Not finding Sophus in Eloquent
Closed this issue · 5 comments
I have installed with sudo apt install ros-eloquent-sophus.
Does not work with dashing either.
I am getting this compiler error:
/home/martin/ros2_ws/src/acrobat_packages/acrobat_common/include/acrobat_common/geometry/lie_groups.hpp:4:10: fatal error: 'sophus/se3.hpp' file not found
#include <sophus/se3.hpp>
^~~~~~~~~~~~~~~~
In my package.xml
<build_depend>Sophus</build_depend>
In my CMakeLists.txt
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(Sophus REQUIRED)
add_library(${PROJECT_NAME} src/maffs.cpp)
target_include_directories(${PROJECT_NAME}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>"
)
ament_target_dependencies(${PROJECT_NAME} Sophus)
There is a problem with ament_target_dependencies - it can't handle modern CMake3 style imported targets. See ament/ament_cmake#178 and ament/ament_cmake#183.
You'll have to do this CMake style, which is actually little pain because the problems ament_target_dependencies is trying to solve by aggregating many variables together is also solved by CMake3 imported targets.
You'll need to link it in with target_link_libraries, e.g.
target_link_libraries(
${PROJECT_NAME}
PUBLIC
Sophus::Sophus
)
An actual example here: https://github.com/stonier/ecl_core/blob/c2a2326c55acc948dad2c9b3ff60181ebd54724d/ecl_linear_algebra/src/lib/CMakeLists.txt#L20-L28
Sorry for the late response.
I tried this, but it doesn't work. I am also having trouble including tf2_geometry_msgs. However, I was able to compile ecl_core so I'm not sure what is different. I will post everything which will maybe expose the problem.
The error:
In file included from /home/martin/ros2_ws/src/acrobat_packages/acrobat_common/include/acrobat_common/lie_groups/lie_group_conversions.hpp:3:0,
from /home/martin/ros2_ws/src/acrobat_packages/acrobat_common/tests/lie_group_conversions_test.cpp:3:
/home/martin/ros2_ws/src/acrobat_packages/acrobat_common/include/acrobat_common/lie_groups/lie_groups.hpp:3:10: fatal error: sophus/se3.hpp: No such file or directory
#include <sophus/se3.hpp>
^~~~~~~~~~~~~~~~
compilation terminated.
CMakeLists.txt:
cmake_minimum_required(VERSION 3.5)
project(acrobat_common)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(Sophus REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
include_directories(include)
add_library(${PROJECT_NAME} SHARED
# Lie groups
src/lie_groups/lie_groups.cpp
src/lie_groups/lie_group_conversions.cpp
)
target_include_directories(
${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(
${PROJECT_NAME}
PUBLIC
Sophus::Sophus
)
ament_export_interfaces(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_libraries(${PROJECT_NAME})
ament_export_include_directories(include)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
find_package(ament_cmake_gtest REQUIRED)
ament_lint_auto_find_test_dependencies()
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_add_gtest(${PROJECT_NAME}_lie_group_conversions_test tests/lie_group_conversions_test.cpp)
endif()
install(
DIRECTORY include/
DESTINATION include
)
install(
TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES DESTINATION include
)
ament_package()
lie_groups.hpp:
#pragma once
#include <sophus/se3.hpp>
#include <sophus/sim3.hpp>
#include <sophus/so3.hpp>
#include <acrobat_common/math/math_defines.hpp>
namespace acrobat::lie_groups {
using Scalar = math::Scalar;
using Vector3 = Eigen::Matrix<Scalar, 3, 1>;
using Quaternion = Eigen::Quaternion<Scalar>;
using SO3 = Sophus::SO3<Scalar>;
using SE3 = Sophus::SE3<Scalar>;
using SIM3 = Sophus::Sim3<Scalar>;
} // namespace acrobat::lie_groups
package.xml (I'm still not sure if this matters other than building packages in order)
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>acrobat_common</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="mdeegan@umich.edu">martin</maintainer>
<license>TODO: License declaration</license>
<depend>sophus</depend>
<build_depend>tf2_geometry_msgs</build_depend>
<exec_depend>tf2_geometry_msgs</exec_depend>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_cmake_gtest</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
I figured it out while writing that. I had an extra include_directories(include).
I think I will abandon ament_cmake and just use cmake because ament_target_dependencies doesn't seem to work with target_link_libraries.
Huh. I wouldn't have guessed that would have caused it to make Sophus go awol.
You should still be able to use ament_cmake with ament_target_dependencies. I have a colleague who brings all the old style cmake ros dependencies to a target via ament_target_dependencies and then brings the modern cmake / cmake-ros dependencies via target_link_libraries and it works fine.
Yup you are right, you can use both. However, ament_target_dependencies uses target_link_libraries without a PUBLIC, PRIVATE, or INTERFACE keyword which means you can't link with a keyword either. Slightly annoying, but not a big deal...
Just for documentations sake here is my final CMakeLists.txt:
# find system dependencies
find_package(ament_cmake REQUIRED)
find_package(Sophus REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
# find project dependencies
find_package(project_settings REQUIRED)
add_library(
acrobat_common SHARED
# Lie groups
src/lie_groups/lie_group_conversions.cpp src/lie_groups/lie_groups.cpp)
target_include_directories(acrobat_common PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>")
ament_target_dependencies(acrobat_common "project_settings" "tf2_geometry_msgs")
target_link_libraries(acrobat_common Sophus::Sophus)
ament_export_include_directories(include)
ament_export_libraries(acrobat_common)
ament_export_dependencies(Sophus tf2_geometry_msgs)
ament_export_interfaces(export_acrobat_common HAS_LIBRARY_TARGET)
install(DIRECTORY include/ DESTINATION include)
install(
TARGETS acrobat_common
EXPORT export_acrobat_common
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
INCLUDES
DESTINATION include)
if(BUILD_TESTING)
add_subdirectory(test)
endif()
ament_package()