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[windows][melodic] Fix ambiguous call for tf2::convert on MSVC #444

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tfoote merged 3 commits into from
May 13, 2020
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[windows][melodic] Fix ambiguous call for tf2::convert on MSVC #444

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4b5d5e4
rework ambiguous call on MSVC.
seanyen Feb 11, 2020
b1b54c4
remove conditional #ifdef for testing.
seanyen Mar 27, 2020
bb8bdb3
Revert "remove conditional #ifdef for testing."
seanyen Mar 27, 2020
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2 changes: 1 addition & 1 deletion test_tf2/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)

project(test_tf2)

find_package(catkin REQUIRED COMPONENTS rosconsole roscpp rostest tf tf2 tf2_bullet tf2_ros tf2_geometry_msgs tf2_kdl tf2_msgs)
find_package(catkin REQUIRED COMPONENTS rosconsole roscpp rostest tf tf2 tf2_bullet tf2_ros tf2_geometry_msgs tf2_kdl tf2_msgs tf2_eigen)
find_package(Boost REQUIRED COMPONENTS thread)
find_package(orocos_kdl REQUIRED)

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2 changes: 2 additions & 0 deletions test_tf2/package.xml
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Expand Up @@ -23,6 +23,7 @@
<build_depend>tf2_geometry_msgs</build_depend>
<build_depend>tf2_kdl</build_depend>
<build_depend>tf2_msgs</build_depend>
<build_depend>tf2_eigen</build_depend>

<run_depend>rosconsole</run_depend>
<run_depend>roscpp</run_depend>
Expand All @@ -34,6 +35,7 @@
<run_depend>tf2_geometry_msgs</run_depend>
<run_depend>tf2_kdl</run_depend>
<run_depend>tf2_msgs</run_depend>
<run_depend>tf2_eigen</run_depend>

<test_depend>rosunit</test_depend>
<test_depend>rosbash</test_depend>
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13 changes: 13 additions & 0 deletions test_tf2/test/test_convert.cpp
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Expand Up @@ -39,6 +39,7 @@
#include <tf2_kdl/tf2_kdl.h>
#include <tf2_bullet/tf2_bullet.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_eigen/tf2_eigen.h>
#include <ros/time.h>

TEST(tf2Convert, kdlToBullet)
Expand Down Expand Up @@ -97,6 +98,18 @@ TEST(tf2Convert, kdlBulletROSConversions)
EXPECT_NEAR(b1.z(), b4.z(), epsilon);
}

TEST(tf2Convert, ConvertTf2Quaternion)
{
tf2::Quaternion tq(1,2,3,4);
Eigen::Quaterniond eq;
tf2::convert(tq, eq);

EXPECT_EQ(tq.w(), eq.w());
EXPECT_EQ(tq.x(), eq.x());
EXPECT_EQ(tq.y(), eq.y());
EXPECT_EQ(tq.z(), eq.z());
}

int main(int argc, char** argv)
{
testing::InitGoogleTest(&argc, argv);
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12 changes: 12 additions & 0 deletions tf2/include/tf2/impl/convert.h
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Expand Up @@ -55,21 +55,33 @@ template <>
template <typename A, typename B>
inline void Converter<true, false>::convert(const A& a, B& b)
{
#ifdef _MSC_VER
tf2::fromMsg(a, b);
#else
fromMsg(a, b);
#endif
}

template <>
template <typename A, typename B>
inline void Converter<false, true>::convert(const A& a, B& b)
{
#ifdef _MSC_VER
b = tf2::toMsg(a);
#else
b = toMsg(a);
#endif
}

template <>
template <typename A, typename B>
inline void Converter<false, false>::convert(const A& a, B& b)
{
#ifdef _MSC_VER
tf2::fromMsg(tf2::toMsg(a), b);
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@tfoote tfoote Mar 27, 2020

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Is it not safe to use this more qualified name ouside of MSVC so we could save the ifdef?

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@seanyen seanyen Mar 27, 2020

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As I recalled, it caused compilation errors in GCC\Clang settings but let me test and spin a CI to make sure.

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@seanyen seanyen Mar 27, 2020

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@tfoote Here is the error that if I use this full qualified name. It seems that GCC is okay with a unresolved (yet) function name referenced in the template code, but doesn't like the case where you reference it in the fully qualified form.

15:39:27 [  9%] Building CXX object CMakeFiles/tf2_ros.dir/src/buffer.cpp.o
15:39:31 In file included from /tmp/ws/install_isolated/include/tf2/convert.h:39:0,
15:39:31                  from /tmp/ws/src/geometry2/tf2_ros/include/tf2_ros/buffer_interface.h:40,
15:39:31                  from /tmp/ws/src/geometry2/tf2_ros/include/tf2_ros/buffer.h:35,
15:39:31                  from /tmp/ws/src/geometry2/tf2_ros/src/buffer.cpp:33:
15:39:31 /tmp/ws/install_isolated/include/tf2/impl/convert.h: In static member function ‘static void tf2::impl::Converter<IS_MESSAGE_A, IS_MESSAGE_B>::convert(const A&, B&) [with A = A; B = B; bool IS_MESSAGE_A = true; bool IS_MESSAGE_B = false]’:
15:39:31 /tmp/ws/install_isolated/include/tf2/impl/convert.h:58:8: error: ‘fromMsg’ is not a member of ‘tf2’
15:39:31    tf2::fromMsg(a, b);
15:39:31         ^~~~~~~
15:39:31 /tmp/ws/install_isolated/include/tf2/impl/convert.h: In static member function ‘static void tf2::impl::Converter<IS_MESSAGE_A, IS_MESSAGE_B>::convert(const A&, B&) [with A = A; B = B; bool IS_MESSAGE_A = false; bool IS_MESSAGE_B = true]’:
15:39:31 /tmp/ws/install_isolated/include/tf2/impl/convert.h:65:12: error: ‘toMsg’ is not a member of ‘tf2’
15:39:31    b = tf2::toMsg(a);
15:39:31             ^~~~~
15:39:31 /tmp/ws/install_isolated/include/tf2/impl/convert.h: In static member function ‘static void tf2::impl::Converter<IS_MESSAGE_A, IS_MESSAGE_B>::convert(const A&, B&) [with A = A; B = B; bool IS_MESSAGE_A = false; bool IS_MESSAGE_B = false]’:
15:39:31 /tmp/ws/install_isolated/include/tf2/impl/convert.h:72:8: error: ‘fromMsg’ is not a member of ‘tf2’
15:39:31    tf2::fromMsg(tf2::toMsg(a), b);
15:39:31         ^~~~~~~
15:39:31 /tmp/ws/install_isolated/include/tf2/impl/convert.h:72:21: error: ‘toMsg’ is not a member of ‘tf2’
15:39:31    tf2::fromMsg(tf2::toMsg(a), b);
15:39:31                      ^~~~~
15:39:31 CMakeFiles/tf2_ros.dir/build.make:62: recipe for target 'CMakeFiles/tf2_ros.dir/src/buffer.cpp.o' failed
15:39:31 make[2]: *** [CMakeFiles/tf2_ros.dir/src/buffer.cpp.o] Error 1
15:39:31 CMakeFiles/Makefile2:248: recipe for target 'CMakeFiles/tf2_ros.dir/all' failed
15:39:31 make[1]: *** [CMakeFiles/tf2_ros.dir/all] Error 2
15:39:31 Makefile:140: recipe for target 'all' failed
15:39:31 make: *** [all] Error 2
15:39:31 <== Failed to process package 'tf2_ros':

#else
fromMsg(toMsg(a), b);
#endif
}

}
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