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* Add ROS2 standalone build option * Separate ros2_standalone CMakeLists & add configurable rpath * Polish build tools to compile extenstions easier * Handle command nvcc not found * Add setup script for windows * Adjust README to setup_win script * Restore support for cyclonedds * Add documentation for ROS2 extension * Change steps order in windows building section * Add script for applying required changes in rclcpp * Merge setup.bash and setup_win_py into setup.py * Apply suggestions from code review Co-authored-by: Piotr Rybicki <[email protected]> * ROS2 standalone build - setup.py review suggestions (#89) * Fix indentation in setup.py * Fix indentation, introduce main() * Refactor setup.py script * Apply suggestions from code review Co-authored-by: Mateusz Szczygielski <[email protected]> * Inform about default --make and --ninja args Co-authored-by: Mateusz Szczygielski <[email protected]> * Fix CUDA_MIN_VER_PATCH for Windows * Add $ORIGIN explanation * Add comments to ros2_standalone CMakeLists * Fix README building typos * Fix regex for python libs on Windows Co-authored-by: Piotr Rybicki <[email protected]>
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| # RGL ROS2 extension | ||
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| The extension introduces the node to publish [PointCloud2](https://docs.ros2.org/foxy/api/sensor_msgs/msg/PointCloud2.html) messages to ROS2. RGL creates a ROS2 node named `RobotecGPULidar` and registers publishers based on constructed RGL nodes. | ||
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| Supported ROS2 distributions: | ||
| - Humble | ||
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| Supported DDS implementations for ROS2 standalone build: | ||
| - Eclipse Cyclone DDS | ||
| - eProsima Fast DDS | ||
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| ## Building | ||
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| RGL ROS2 extension can be built in two flavors: | ||
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| - **standalone** - ROS2 installation is not required on the target machine. RGL build will include all required ROS2 dependencies. | ||
| - **overlay** - Assumes existence of supported ROS2 installation on the target machine. RGL will try to use the existing installation of ROS2 dependencies. | ||
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| ### Ubuntu 22 | ||
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| #### Prerequisites | ||
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| - Requirements listed in the main [README](../README.md) (section `Building on Ubuntu`). | ||
| - ROS2 installed on the system and sourced. | ||
| - For standalone build: | ||
| - ROS2 `cyclonedds` and `fastrtps` packages. | ||
| - `patchelf` tool. | ||
| ```bash | ||
| apt install -y ros-${ROS_DISTRO}-cyclonedds ros-${ROS_DISTRO}-rmw-cyclonedds-cpp | ||
| apt install -y ros-${ROS_DISTRO}-fastrtps ros-${ROS_DISTRO}-rmw-fastrtps-cpp | ||
| apt install patchelf | ||
| ``` | ||
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| #### Steps for overlay | ||
| 1. Use script `setup.py` with option `--with-ros2`. | ||
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| #### Steps for standalone | ||
| 1. Use script `setup.py` with option `--with-ros2-standalone` | ||
| - You can specify run-time search path(s) of RGL dependencies by adding option `--lib-rpath <paths>`. This can be useful if you want RGL to search for ROS2 libraries in a different directory than RGL, e.g., if you work with a library providing its own ROS2 libraries such as [ROS2ForUnity](https://github.com/RobotecAI/ros2-for-unity). | ||
| 2. Copy all ROS2 libraries from `<build-dir>/ros2_standalone/` to `libRobotecGPULidar.so` location (or location defined with `--lib-rpath`). | ||
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| #### Tips for integrating RGL + ROS2 standalone with Unity and [ROS2ForUnity](https://github.com/RobotecAI/ros2-for-unity) plugin. | ||
| 1. Build RGL with command: | ||
| ```bash | ||
| ./setup.py --with-ros2-standalone --lib-rpath \$ORIGIN/.plugin --make="-j" | ||
| ``` | ||
| *$ORIGIN represents the directory in which an object (library) originated. It is resolved at run-time.* | ||
| 2. Copy library `<build-dir>/libRobotecGPULidar.so` to the appropriate directory in your RGLUnityPlugin. | ||
| 3. Create a new directory named `.plugin` in location where `libRobotecGPULidar.so` is. | ||
| 4. Copy all ROS2 libraries from `<build-dir>/ros2_standalone/` to the newly created `.plugin` directory. | ||
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| Unity ignores dynamic libraries in directories named `.plugin`. This way, ROS2 standalone builds for `ROS2ForUnity` and `RGL` will be separated and not loaded twice by Unity. | ||
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| ### Windows | ||
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| #### Prerequisites | ||
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| - Requirements listed in the main [README](../README.md) (section `Building on Windows`). | ||
| - ROS2 installed on the system and sourced. | ||
| - Fixed ROS2 logging macros in rclcpp package to make it compile with C++20. More about this bug: [github PR](https://github.com/ros2/rclcpp/pull/2063). | ||
| - Use `fix_ros2_humble.py` script to apply those changes: | ||
| ```bash | ||
| py ros2_standalone\fix_ros2_humble.py <your-path-to-ros2> | ||
| ``` | ||
| - For standalone build: | ||
| - If you have installed ROS2 from pre-built binaries, there is `rmw_cyclonedds_cpp` package missing. You need to build this one from the source: | ||
| 1. Make sure you have installed [ROS2 prerequisites](https://docs.ros.org/en/humble/Installation/Alternatives/Windows-Development-Setup.html#installing-prerequisites). | ||
| 2. Good practice is to disable Windows path limits, [see](https://learn.microsoft.com/en-us/windows/win32/fileio/maximum-file-path-limitation?tabs=registry). | ||
| 3. Run `x64 Native Tools Command Prompt for VS 2019`, setup development folder (e.g., `C:\rosrmw`), clone ROS2 repos, and build: | ||
| ```bash | ||
| md \rosrmw\src | ||
| cd \rosrmw | ||
| vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src | ||
| colcon build --merge-install --packages-up-to rmw_cyclonedds_cpp | ||
| ``` | ||
| 4. Before building RGL, source `rosrmw` workspace: `call C:\rosrmw\install\setup.bat`. | ||
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| #### Steps for overlay | ||
| 1. Run `x64 Native Tools Command Prompt for VS 2019` and navigate to RGL repository. | ||
| 2. Run `python setup.py --with-ros2` command to build RGL with ROS2 extension. | ||
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| #### Steps for standalone | ||
| 1. Run `x64 Native Tools Command Prompt for VS 2019` and navigate to RGL repository. | ||
| 2. Run `python setup.py --with-ros2-standalone` command to build RGL with ROS2 extension and install ROS2 libraries. | ||
| 3. Copy all ROS2 libraries from `<build-dir>/ros2_standalone/` into `RobotecGPULidar.dll` location, or extend environment variable `Path` appropriately. | ||
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| #### Tips for integrating RGL + ROS2 standalone with Unity and [ROS2ForUnity](https://github.com/RobotecAI/ros2-for-unity) plugin. | ||
| 1. Build RGL with ROS2 standalone as described above. | ||
| 2. Copy `<build-dir>/RobotecGPULidar.dll` and all depend libraries located in `<build-dir>` to appropriate directory in your RGLUnityPlugin. | ||
| 3. Copy all ROS2 libraries from `<build-dir>/ros2_standalone/` to `Ros2ForUnity\Plugins\Windows\x86_64` directory. Skip for duplicates. | ||
