLIC
+   void write_state_to_hardware(const trajectory_msgs::msg::JointTrajectoryPoint & state_command);
+ };
+

patch/ros-humble-bicycle-steering-controller.patch

@@ -0,0 +1,13 @@
+diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt
+index 7118e9a44d..77d82ed874 100644
+--- a/bicycle_steering_controller/CMakeLists.txt
++++ b/bicycle_steering_controller/CMakeLists.txt
+@@ -44,7 +44,7 @@ ament_target_dependencies(bicycle_steering_controller PUBLIC ${THIS_PACKAGE_INCL
+
+ # Causes the visibility macros to use dllexport rather than dllimport,
+ # which is appropriate when building the dll but not consuming it.
+-target_compile_definitions(bicycle_steering_controller PRIVATE "ACKERMANN_STEERING_CONTROLLER_BUILDING_DLL")
++target_compile_definitions(bicycle_steering_controller PRIVATE "BICYCLE_STEERING_CONTROLLER__VISIBILITY_BUILDING_DLL")
+
+ pluginlib_export_plugin_description_file(
+   controller_interface bicycle_steering_controller.xml)

patch/ros-humble-control-toolbox.patch

@@ -0,0 +1,12 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7d3a2c7..4d5745c 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -73,6 +73,7 @@ target_include_directories(low_pass_filter PUBLIC
+     $<INSTALL_INTERFACE:include/control_toolbox>
+ )
+ target_link_libraries(low_pass_filter PUBLIC low_pass_filter_parameters)
++set_target_properties(low_pass_filter PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
+ ament_target_dependencies(low_pass_filter PUBLIC ${CONTROL_FILTERS_INCLUDE_DEPENDS})
+
+ # Install pluginlib xml

patch/ros-humble-controller-interface.patch

@@ -0,0 +1,21 @@
+From 4ebd2c68ab3eebb141c30a7ccf1dd6f9627328c1 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio@traversaro.it>
+Date: Mon, 12 Feb 2024 13:35:50 +0100
+Subject: [PATCH] Add missing export symbol in protected methods
+
+---
+ .../controller_interface/chainable_controller_interface.hpp      | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/controller_interface/include/controller_interface/chainable_controller_interface.hpp b/controller_interface/include/controller_interface/chainable_controller_interface.hpp
+index 2bdccefdc5..13c8b3f9b9 100644
+--- a/controller_interface/include/controller_interface/chainable_controller_interface.hpp
++++ b/controller_interface/include/controller_interface/chainable_controller_interface.hpp
+@@ -88,6 +88,7 @@ class ChainableControllerInterface : public ControllerInterfaceBase
+    * \default returns true so the method don't have to be overridden if controller can always switch
+    * chained mode.
+    */
++  CONTROLLER_INTERFACE_PUBLIC
+   virtual bool on_set_chained_mode(bool chained_mode);
+
+   /// Update reference from input topics when not in chained mode.

patch/ros-humble-diff-drive-controller.patch

@@ -0,0 +1,22 @@
+diff --git a/include/diff_drive_controller/diff_drive_controller.hpp b/include/diff_drive_controller/diff_drive_controller.hpp
+index 3584a1d1f..3c1336fb1 100644
+--- a/include/diff_drive_controller/diff_drive_controller.hpp
++++ b/include/diff_drive_controller/diff_drive_controller.hpp
+@@ -98,6 +98,7 @@ protected:
+     std::reference_wrapper<hardware_interface::LoanedCommandInterface> velocity;
+   };
+
++  DIFF_DRIVE_CONTROLLER_PUBLIC
+   const char * feedback_type() const;
+   controller_interface::CallbackReturn configure_side(
+     const std::string & side, const std::vector<std::string> & wheel_names,
+@@ -152,7 +153,9 @@ protected:
+   bool is_halted = false;
+   bool use_stamped_vel_ = true;
+
++  DIFF_DRIVE_CONTROLLER_PUBLIC
+   bool reset();
++  DIFF_DRIVE_CONTROLLER_PUBLIC
+   void halt();
+ };
+ }  // namespace diff_drive_controller

