Fixes for Windows

moveit_core/CMakeLists.txt

@@ -13,16 +13,27 @@ find_package(Eigen3 REQUIRED)
 # Finds Boost Components
 include(ConfigExtras.cmake)
 
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
+find_package(PkgConfig)
+set(BULLET_VERSION 2.87)
 
-find_package(Bullet 2.87 REQUIRED)
+if(PKGCONFIG_FOUND)
+  pkg_check_modules(BULLET bullet)
+  find_package_handle_standard_args(BULLET
+                                    REQUIRED_VARS BULLET_LIBRARIES BULLET_INCLUDE_DIRS
+                                    VERSION_VAR ${BULLET_VERSION})
 
-find_package(PkgConfig REQUIRED)
-
-pkg_check_modules(LIBFCL REQUIRED "fcl>=0.5.0")
-# replace LIBFCL_LIBRARIES with full path to the library
-find_library(LIBFCL_LIBRARIES_FULL ${LIBFCL_LIBRARIES} ${LIBFCL_LIBRARY_DIRS})
-set(LIBFCL_LIBRARIES "${LIBFCL_LIBRARIES_FULL}")
+  pkg_check_modules(LIBFCL REQUIRED "fcl>=0.5.0")
+  # replace LIBFCL_LIBRARIES with full path to the library
+  find_library(LIBFCL_LIBRARIES_FULL ${LIBFCL_LIBRARIES} ${LIBFCL_LIBRARY_DIRS})
+  set(LIBFCL_LIBRARIES "${LIBFCL_LIBRARIES_FULL}")
+  set(FCL_NAME "LIBFCL")
+else()
+  find_package(FCL 0.5.0)
+  set(LIBFCL_INCLUDE_DIRS "${FCL_INCLUDE_DIRS}")
+  set(FCL_NAME "FCL")
+  set(EXTRA_INCLUDE "FCL")
+  find_package(Bullet ${BULLET_VERSION} REQUIRED)
+endif()
 
 find_package(angles REQUIRED)
 find_package(OCTOMAP REQUIRED)
@@ -134,6 +145,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   eigen3_cmake_module
   OCTOMAP
   Bullet
+  ${EXTRA_INCLUDE}
 )
 
 pluginlib_export_plugin_description_file(moveit_core collision_detector_fcl_description.xml)

moveit_core/ConfigExtras.cmake

@@ -1,9 +1,5 @@
 # Extras module needed for dependencies to find boost components
 
-# boost::iostreams on Windows depends on boost::zlib
-if(WIN32)
-  set(EXTRA_BOOST_COMPONENTS zlib)
-endif()
 find_package(Boost REQUIRED
   chrono
   date_time
@@ -14,5 +10,4 @@ find_package(Boost REQUIRED
   serialization
   system
   thread
-  ${EXTRA_BOOST_COMPONENTS}
 )

moveit_core/collision_detection/CMakeLists.txt

@@ -12,6 +12,7 @@ add_library(${MOVEIT_LIB_NAME} SHARED
 )
 
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE COLLISION_DETECTION_BUILDING_DLL)
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
   rmw_implementation

moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h

@@ -39,10 +39,12 @@
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection/allvalid/collision_env_allvalid.h>
 
+#include <moveit/collision_detection/visibility_control.h>
+
 namespace collision_detection
 {
 /** \brief An allocator for AllValid collision detectors */
-class CollisionDetectorAllocatorAllValid
+class COLLISION_DETECTION_PUBLIC CollisionDetectorAllocatorAllValid
   : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid>
 {
 public:

moveit_core/collision_detection/include/moveit/collision_detection/visibility_control.h

@@ -0,0 +1,70 @@
+// Copyright (c) 2021, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// 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.
+
+#ifndef COLLISION_DETECTION__VISIBILITY_CONTROL_H_
+#define COLLISION_DETECTION__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+#ifdef __GNUC__
+#define COLLISION_DETECTION_EXPORT __attribute__((dllexport))
+#define COLLISION_DETECTION_IMPORT __attribute__((dllimport))
+#else
+#define COLLISION_DETECTION_EXPORT __declspec(dllexport)
+#define COLLISION_DETECTION_IMPORT __declspec(dllimport)
+#endif
+#ifdef COLLISION_DETECTION_BUILDING_DLL
+#define COLLISION_DETECTION_PUBLIC COLLISION_DETECTION_EXPORT
+#else
+#define COLLISION_DETECTION_PUBLIC COLLISION_DETECTION_IMPORT
+#endif
+#define COLLISION_DETECTION_PUBLIC_TYPE COLLISION_DETECTION_PUBLIC
+#define COLLISION_DETECTION_LOCAL
+#else
+#define COLLISION_DETECTION_EXPORT __attribute__((visibility("default")))
+#define COLLISION_DETECTION_IMPORT
+#if __GNUC__ >= 4
+#define COLLISION_DETECTION_PUBLIC __attribute__((visibility("default")))
+#define COLLISION_DETECTION_LOCAL __attribute__((visibility("hidden")))
+#else
+#define COLLISION_DETECTION_PUBLIC
+#define COLLISION_DETECTION_LOCAL
+#endif
+#define COLLISION_DETECTION_PUBLIC_TYPE
+#endif
+
+#endif  // COLLISION_DETECTION__VISIBILITY_CONTROL_H_

