Merge pull request #406 from robotology/fixWindows

Various fixes to enable compilation in Windows against Chocolatey's Gazebo binary

CMakeLists.txt

@@ -2,7 +2,7 @@
 # Authors: Enrico Mingo, Alessio Rocchi, Mirko Ferrati, Silvio Traversaro, Alessandro Settimi and Francesco Romano
 # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 
-cmake_minimum_required(VERSION 2.8.7)
+cmake_minimum_required(VERSION 3.5)
 PROJECT(GazeboYARPPlugins)
 
 # Project version
@@ -18,19 +18,28 @@ include(GNUInstallDirs)
 
 # Finding dependencies
 find_package(YARP 3.0.101 REQUIRED)
-find_package(Boost REQUIRED serialization system)
-find_package(Protobuf REQUIRED)
 find_package(Gazebo REQUIRED)
 if (Gazebo_VERSION_MAJOR LESS 7.0)
     message(status "Gazebo version : " ${Gazebo_VERSION_MAJOR}.${Gazebo_VERSION_MINOR}.${Gazebo_VERSION_PATCH})
     message(FATAL_ERROR "Your Gazebo version is older than Gazebo 7.0. Gazebo Yarp plugins are supported with gazebo versions >= 7.0. Please update to a newer version")
 endif()
-find_package(SDFormat REQUIRED)
-find_package(OGRE QUIET)
+
+# Custom workaround for chocolatey distributed Gazebo and OGRE
+# See https://github.com/ms-iot/ROSOnWindows/issues/48 for the original issue
+if(MSVC)
+    find_package(OGRE REQUIRED CONFIG)
+    # It is tipically better to use target_include_directories in place of
+    # global include_directories, but in this case it is more compact to use include_directories
+    include_directories(${OGRE_Paging_INCLUDE_DIRS})
+endif()
+
 
 # Add Gazebo CXX flags, to support Gazebo 6 reckless dependency on C++11
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
+# On Windows, export all symbols by default as *nix
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 # add local cmake scripts
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake)
 

cmake/AddGazeboYarpPluginTarget.cmake

@@ -57,10 +57,18 @@ endif()
 add_library(${GAZEBO_PLUGIN_LIBRARY_NAME} ${LIBRARY_TYPE} ${GAZEBO_PLUGIN_SOURCES} ${GAZEBO_PLUGIN_HEADERS})
 target_link_libraries(${GAZEBO_PLUGIN_LIBRARY_NAME} ${GAZEBO_PLUGIN_LINKED_LIBRARIES})
 
+
 target_include_directories(${GAZEBO_PLUGIN_LIBRARY_NAME} PUBLIC 
                          $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
                          "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")
 
+if(MSVC)
+    # On Visual Studio, it is necessary to define this Windows-specific macros
+    # to get Gazebo headers to compile without problems, for more details
+    # see https://stackoverflow.com/questions/5971332/redefinition-errors-in-winsock2-h
+    target_compile_definitions(${GAZEBO_PLUGIN_LIBRARY_NAME} PUBLIC NOMINMAX WIN32_LEAN_AND_MEAN _USE_MATH_DEFINES)
+endif()
+
 # Add install target
 install(TARGETS ${GAZEBO_PLUGIN_LIBRARY_NAME}
         EXPORT GazeboYARPPlugins

plugins/depthCamera/src/DepthCameraDriver.cpp

@@ -376,6 +376,7 @@ bool GazeboYarpDepthCameraDriver::getDepthClipPlanes(double& nearPlane, double&
 {
     nearPlane = m_depthCameraSensorPtr->DepthCamera()->NearClip();
     farPlane  = m_depthCameraSensorPtr->DepthCamera()->FarClip();
+    return true;
 }
 bool GazeboYarpDepthCameraDriver::setDepthClipPlanes(double nearPlane, double farPlane)
 {
@@ -415,7 +416,7 @@ bool GazeboYarpDepthCameraDriver::getDepthImage(depthImageType& depthImage, Stam
     m_depthFrameMutex.post();
     return true;
 }
-bool GazeboYarpDepthCameraDriver::getExtrinsicParam(sig::Matrix& extrinsic)
+bool GazeboYarpDepthCameraDriver::getExtrinsicParam(yarp::sig::Matrix& extrinsic)
 {
     extrinsic.resize(4, 4);
     extrinsic.zero();

thrift/linkattacher/CMakeLists.txt

@@ -22,7 +22,8 @@ set_property(TARGET ${LIBRARY_TARGET_NAME} PROPERTY PUBLIC_HEADER "${LARPC_HEADE
 
 install(TARGETS ${LIBRARY_TARGET_NAME}
         EXPORT ${PROJECT_NAME}
-        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}"
+        LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
         PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gazebo)
 
 set_property(GLOBAL APPEND PROPERTY ${PROJECT_NAME}_TARGETS ${LIBRARY_TARGET_NAME})