patch/ros-humble-forward-command-controller.patch

@@ -0,0 +1,28 @@
+diff --git a/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp b/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp
+index 91e3aae480..5c2de9131b 100644
+--- a/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp
++++ b/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp
+@@ -44,7 +44,9 @@ class ForwardCommandController : public ForwardControllersBase
+   ForwardCommandController();
+
+ protected:
++  FORWARD_COMMAND_CONTROLLER_PUBLIC
+   void declare_parameters() override;
++  FORWARD_COMMAND_CONTROLLER_PUBLIC
+   controller_interface::CallbackReturn read_parameters() override;
+
+   std::shared_ptr<ParamListener> param_listener_;
+diff --git a/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp b/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp
+index fd7c0d480e..3881c1c9d4 100644
+--- a/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp
++++ b/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp
+@@ -44,7 +44,9 @@ class MultiInterfaceForwardCommandController
+   MultiInterfaceForwardCommandController();
+
+ protected:
++  FORWARD_COMMAND_CONTROLLER_PUBLIC
+   void declare_parameters() override;
++  FORWARD_COMMAND_CONTROLLER_PUBLIC
+   controller_interface::CallbackReturn read_parameters() override;
+
+   using Params = multi_interface_forward_command_controller::Params;

patch/ros-humble-gripper-controllers.patch

@@ -0,0 +1,48 @@
+diff --git a/gripper_controllers/CMakeLists.txt b/gripper_controllers/CMakeLists.txt
+index 676062f7a3..c4a85dd453 100644
+--- a/gripper_controllers/CMakeLists.txt
++++ b/gripper_controllers/CMakeLists.txt
+@@ -45,6 +45,10 @@ target_link_libraries(gripper_action_controller PUBLIC
+ )
+ ament_target_dependencies(gripper_action_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
++# Causes the visibility macros to use dllexport rather than dllimport,
++# which is appropriate when building the dll but not consuming it.
++target_compile_definitions(gripper_action_controller PRIVATE "GRIPPER_ACTION_CONTROLLER_BUILDING_DLL")
++
+ pluginlib_export_plugin_description_file(controller_interface ros_control_plugins.xml)
+
+ if(BUILD_TESTING)
+diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
+index 38e0bd8191..2762cbf611 100644
+--- a/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
++++ b/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
+@@ -148,15 +148,20 @@ class GripperActionController : public controller_interface::ControllerInterface
+
+   rclcpp::TimerBase::SharedPtr goal_handle_timer_;
+
++  GRIPPER_ACTION_CONTROLLER_PUBLIC
+   rclcpp_action::GoalResponse goal_callback(
+     const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const GripperCommandAction::Goal> goal);
+
++  GRIPPER_ACTION_CONTROLLER_PUBLIC
+   rclcpp_action::CancelResponse cancel_callback(const std::shared_ptr<GoalHandle> goal_handle);
+
++  GRIPPER_ACTION_CONTROLLER_PUBLIC
+   void accepted_callback(std::shared_ptr<GoalHandle> goal_handle);
+
++  GRIPPER_ACTION_CONTROLLER_PUBLIC
+   void preempt_active_goal();
+
++  GRIPPER_ACTION_CONTROLLER_PUBLIC
+   void set_hold_position();
+
+   rclcpp::Time last_movement_time_ = rclcpp::Time(0, 0, RCL_ROS_TIME);  ///< Store stall time
+@@ -165,6 +170,7 @@ class GripperActionController : public controller_interface::ControllerInterface
+   /**
+    * \brief Check for success and publish appropriate result and feedback.
+    **/
++  GRIPPER_ACTION_CONTROLLER_PUBLIC
+   void check_for_success(
+     const rclcpp::Time & time, double error_position, double current_position,
+     double current_velocity);

patch/ros-humble-hardware-interface.patch

@@ -0,0 +1,24 @@
+diff --git a/hardware_interface/include/hardware_interface/lexical_casts.hpp b/hardware_interface/include/hardware_interface/lexical_casts.hpp
+index 846d9f757c..042361e392 100644
+--- a/hardware_interface/include/hardware_interface/lexical_casts.hpp
++++ b/hardware_interface/include/hardware_interface/lexical_casts.hpp
+@@ -21,6 +21,8 @@
+ #include <stdexcept>
+ #include <string>
+
++#include "hardware_interface/visibility_control.h"
++
+ namespace hardware_interface
+ {
+
+@@ -29,8 +31,10 @@ namespace hardware_interface
+  * from
+  https://github.com/ros-planning/srdfdom/blob/ad17b8d25812f752c397a6011cec64aeff090c46/src/model.cpp#L53
+ */
++HARDWARE_INTERFACE_PUBLIC
+ double stod(const std::string & s);
+
++HARDWARE_INTERFACE_PUBLIC
+ bool parse_bool(const std::string & bool_string);
+
+ }  // namespace hardware_interface