moveit_core/collision_detection_bullet/CMakeLists.txt

@@ -10,6 +10,7 @@ add_library(${MOVEIT_LIB_NAME} SHARED
   src/bullet_integration/ros_bullet_utils.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE COLLISION_DETECTION_BULLET_BUILDING_DLL)
 ament_target_dependencies(${MOVEIT_LIB_NAME} SYSTEM
   BULLET
 )
@@ -61,15 +62,21 @@ if(BUILD_TESTING)
   ament_add_gtest(test_bullet_collision_detection test/test_bullet_collision_detection_pr2.cpp)
   target_link_libraries(test_bullet_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})
   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_bullet_collision_detection PRIVATE -Wno-deprecated-declarations)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(test_bullet_collision_detection PRIVATE -Wno-deprecated-declarations)
+  endif()
 
   ament_add_gtest(test_bullet_collision_detection_panda test/test_bullet_collision_detection_panda.cpp)
   target_link_libraries(test_bullet_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME})
   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_bullet_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(test_bullet_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+  endif()
 
   ament_add_gtest(test_bullet_continuous_collision_checking test/test_bullet_continuous_collision_checking.cpp)
   target_link_libraries(test_bullet_continuous_collision_checking moveit_test_utils ${MOVEIT_LIB_NAME})
   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_bullet_continuous_collision_checking PRIVATE -Wno-deprecated-declarations)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(test_bullet_continuous_collision_checking PRIVATE -Wno-deprecated-declarations)
+  endif()
 endif()

moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bullet.h

@@ -39,10 +39,12 @@
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection_bullet/collision_env_bullet.h>
 
+#include <moveit/collision_detection_bullet/visibility_control.h>
+
 namespace collision_detection
 {
 /** \brief An allocator for Bullet collision detectors */
-class CollisionDetectorAllocatorBullet
+class COLLISION_DETECTION_BULLET_PUBLIC CollisionDetectorAllocatorBullet
   : public CollisionDetectorAllocatorTemplate<CollisionEnvBullet, CollisionDetectorAllocatorBullet>
 {
 public:

moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/visibility_control.h

@@ -0,0 +1,70 @@
+// Copyright (c) 2021, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// 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.
+
+#ifndef COLLISION_DETECTION_BULLET__VISIBILITY_CONTROL_H_
+#define COLLISION_DETECTION_BULLET__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+#ifdef __GNUC__
+#define COLLISION_DETECTION_BULLET_EXPORT __attribute__((dllexport))
+#define COLLISION_DETECTION_BULLET_IMPORT __attribute__((dllimport))
+#else
+#define COLLISION_DETECTION_BULLET_EXPORT __declspec(dllexport)
+#define COLLISION_DETECTION_BULLET_IMPORT __declspec(dllimport)
+#endif
+#ifdef COLLISION_DETECTION_BULLET_BUILDING_DLL
+#define COLLISION_DETECTION_BULLET_PUBLIC COLLISION_DETECTION_BULLET_EXPORT
+#else
+#define COLLISION_DETECTION_BULLET_PUBLIC COLLISION_DETECTION_BULLET_IMPORT
+#endif
+#define COLLISION_DETECTION_BULLET_PUBLIC_TYPE COLLISION_DETECTION_BULLET_PUBLIC
+#define COLLISION_DETECTION_BULLET_LOCAL
+#else
+#define COLLISION_DETECTION_BULLET_EXPORT __attribute__((visibility("default")))
+#define COLLISION_DETECTION_BULLET_IMPORT
+#if __GNUC__ >= 4
+#define COLLISION_DETECTION_BULLET_PUBLIC __attribute__((visibility("default")))
+#define COLLISION_DETECTION_BULLET_LOCAL __attribute__((visibility("hidden")))
+#else
+#define COLLISION_DETECTION_BULLET_PUBLIC
+#define COLLISION_DETECTION_BULLET_LOCAL
+#endif
+#define COLLISION_DETECTION_BULLET_PUBLIC_TYPE
+#endif
+
+#endif  // COLLISION_DETECTION_BULLET__VISIBILITY_CONTROL_H_

moveit_core/collision_detection_bullet/src/collision_detector_bullet_plugin_loader.cpp

@@ -35,7 +35,7 @@
 /* Author: Jens Petit */
 
 #include <moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 
 namespace collision_detection
 {

moveit_core/collision_detection_fcl/CMakeLists.txt

@@ -5,13 +5,14 @@ add_library(${MOVEIT_LIB_NAME} SHARED
   src/collision_env_fcl.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE COLLISION_DETECTION_FCL_BUILDING_DLL)
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
   rmw_implementation
   urdf
   urdfdom
   urdfdom_headers
-  LIBFCL
+  ${FCL_NAME}
   Boost
   visualization_msgs
 )
@@ -48,10 +49,14 @@ if(BUILD_TESTING)
   ament_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection_pr2.cpp)
   target_link_libraries(test_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})
   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_fcl_collision_detection PRIVATE -Wno-deprecated-declarations)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(test_fcl_collision_detection PRIVATE -Wno-deprecated-declarations)
+  endif()
 
   ament_add_gtest(test_fcl_collision_detection_panda test/test_fcl_collision_detection_panda.cpp)
   target_link_libraries(test_fcl_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME})
   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  target_compile_options(test_fcl_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(test_fcl_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+  endif()
 endif()

moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h

@@ -39,10 +39,12 @@
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection_fcl/collision_env_fcl.h>
 
+#include <moveit/collision_detection_fcl/visibility_control.h>
+
 namespace collision_detection
 {
 /** \brief An allocator for FCL collision detectors */
-class CollisionDetectorAllocatorFCL
+class COLLISION_DETECTION_FCL_PUBLIC CollisionDetectorAllocatorFCL
   : public CollisionDetectorAllocatorTemplate<CollisionEnvFCL, CollisionDetectorAllocatorFCL>
 {
 public: