fix(autoware_shape_estimation): resolve undefined reference to ~TrtShapeEstimator()

[ktro2828]

Description

While building autoware_shape_estimation, I got the following error:

Starting >>> autoware_shape_estimation                                                                                                                                                        
--- stderr: autoware_shape_estimation                                                                                                                                                         
CUDA found, including CUDA-specific sources
/usr/bin/ld: libautoware_shape_estimation.so: undefined reference to `autoware::shape_estimation::TrtShapeEstimator::~TrtShapeEstimator()'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/test_autoware_shape_estimation.dir/build.make:830: test_autoware_shape_estimation] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:242: CMakeFiles/test_autoware_shape_estimation.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< autoware_shape_estimation [5.64s, exited with code 2]

This PR added the definition of ~TrtShapeEstimator() as =default.

Related links

Parent Issue:

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How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[YoshiRi]

LGTM but could you write what build command you used.
I could not reproduce the error with following command:

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to autoware_shape_estimat
ion

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 25.04%. Comparing base (a5cc3ba) to head (b7f1e1f).
Report is 3 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8738      +/-   ##
==========================================
- Coverage   25.04%   25.04%   -0.01%     
==========================================
  Files        1320     1320              
  Lines       97932    97942      +10     
  Branches    37803    37806       +3     
==========================================
  Hits        24531    24531              
- Misses      70870    70880      +10     
  Partials     2531     2531              

Flag	Coverage Δ		*Carryforward flag
differential	9.00% <ø> (?)
total	25.04% <ø> (ø)		Carriedforward from a5cc3ba

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[ktro2828]

@YoshiRi Thank you for the quick review!

I could not reproduce the error with following command:

This is because there is no line to initialize ShapeEstimatorNode explicitly.
If we add a line to invoke the constructor of ShapeEstimatorNode, compiler will look for the definition of the destructor for each object recursively.

As an experiment, I declared ShapeEstimationNode as an executable as follows:

// src/shape_estimation_node.cpp

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  auto node_options = rclcpp::NodeOptions();
  rclcpp::spin(std::make_shared<autoware::shape_estimation::ShapeEstimationNode>(node_options));
  rclcpp::shutdown();
  return 0;
}

After editing CMakeLists.txt, I could reproduce the error:

--- stderr: autoware_shape_estimation                                  
CUDA found, including CUDA-specific sources
/usr/bin/ld: CMakeFiles/autoware_shape_estimation.dir/src/shape_estimation_node.cpp.o: in function `autoware::shape_estimation::ShapeEstimationNode::ShapeEstimationNode(rclcpp::NodeOptions const&)':
shape_estimation_node.cpp:(.text+0x3e89): undefined reference to `autoware::shape_estimation::TrtShapeEstimator::~TrtShapeEstimator()'
/usr/bin/ld: CMakeFiles/autoware_shape_estimation.dir/src/shape_estimation_node.cpp.o: in function `autoware::shape_estimation::ShapeEstimationNode::ShapeEstimationNode(rclcpp::NodeOptions const&) [clone .cold]':
shape_estimation_node.cpp:(.text.unlikely+0xac1): undefined reference to `autoware::shape_estimation::TrtShapeEstimator::~TrtShapeEstimator()'
/usr/bin/ld: CMakeFiles/autoware_shape_estimation.dir/src/shape_estimation_node.cpp.o: in function `autoware::shape_estimation::ShapeEstimationNode::~ShapeEstimationNode()':
shape_estimation_node.cpp:(.text._ZN8autoware16shape_estimation19ShapeEstimationNodeD2Ev[_ZN8autoware16shape_estimation19ShapeEstimationNodeD5Ev]+0x2f): undefined reference to `autoware::shape_estimation::TrtShapeEstimator::~TrtShapeEstimator()'
/usr/bin/ld: CMakeFiles/autoware_shape_estimation.dir/src/shape_estimation_node.cpp.o: in function `autoware::shape_estimation::ShapeEstimationNode::~ShapeEstimationNode()':
shape_estimation_node.cpp:(.text._ZN8autoware16shape_estimation19ShapeEstimationNodeD0Ev[_ZN8autoware16shape_estimation19ShapeEstimationNodeD5Ev]+0x2f): undefined reference to `autoware::shape_estimation::TrtShapeEstimator::~TrtShapeEstimator()'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/autoware_shape_estimation.dir/build.make:939: autoware_shape_estimation] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/autoware_shape_estimation.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< autoware_shape_estimation [10.0s, exited with code 2]