Windows build & Azure CI (#1103)

azure-pipelines.yml

@@ -0,0 +1,70 @@
+# Copyright 2018 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+jobs:
+- job: Build
+  pool:
+    vmImage: 'vs2017-win2016'
+  timeoutInMinutes: 360
+  steps:
+  - script: |
+      choco sources add -n=roswin -s https://roswin.azurewebsites.net/api/v2/ --priority 1
+      rem Azure VM runs out of space on C:, so use D: for ros and rosdeps
+      mkdir D:\opt && mklink /J C:\opt D:\opt
+      choco upgrade %ROS_METAPACKAGE% -y
+      choco upgrade ros-melodic-perception -y
+      robocopy "." ".\src\cartographer_ros" /E /MOVE /XD "src" > NUL
+      git clone https://github.com/googlecartographer/cartographer src\cartographer
+      call "C:\opt\ros\melodic\x64\env.bat" rosdep install --from-paths src --ignore-src -r -y
+    env:
+      ROS_METAPACKAGE: 'ros-melodic-desktop'
+    displayName: Install prerequisites
+
+  - script: |
+      call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
+      call "C:\opt\ros\melodic\x64\setup.bat"
+      call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
+      catkin_make_isolated --use-ninja --install --cmake-args -DCMAKE_BUILD_TYPE=Release
+    displayName: Build
+
+  - script: |
+      call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
+      call "C:\opt\ros\melodic\x64\setup.bat"
+      call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
+      cd build_isolated\cartographer\install && ctest --no-compress-output -T Test
+    displayName: Run cartographer tests
+
+  - script: |
+      call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
+      call "C:\opt\ros\melodic\x64\setup.bat"
+      call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
+      cd build_isolated\cartographer_ros && ninja tests && ctest --no-compress-output -T Test
+    displayName: Build and run cartographer_ros tests
+    condition: always()
+
+  - script: |
+      call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
+      call "C:\opt\ros\melodic\x64\setup.bat"
+      call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
+      python src\cartographer\scripts\ctest_to_junit.py build_isolated\cartographer_ros
+    displayName: Convert tests to jUnit
+    condition: always()
+
+  - task: PublishTestResults@2
+    displayName: Publish test results
+    inputs:
+      testRunner: 'jUnit'
+      testResultsFiles: '**\jUnit.xml'
+      searchFolder: '$(Build.SourcesDirectory)\build_isolated\cartographer_ros\Testing'
+    condition: always()

cartographer_ros/CMakeLists.txt

@@ -35,9 +35,18 @@ set(PACKAGE_DEPENDENCIES
   visualization_msgs
 )
 
+if(WIN32)
+  set(Boost_USE_STATIC_LIBS FALSE)
+endif()
+# For yet unknown reason, if Boost is find_packaged() after find_package(cartographer),
+# some Boost libraries including Thread are set to static, despite Boost_USE_STATIC_LIBS,
+# which causes linking problems on windows due to shared/static Thread clashing.
+# PCL also finds Boost. Work around by moving before find_package(cartographer).
+find_package(Boost REQUIRED COMPONENTS system iostreams)
+find_package(PCL REQUIRED COMPONENTS common)
+
 find_package(cartographer REQUIRED)
 include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake")
-set(BUILD_SHARED_LIBS OFF)
 option(BUILD_GRPC "build features that require Cartographer gRPC support" false)
 google_initialize_cartographer_project()
 google_enable_testing()
@@ -48,9 +57,7 @@ include(FindPkgConfig)
 
 find_package(Abseil REQUIRED)
 find_package(LuaGoogle REQUIRED)
-find_package(PCL REQUIRED COMPONENTS common)
 find_package(Eigen3 REQUIRED)
-find_package(Boost REQUIRED COMPONENTS system iostreams)
 
 find_package(urdfdom_headers REQUIRED)
 if(DEFINED urdfdom_headers_VERSION)
@@ -94,7 +101,7 @@ if (NOT ${BUILD_GRPC})
   list(REMOVE_ITEM ALL_TESTS ${ALL_GRPC_FILES})
   list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_GRPC_FILES})
 endif()
-add_library(${PROJECT_NAME} ${ALL_SRCS})
+add_library(${PROJECT_NAME} STATIC ${ALL_SRCS})
 add_subdirectory("cartographer_ros")
 