patch/ros-humble-joint-state-broadcaster.patch

@@ -0,0 +1,18 @@
+diff --git a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
+index f1c532dce9..9eb7ab8a13 100644
+--- a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
++++ b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
+@@ -88,9 +88,13 @@ class JointStateBroadcaster : public controller_interface::ControllerInterface
+     const rclcpp_lifecycle::State & previous_state) override;
+
+ protected:
++  JOINT_STATE_BROADCASTER_PUBLIC
+   bool init_joint_data();
++  JOINT_STATE_BROADCASTER_PUBLIC
+   void init_joint_state_msg();
++  JOINT_STATE_BROADCASTER_PUBLIC
+   void init_dynamic_joint_state_msg();
++  JOINT_STATE_BROADCASTER_PUBLIC
+   bool use_all_available_interfaces() const;
+
+ protected:

patch/ros-humble-joint-trajectory-controller.patch

@@ -0,0 +1,25 @@
+diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
+index 111837cc17..df3b192c6d 100644
+--- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
++++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
+@@ -271,6 +271,7 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
+     const rclcpp::Time & time, const JointTrajectoryPoint & desired_state,
+     const JointTrajectoryPoint & current_state, const JointTrajectoryPoint & state_error);
+
++  JOINT_TRAJECTORY_CONTROLLER_PUBLIC
+   void read_state_from_state_interfaces(JointTrajectoryPoint & state);
+
+   /** Assign values from the command interfaces as state.
+@@ -279,9 +280,12 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
+    * @param[out] state to be filled with values from command interfaces.
+    * @return true if all interfaces exists and contain non-NaN values, false otherwise.
+    */
++  JOINT_TRAJECTORY_CONTROLLER_PUBLIC
+   bool read_state_from_command_interfaces(JointTrajectoryPoint & state);
++  JOINT_TRAJECTORY_CONTROLLER_PUBLIC
+   bool read_commands_from_command_interfaces(JointTrajectoryPoint & commands);
+
++  JOINT_TRAJECTORY_CONTROLLER_PUBLIC
+   void query_state_service(
+     const std::shared_ptr<control_msgs::srv::QueryTrajectoryState::Request> request,
+     std::shared_ptr<control_msgs::srv::QueryTrajectoryState::Response> response);

patch/ros-humble-pid-controller.patch

@@ -0,0 +1,28 @@
+diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt
+index 15e903222a..6c9e00ef8b 100644
+--- a/pid_controller/CMakeLists.txt
++++ b/pid_controller/CMakeLists.txt
+@@ -45,7 +45,7 @@ ament_target_dependencies(pid_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+ # Causes the visibility macros to use dllexport rather than dllimport,
+ # which is appropriate when building the dll but not consuming it.
+-target_compile_definitions(pid_controller PRIVATE "PID_CONTROLLER_BUILDING_DLL")
++target_compile_definitions(pid_controller PRIVATE "PID_CONTROLLER__VISIBILITY_BUILDING_DLL")
+
+ pluginlib_export_plugin_description_file(controller_interface pid_controller.xml)
+
+diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp
+index f7b8cc4491..788f39f1ed 100644
+--- a/pid_controller/include/pid_controller/pid_controller.hpp
++++ b/pid_controller/include/pid_controller/pid_controller.hpp
+@@ -121,8 +121,10 @@ class PidController : public controller_interface::ChainableControllerInterface
+   std::unique_ptr<ControllerStatePublisher> state_publisher_;
+
+   // override methods from ChainableControllerInterface
++  PID_CONTROLLER__VISIBILITY_PUBLIC
+   std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
+
++  PID_CONTROLLER__VISIBILITY_PUBLIC
+   bool on_set_chained_mode(bool chained_mode) override;
+
+   // internal methods

patch/ros-humble-rsl.win.patch

@@ -0,0 +1,26 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 6d47b08..1b0c4f0 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -30,6 +37,21 @@ target_link_libraries(rsl PUBLIC
+     tl_expected::tl_expected
+ )
+
++# There is no explicit export of symbols in the library either via
++# hand-written ***_export.h headers or generate_export_header CMake macro,
++# as the header-only functions in this library are quite limited in number,
++# it is perfectly ok to export all of them (as done in *nix) with the
++# WINDOWS_EXPORT_ALL_SYMBOLS property
++if(MSVC)
++    set_target_properties(rsl PROPERTIES
++        WINDOWS_EXPORT_ALL_SYMBOLS TRUE
++    )
++    # On Windows, also ensure that all .dll libraries are placed in the
++    # same build directory so they can be found by the loader (there is
++    # no rpath on Windows)
++    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
++endif()
++
+ add_subdirectory(docs)
+
+ option(RSL_BUILD_TESTING "Build tests" OFF)