Windows fixes from robostack

nav2_amcl/src/pf/CMakeLists.txt

@@ -15,7 +15,9 @@ target_include_directories(pf_lib PRIVATE ../include)
 if(HAVE_DRAND48)
   target_compile_definitions(pf_lib PRIVATE "HAVE_DRAND48")
 endif()
-target_link_libraries(pf_lib m)
+if(NOT WIN32)
+  target_link_libraries(pf_lib m)
+endif()
 
 install(TARGETS
   pf_lib

nav2_behavior_tree/CMakeLists.txt

@@ -20,8 +20,6 @@ find_package(nav2_util REQUIRED)
 
 nav2_package()
 
-add_compile_options(-Wno-shadow) # Delete after https://github.com/BehaviorTree/BehaviorTree.CPP/issues/811 is released
-
 include_directories(
   include
 )

nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp

@@ -142,10 +142,10 @@ class Smoother
     std::vector<bool> & optimized)
   {
     // Create costmap grid
-    costmap_grid_ = std::make_shared<ceres::Grid2D<u_char>>(
+    costmap_grid_ = std::make_shared<ceres::Grid2D<unsigned char>>(
       costmap->getCharMap(), 0, costmap->getSizeInCellsY(), 0, costmap->getSizeInCellsX());
-    auto costmap_interpolator = std::make_shared<ceres::BiCubicInterpolator<ceres::Grid2D<u_char>>>(
-      *costmap_grid_);
+    auto costmap_interpolator =
+      std::make_shared<ceres::BiCubicInterpolator<ceres::Grid2D<unsigned char>>>(*costmap_grid_);
 
     // Create residual blocks
     const double cusp_half_length = params.cusp_zone_length / 2;
@@ -394,7 +394,7 @@ class Smoother
 
   bool debug_;
   ceres::Solver::Options options_;
-  std::shared_ptr<ceres::Grid2D<u_char>> costmap_grid_;
+  std::shared_ptr<ceres::Grid2D<unsigned char>> costmap_grid_;
 };
 
 }  // namespace nav2_constrained_smoother

nav2_constrained_smoother/include/nav2_constrained_smoother/smoother_cost_function.hpp

@@ -57,7 +57,8 @@ class SmootherCostFunction
     double next_to_last_length_ratio,
     bool reversing,
     const nav2_costmap_2d::Costmap2D * costmap,
-    const std::shared_ptr<ceres::BiCubicInterpolator<ceres::Grid2D<u_char>>> & costmap_interpolator,
+    const std::shared_ptr<ceres::BiCubicInterpolator<ceres::Grid2D<unsigned char>>> &
+    costmap_interpolator,
     const SmootherParams & params,
     double costmap_weight)
   : original_pos_(original_pos),
@@ -244,7 +245,7 @@ class SmootherCostFunction
   double costmap_weight_;
   Eigen::Vector2d costmap_origin_;
   double costmap_resolution_;
-  std::shared_ptr<ceres::BiCubicInterpolator<ceres::Grid2D<u_char>>> costmap_interpolator_;
+  std::shared_ptr<ceres::BiCubicInterpolator<ceres::Grid2D<unsigned char>>> costmap_interpolator_;
 };
 
 }  // namespace nav2_constrained_smoother

nav2_constrained_smoother/test/test_smoother_cost_function.cpp

@@ -33,7 +33,8 @@ class TestableSmootherCostFunction : nav2_constrained_smoother::SmootherCostFunc
     double next_to_last_length_ratio,
     bool reversing,
     const nav2_costmap_2d::Costmap2D * costmap,
-    const std::shared_ptr<ceres::BiCubicInterpolator<ceres::Grid2D<u_char>>> & costmap_interpolator,
+    const std::shared_ptr<ceres::BiCubicInterpolator<ceres::Grid2D<unsigned char>>> &
+    costmap_interpolator,
     const nav2_constrained_smoother::SmootherParams & params,
     double costmap_weight)
   : SmootherCostFunction(
@@ -68,7 +69,7 @@ TEST_F(Test, testingCurvatureResidual)
   nav2_costmap_2d::Costmap2D costmap;
   TestableSmootherCostFunction fn(
     Eigen::Vector2d(1.0, 0.0), 1.0, false,
-    &costmap, std::shared_ptr<ceres::BiCubicInterpolator<ceres::Grid2D<u_char>>>(),
+    &costmap, std::shared_ptr<ceres::BiCubicInterpolator<ceres::Grid2D<unsigned char>>>(),
     nav2_constrained_smoother::SmootherParams(), 0.0
   );
 