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| In this case, RGL's ROS2 standalone build is dependent on ROS2ForUnity's ROS2 standalone build. RobotecGPULidar library will find ROS2 because ROS2ForUnity sets environment variable `Path` for the ROS2 libraries. | ||
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| ## Usage | ||
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| Each RGL node for ROS2 publishing must be connected to a format node that defines fields and their layout in the binary data. For example, to publish PointCloud2 message with fields XYZ and DISTANCE, the code should look as follow: | ||
| ```c | ||
| ... | ||
| rgl_node_t nodeFormat = nullptr, nodeRos2 = nullptr; | ||
| std::vector<rgl_field_t> fieldsToPublish = { RGL_FIELD_XYZ_F32, RGL_FIELD_DISTANCE_F32 }; | ||
| rgl_node_points_format(&nodeFormat, fieldsToPublish.data(), fieldsToPublish.size()) | ||
| rgl_node_points_ros2_publish(&nodeRos2, "example_topic", "example_frame"); | ||
| rgl_graph_node_add_child(..., nodeFormat); | ||
| rgl_graph_node_add_child(nodeFormat, nodeRos2); | ||
| ``` | ||
| ## API documentation | ||
| More details can be found [here](../include/rgl/api/extensions/ros2.h). |
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| # This file is based on https://github.com/RobotecAI/ros2cs/blob/master/src/ros2cs/ros2cs_core/CMakeLists.txt | ||
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| find_program(PATCHELF "patchelf") | ||
| if(UNIX) | ||
| if(NOT PATCHELF) | ||
| message(FATAL_ERROR "'patchelf' executable not found. Linux standalone version requires 'patchelf' for patching 'runpath' of certain libraries. You can install it via 'sudo apt install patchelf'") | ||
| else() | ||
| message("'patchelf' found in ${PATCHELF}") | ||
| endif() | ||
| endif() | ||
| set(REQ_STANDALONE_LIBS "") | ||
| set(REQ_STANDALONE_DLLS "") | ||
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| # Get location for library target | ||
| macro(fetch_target_lib _target) | ||
| string(REGEX REPLACE "::" "_" _target_normalized ${_target}) | ||
| set(_locations IMPORTED_LOCATION_NONE IMPORTED_LOCATION_NOCONFIG IMPORTED_LOCATION_RELEASE IMPORTED_LOCATION_RELWITHDEBINFO IMPORTED_LOCATION_DEBUG) | ||
| foreach(_location ${_locations}) | ||
| get_target_property(${_target_normalized}_LIB_PATH ${_target} ${_location}) | ||
| if(NOT "${${_target_normalized}_LIB_PATH}" STREQUAL "${_target_normalized}_LIB_PATH-NOTFOUND") | ||
| break() | ||
| endif() | ||
| endforeach() | ||
| endmacro() | ||
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| # Extend REQ_STANDALONE_LIBS with _library_name dependencies | ||
| macro(get_standalone_dependencies _library_name) | ||
| find_package(${_library_name} REQUIRED) | ||
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| # Get cyclonedds DDSC | ||
| if("${_library_name}" STREQUAL "CycloneDDS") | ||
| if(WIN32) | ||
| fetch_target_lib(CycloneDDS::ddsc) | ||
| fetch_target_lib(CycloneDDS::idl) | ||
| list(APPEND REQ_STANDALONE_LIBS | ||
| ${CycloneDDS_ddsc_LIB_PATH} | ||
| ${CycloneDDS_idl_LIB_PATH} | ||
| ${CycloneDDS_dds_security_ac_LIB_PATH} | ||
| ${CycloneDDS_dds_security_auth_LIB_PATH} | ||
| ${CycloneDDS_dds_security_crypto_LIB_PATH}) | ||
| elseif(UNIX) | ||
| fetch_target_lib(CycloneDDS::ddsc) | ||
| list(APPEND REQ_STANDALONE_LIBS ${CycloneDDS_ddsc_LIB_PATH}) | ||
| endif() | ||
| endif() | ||
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| # Get rmw_cyclonedds_cpp | ||
| if("${_library_name}" STREQUAL "rmw_cyclonedds_cpp") | ||
| fetch_target_lib(rmw_cyclonedds_cpp::rmw_cyclonedds_cpp) | ||
| list(APPEND REQ_STANDALONE_LIBS ${rmw_cyclonedds_cpp_rmw_cyclonedds_cpp_LIB_PATH}) | ||
| endif() | ||
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| # We skip python libs | ||
| set(PYTHON_LIB_REGEX ".*python[0-9]*\.[0-9]*\.so") | ||
| if(WIN32) | ||
