humble macos

[Ryanf55]

From @srmainwaring , which gets this working on macos.

[Ryanf55]

I don't think this is needed because the GDAL::GDAL target should already have all the properties. If it doesn't, let's add it up where the GDAL::GDAL alias is created. Modern cmake practices recommend carrying all properties through targets rather than variables.

[srmainwaring]

Removed in ethz-asl@766e75c

[Ryanf55]

grid_map_core was already linked before through the namespaced target (preferred) compared to ament_target_dependencies. In conversations with the ROS maintainers, seems like the only thing ament_target_dependencies exists for these days is message packages because those can't use namespaced export targets yet.

[srmainwaring]

If:

ament_target_dependencies(${PROJECT_NAME} SYSTEM
  grid_map_core
  grid_map_ros
)

is replaced with:

target_link_libraries(${PROJECT_NAME}
  Eigen3::Eigen
  GDAL::GDAL
  grid_map_core
  grid_map_ros
)

then there is an error:

In file included from /Users/rhys/Code/ros2/humble/ros2-aerial/src/grid_map_geo/src/grid_map_geo.cpp:40:
In file included from /Users/rhys/Code/ros2/humble/ros2-aerial/src/grid_map_geo/include/grid_map_geo/grid_map_geo.hpp:37:
In file included from /Users/rhys/Code/ros2/humble/ros2-aerial/src/grid_map_geo/include/grid_map_geo/transform.hpp:49:
In file included from /opt/homebrew/include/eigen3/Eigen/Dense:1:
In file included from /opt/homebrew/include/eigen3/Eigen/Core:256:
/opt/homebrew/include/eigen3/Eigen/src/Core/functors/StlFunctors.h:159:10: fatal error: 'grid_map_core/eigen_plugins/FunctorsPlugin.hpp' file not found
#include EIGEN_FUNCTORS_PLUGIN
         ^~~~~~~~~~~~~~~~~~~~~
<command line>:2:31: note: expanded from macro 'EIGEN_FUNCTORS_PLUGIN'
#define EIGEN_FUNCTORS_PLUGIN "grid_map_core/eigen_plugins/FunctorsPlugin.hpp"
                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1 error generated.

The target grid_map_core::grid_map_core is not available. Something needing fixing upstream?

[Ryanf55]

Ah yes, try my patch here: ANYbotics/grid_map#404

Since grid_map seems largely unmaintained, we may have trouble getting changes in.

[Ryanf55]

I don't think this is necessary - we already did this in the install-portable way above, which is a direct copy of the ament_cmake tutorial; the generators above make it such that overrides are supported.

[srmainwaring]

Removed in ethz-asl@0143db6

[Ryanf55]

For cross-compilation purposes, have you considered using "${CMAK_SYSTEM_NAME} MATCHES Darwin as a condition?

[srmainwaring]

I should use:

if(${CMAKE_SYSTEM_NAME} MATCHES Darwin)
  if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm64)
    link_directories(/opt/homebrew/opt/yaml-cpp/lib)
  endif()
  if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x84_64)
    link_directories(/usr/local/opt/yaml-cpp/lib)
  endif()
endif()

None of this should be necessary, but something has gone wrong with the brew yaml-cpp or ROS 2 yaml-cpp-vendored package so it's dependencies are not propagated.

[Ryanf55]

Which version(s) do you have? After this patch I did, the exported namespace targets is available, and worked at least on Ubuntu. The 0.8 release has that included.

jbeder/yaml-cpp#1196

[Ryanf55]

@srmainwaring Do you mind giving upstream yaml-cpp release 0.8 a try by adding it to your ROS workspace?