@@ -81,7 +82,7 @@ TEST_F(Test, testingCurvatureResidual)
   params_no_min_turning_radius.max_curvature = 1.0f / 0.0;
   TestableSmootherCostFunction fn_no_min_turning_radius(
     Eigen::Vector2d(1.0, 0.0), 1.0, false,
-    &costmap, std::shared_ptr<ceres::BiCubicInterpolator<ceres::Grid2D<u_char>>>(),
+    &costmap, std::shared_ptr<ceres::BiCubicInterpolator<ceres::Grid2D<unsigned char>>>(),
     params_no_min_turning_radius, 0.0
   );
   EXPECT_EQ(fn_no_min_turning_radius.getCurvatureResidual(1.0, pt, pt_other, pt_other), 0.0);

nav2_docking/opennav_docking/CMakeLists.txt

@@ -25,7 +25,11 @@ find_package(opennav_docking_core REQUIRED)
 
 # potentially replace with nav2_common, nav2_package()
 set(CMAKE_CXX_STANDARD 17)
-add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+endif()
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 
 include_directories(
   include

nav2_docking/opennav_docking_bt/CMakeLists.txt

@@ -15,7 +15,10 @@ find_package(behaviortree_cpp REQUIRED)
 
 # potentially replace with nav2_common, nav2_package()
 set(CMAKE_CXX_STANDARD 17)
-add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+endif()
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 
 include_directories(
   include

nav2_dwb_controller/dwb_critics/test/obstacle_footprint_test.cpp

@@ -105,7 +105,7 @@ TEST(ObstacleFootprint, GetOrientedFootprint)
   pose.theta = theta;
   footprint_after = dwb_critics::getOrientedFootprint(pose, footprint_before);
 
-  for (uint i = 0; i < footprint_before.size(); i++) {
+  for (unsigned int i = 0; i < footprint_before.size(); i++) {
     ASSERT_EQ(rotate_origin(footprint_before[i], theta), footprint_after[i]);
   }
 

nav2_map_server/src/map_io.cpp

@@ -90,7 +90,7 @@ char * dirname(char * path)
     /* This assignment is ill-designed but the XPG specs require to
        return a string containing "." in any case no directory part is
        found and so a static and constant string is required.  */
-    path = reinterpret_cast<char *>(dot);
+    path = const_cast<char *>(dot);
   }
 
   return path;

nav2_map_server/test/unit/test_map_io.cpp

@@ -117,7 +117,7 @@ TEST_F(MapIOTester, loadSaveValidPGM)
 {
   // 1. Load reference map file and verify obtained OccupancyGrid
   LoadParameters loadParameters;
-  fillLoadParameters(path(TEST_DIR) / path(g_valid_pgm_file), loadParameters);
+  fillLoadParameters(path(TEST_DIR) / path(g_valid_pgm_file).string(), loadParameters);
 
   nav_msgs::msg::OccupancyGrid map_msg;
   ASSERT_NO_THROW(loadMapFromFile(loadParameters, map_msg));

nav2_mppi_controller/CMakeLists.txt

@@ -52,7 +52,7 @@ if(COMPILER_SUPPORTS_AVX512)
   add_compile_options(-mno-avx512f)
 endif()
 
-if(COMPILER_SUPPORTS_SSE4)
+if(COMPILER_SUPPORTS_SSE4 AND NOT APPLE)
   add_compile_options(-msse4.2)
 endif()
 
@@ -94,7 +94,9 @@ add_library(mppi_critics SHARED
 set(libraries mppi_controller mppi_critics)
 
 foreach(lib IN LISTS libraries)
-  target_compile_options(${lib} PUBLIC -fconcepts)
+  if(NOT APPLE)
+    target_compile_options(${lib} PUBLIC -fconcepts)
+  endif()
   target_include_directories(${lib} PUBLIC ${xsimd_INCLUDE_DIRS})  #  ${OpenMP_INCLUDE_DIRS}
   target_link_libraries(${lib} xtensor xtensor::optimize xtensor::use_xsimd)
   ament_target_dependencies(${lib} ${dependencies_pkgs})

nav2_msgs/CMakeLists.txt

@@ -13,8 +13,10 @@ find_package(action_msgs REQUIRED)
 
 nav2_package()
 