| set(PYTHON_LIB_REGEX ".*(l|L)ib(s|)\/python[0-9]*\.lib" ) | ||
| endif() | ||
| foreach(entry ${${_library_name}_LIBRARIES}) | ||
| string(REGEX MATCH ${PYTHON_LIB_REGEX} _found ${entry}) | ||
| if(_found STREQUAL "") | ||
| list(APPEND REQ_STANDALONE_LIBS ${entry}) | ||
| endif() | ||
| endforeach() | ||
| endmacro() | ||
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| # Install all libraries listed in REQ_STANDALONE_LIBS | ||
| macro(install_standalone_dependencies) | ||
| # Filter valid libraries | ||
| list(FILTER REQ_STANDALONE_LIBS INCLUDE REGEX ".*(lib|dll|so)(\.[0-9])*$") | ||
| list(REMOVE_DUPLICATES REQ_STANDALONE_LIBS) | ||
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| if(WIN32) | ||
| foreach(lib_path ${REQ_STANDALONE_LIBS}) | ||
| string(REGEX REPLACE "\/(l|L)ib\/" "/bin/" bin_path ${lib_path}) | ||
| string(REGEX REPLACE "\.lib$" ".dll" dll_path ${bin_path}) | ||
| list(APPEND REQ_STANDALONE_DLLS ${dll_path}) | ||
| endforeach() | ||
| install(FILES ${REQ_STANDALONE_DLLS} | ||
| DESTINATION ros2_standalone | ||
| ) | ||
| elseif(UNIX) | ||
| set(_resolvedFiles "") | ||
| foreach(lib_path ${REQ_STANDALONE_LIBS}) | ||
| # Generate soversion files (.so.<major>). Some libs links to soversion symlinks which are not returned by find_package by default. | ||
| get_filename_component(_resolvedFile "${lib_path}" REALPATH) | ||
| list(APPEND _resolvedFiles "${_resolvedFile}") | ||
| endforeach() | ||
| install(FILES ${_resolvedFiles} | ||
| DESTINATION ros2_standalone | ||
| ) | ||
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| # Fix soversion files | ||
| foreach(_resolvedFile ${_resolvedFiles}) | ||
| if("${_resolvedFile}" MATCHES "so(\.[0-9]+)+$") | ||
| # Get file path without so | ||
| string(FIND "${_resolvedFile}" ".so." _findPos) | ||
| string(SUBSTRING "${_resolvedFile}" 0 ${_findPos} _cutted) | ||
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| set(_remainingPath "${_resolvedFile}") | ||
| while("${_remainingPath}" MATCHES "so(\.[0-9]*)+$") | ||
| string(FIND "${_remainingPath}" "." _lastDotPos REVERSE) | ||
| string(SUBSTRING "${_remainingPath}" 0 ${_lastDotPos} _tempPos) | ||
| get_filename_component(_libPathFilename "${_tempPos}" NAME) | ||
| get_filename_component(_resolvedFilename "${_resolvedFile}" NAME) | ||
| install(CODE "execute_process(COMMAND ln -s ${_resolvedFilename} ${_libPathFilename} WORKING_DIRECTORY ${CMAKE_INSTALL_PREFIX}/ros2_standalone ERROR_QUIET)") | ||
| set(_remainingPath "${_tempPos}") | ||
| endwhile() | ||
| endif() | ||
| endforeach() | ||
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| # rpath for each standalone lib must be updated so all the libs will see each other | ||
| install(CODE | ||
| "execute_process(COMMAND find ${CMAKE_INSTALL_PREFIX}/ros2_standalone -name *.so -exec patchelf --set-rpath $ORIGIN:. {} \;)" | ||
| ) | ||
| # soversion files as well | ||
| install(CODE | ||
| "execute_process(COMMAND find ${CMAKE_INSTALL_PREFIX}/ros2_standalone -name *.so.* -exec patchelf --set-rpath $ORIGIN:. {} \;)" | ||
| ) | ||
| endif() | ||
| endmacro() | ||
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| # Libraries required by RGL | ||
| set(ros2_standalone_libs | ||
| rcl | ||
| rclcpp | ||
| sensor_msgs | ||
| visualization_msgs | ||
| rmw_implementation | ||
| FastRTPS | ||
| rmw_fastrtps_cpp | ||
| CycloneDDS | ||
| rmw_cyclonedds_cpp | ||
| rmw_dds_common | ||
| rosidl_runtime_c | ||
| rosidl_typesupport_c | ||
| rosidl_typesupport_cpp | ||
| rosidl_typesupport_introspection_c | ||
| rosidl_typesupport_introspection_cpp | ||
| ) | ||
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| foreach(ros2_standalone_lib ${ros2_standalone_libs}) | ||
| get_standalone_dependencies(${ros2_standalone_lib}) | ||
| endforeach() | ||
| install_standalone_dependencies() |
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