 target_link_libraries(${PROJECT_NAME} PUBLIC cartographer)
@@ -154,6 +161,10 @@ if (CATKIN_ENABLE_TESTING)
     target_link_libraries(${TEST_NAME} cartographer)
     target_link_libraries(${TEST_NAME} ${PROJECT_NAME})
     set_target_properties(${TEST_NAME} PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+    # Needed for dynamically linked GTest on Windows.
+    if (WIN32)
+      target_compile_definitions(${TEST_NAME} PUBLIC -DGTEST_LINKED_AS_SHARED_LIBRARY)
+    endif()
   endforeach()
 endif()
 

cartographer_ros/cartographer_ros/map_builder_bridge.h

@@ -35,6 +35,12 @@
 #include "cartographer_ros_msgs/SubmapList.h"
 #include "cartographer_ros_msgs/SubmapQuery.h"
 #include "nav_msgs/OccupancyGrid.h"
+
+// Abseil unfortunately pulls in winnt.h, which #defines DELETE.
+// Clean up to unbreak visualization_msgs::Marker::DELETE.
+#ifdef DELETE
+#undef DELETE
+#endif
 #include "visualization_msgs/MarkerArray.h"
 
 namespace cartographer_ros {

cartographer_ros/cartographer_ros/offline_node.cc

@@ -18,7 +18,9 @@
 
 #include <errno.h>
 #include <string.h>
+#ifndef WIN32
 #include <sys/resource.h>
+#endif
 #include <time.h>
 #include <chrono>
 

cartographer_ros/package.xml

@@ -38,7 +38,6 @@
 
   <build_depend>git</build_depend>
   <build_depend>google-mock</build_depend>
-  <build_depend>g++-static</build_depend>
   <build_depend>protobuf-dev</build_depend>
   <build_depend>python-sphinx</build_depend>
 

cartographer_rviz/CMakeLists.txt

@@ -26,13 +26,16 @@ set(PACKAGE_DEPENDENCIES
   rviz
 )
 
+if(WIN32)
+  set(Boost_USE_STATIC_LIBS FALSE)
+endif()
+find_package(Boost REQUIRED COMPONENTS system iostreams)
 find_package(cartographer REQUIRED)
 include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake")
 google_initialize_cartographer_project()
 
 find_package(Abseil REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(Boost REQUIRED COMPONENTS system iostreams)
 find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
 
 catkin_package(
@@ -52,7 +55,7 @@ if(rviz_QT_VERSION VERSION_LESS "5")
 else()
   message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
   find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
-  set(QT_LIBRARIES Qt5::Widgets)
+  set(QT_LIBRARIES Qt5::Core Qt5::Widgets)
   include_directories(${Qt5Widgets_INCLUDE_DIRS})
 endif()
 add_definitions(-DQT_NO_KEYWORDS)
@@ -85,10 +88,18 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
 
 target_link_libraries(${PROJECT_NAME} PUBLIC cartographer)
 
+# On windows, rviz won't find the DLL in CATKIN_PACKAGE_BIN_DESTINATION,
+# but it will in CATKIN_PACKAGE_LIB_DESTINATION?
+if(WIN32)
+  set(RUNTIME_DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+else()
+  set(RUNTIME_DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+endif()
+
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  RUNTIME DESTINATION ${RUNTIME_DESTINATION}
 )
 
 install(FILES rviz_plugin_description.xml

cartographer_rviz/cartographer_rviz/ogre_slice.cc

@@ -21,6 +21,9 @@
 
 #include "OgreGpuProgramParams.h"
 #include "OgreImage.h"
+#include "OgreMaterialManager.h"
+#include "OgreTechnique.h"
+#include "OgreTextureManager.h"
 #include "cartographer/common/port.h"
 
 namespace cartographer_rviz {

cartographer_rviz/package.xml

@@ -37,7 +37,6 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>git</build_depend>
-  <build_depend>g++-static</build_depend>
 
   <depend version_gte="1.0.0">cartographer</depend>
   <depend version_gte="1.0.0">cartographer_ros</depend>