-# TODO(jwallace42): This is a work around for https://github.com/ros2/rosidl_typesupport_fastrtps/issues/28
-add_compile_options(-Wno-error=deprecated)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # TODO(jwallace42): This is a work around for https://github.com/ros2/rosidl_typesupport_fastrtps/issues/28
+  add_compile_options(-Wno-error=deprecated)
+endif()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/CollisionMonitorState.msg"

nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp

@@ -489,7 +489,7 @@ TEST(RegulatedPurePursuitTest, lookaheadAPI)
   double dist = 1.0;
   nav_msgs::msg::Path path;
   path.poses.resize(10);
-  for (uint i = 0; i != path.poses.size(); i++) {
+  for (unsigned int i = 0; i != path.poses.size(); i++) {
     path.poses[i].pose.position.x = static_cast<double>(i);
   }
 

nav2_rviz_plugins/include/nav2_rviz_plugins/costmap_cost_tool.hpp

@@ -17,7 +17,8 @@
 
 #include <nav2_msgs/srv/get_cost.hpp>
 #include <rviz_common/tool.hpp>
-#include <rviz_default_plugins/tools/point/point_tool.hpp>
+#include <rviz_common/properties/bool_property.hpp>
+#include <rviz_common/properties/qos_profile_property.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 namespace nav2_rviz_plugins
@@ -42,7 +43,6 @@ class CostmapCostTool : public rviz_common::Tool
   void handleGlobalCostResponse(rclcpp::Client<nav2_msgs::srv::GetCost>::SharedFuture);
 
 private Q_SLOTS:
-  void updateAutoDeactivate();
 
 private:
   rclcpp::Client<nav2_msgs::srv::GetCost>::SharedPtr local_cost_client_;

nav2_rviz_plugins/include/nav2_rviz_plugins/docking_panel.hpp

@@ -55,7 +55,6 @@ class DockingPanel : public rviz_common::Panel
 
 private Q_SLOTS:
   void startThread();
-  void onStartup();
   void onDockingButtonPressed();
   void onUndockingButtonPressed();
   void onCancelDocking();

nav2_rviz_plugins/include/nav2_rviz_plugins/goal_tool.hpp

@@ -20,7 +20,6 @@
 #include <memory>
 
 #include "rviz_default_plugins/tools/pose/pose_tool.hpp"
-#include "rviz_default_plugins/visibility_control.hpp"
 
 namespace rviz_common
 {
@@ -36,7 +35,7 @@ class StringProperty;
 namespace nav2_rviz_plugins
 {
 
-class RVIZ_DEFAULT_PLUGINS_PUBLIC GoalTool : public rviz_default_plugins::tools::PoseTool
+class GoalTool : public rviz_default_plugins::tools::PoseTool
 {
   Q_OBJECT
 

nav2_smac_planner/include/nav2_smac_planner/a_star.hpp

@@ -28,7 +28,6 @@
 #include "nav2_costmap_2d/costmap_2d.hpp"
 #include "nav2_core/planner_exceptions.hpp"
 
-#include "nav2_smac_planner/thirdparty/robin_hood.h"
 #include "nav2_smac_planner/analytic_expansion.hpp"
 #include "nav2_smac_planner/node_2d.hpp"
 #include "nav2_smac_planner/node_hybrid.hpp"
@@ -37,6 +36,13 @@
 #include "nav2_smac_planner/types.hpp"
 #include "nav2_smac_planner/constants.hpp"
 
+#ifdef _MSC_VER
+  #define SELECTED_UNORDERED_MAP std::unordered_map
+#else
+  #include "nav2_smac_planner/thirdparty/robin_hood.h"
+  #define SELECTED_UNORDERED_MAP robin_hood::unordered_node_map
+#endif
+
 namespace nav2_smac_planner
 {
 
@@ -49,7 +55,7 @@ class AStarAlgorithm
 {
 public:
   typedef NodeT * NodePtr;
-  typedef robin_hood::unordered_node_map<uint64_t, NodeT> Graph;
+  typedef SELECTED_UNORDERED_MAP<uint64_t, NodeT> Graph;
   typedef std::vector<NodePtr> NodeVector;
   typedef std::pair<float, NodeBasic<NodeT>> NodeElement;
   typedef typename NodeT::Coordinates Coordinates;

nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp

@@ -234,7 +234,7 @@ class Node2D
    * @brief Initialize the neighborhood to be used in A*
    * We support 4-connect (VON_NEUMANN) and 8-connect (MOORE)
    * @param neighborhood The desired neighborhood type
-   * @param x_size_uint The total x size to find neighbors
+   * @param x_size_unsigned int The total x size to find neighbors
    * @param y_size The total y size to find neighbors
    * @param num_angle_quantization Number of quantizations, must be 0
    * @param search_info Search parameters, unused by 2D node

nav2_smac_planner/test/deprecated/upsampler.hpp

@@ -158,7 +158,7 @@ class Upsampler
     // }
 
     // std::unique_ptr<ceres::Problem> problem = std::make_unique<ceres::Problem>();
-    // for (uint i = 1; i != path_double_sampled.size() - 1; i++) {
+    // for (unsigned int i = 1; i != path_double_sampled.size() - 1; i++) {
     //   ceres::CostFunction * cost_fn =
     //     new UpsamplerConstrainedCostFunction(path_double_sampled, params, 2, i);
     //   problem->AddResidualBlock(
@@ -178,7 +178,7 @@ class Upsampler
     //   }
 
     //   std::unique_ptr<ceres::Problem> problem2 = std::make_unique<ceres::Problem>();
-    //   for (uint i = 1; i != path_quad_sampled.size() - 1; i++) {
+    //   for (unsigned int i = 1; i != path_quad_sampled.size() - 1; i++) {
     //     ceres::CostFunction * cost_fn =
     //       new UpsamplerConstrainedCostFunction(path_quad_sampled, params, 4, i);
     //     problem2->AddResidualBlock(

nav2_smac_planner/test/deprecated/upsampler_cost_function.hpp

@@ -104,7 +104,7 @@ class UpsamplerCostFunction : public ceres::FirstOrderFunction
     Eigen::Vector2d xi;
     Eigen::Vector2d xi_p1;
     Eigen::Vector2d xi_m1;
-    uint x_index, y_index;
+    unsigned int x_index, y_index;
     cost[0] = 0.0;
     double cost_raw = 0.0;
     double grad_x_raw = 0.0;

nav2_smoother/test/test_savitzky_golay_smoother.cpp

@@ -100,7 +100,7 @@ TEST(SmootherTest, test_sg_smoother_basics)
   straight_regular_path_baseline = straight_regular_path;
 
   EXPECT_TRUE(smoother->smooth(straight_regular_path, max_time));
-  for (uint i = 0; i != straight_regular_path.poses.size() - 1; i++) {
+  for (unsigned int i = 0; i != straight_regular_path.poses.size() - 1; i++) {
     // Check distances are still the same
     EXPECT_NEAR(
       fabs(

nav2_smoother/test/test_simple_smoother.cpp

@@ -119,7 +119,7 @@ TEST(SmootherTest, test_simple_smoother)
   rclcpp::Duration max_time = rclcpp::Duration::from_seconds(1);  // 1 second
   EXPECT_THROW(smoother->smooth(straight_irregular_path, no_time), nav2_core::SmootherTimedOut);
   EXPECT_TRUE(smoother->smooth(straight_irregular_path, max_time));
-  for (uint i = 0; i != straight_irregular_path.poses.size() - 1; i++) {
+  for (unsigned int i = 0; i != straight_irregular_path.poses.size() - 1; i++) {
     // Check distances are more evenly spaced out now
     EXPECT_LT(
       fabs(
@@ -155,7 +155,7 @@ TEST(SmootherTest, test_simple_smoother)
   straight_regular_path.poses[10].pose.position.y = 1.0;
 
   EXPECT_TRUE(smoother->smooth(straight_regular_path, max_time));
-  for (uint i = 0; i != straight_regular_path.poses.size() - 1; i++) {
+  for (unsigned int i = 0; i != straight_regular_path.poses.size() - 1; i++) {
     // Check distances are still very evenly spaced
     EXPECT_NEAR(
       fabs(

nav2_util/include/nav2_util/costmap.hpp

@@ -113,7 +113,7 @@ class Costmap
 
   /**
    * @brief Get the interpreted value in the costmap
-   * @return uint value
+   * @return unsigned int value
    */
   uint8_t interpret_value(const int8_t value) const;
 

nav2_util/src/node_utils.cpp

@@ -92,6 +92,14 @@ rclcpp::Node::SharedPtr generate_internal_node(const std::string & prefix)
 
 void setSoftRealTimePriority()
 {
+  #if defined(__APPLE__) || defined(_WIN32)
+  std::string errmsg(
+    "Setting priority as real-time thread is currently only supported on Linux."
+    "Contributions welcome.");
+  throw std::runtime_error(errmsg + std::strerror(errno));
+
+  #else
+
   sched_param sch;
   sch.sched_priority = 49;
   if (sched_setscheduler(0, SCHED_FIFO, &sch) == -1) {
@@ -101,6 +109,7 @@ void setSoftRealTimePriority()
       "realtime prioritization! Error: ");
     throw std::runtime_error(errmsg + std::strerror(errno));
   }
+  #endif
 }
 
 }  // namespace nav2_util