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Fix compilation of nav2_smac_planner on Windows #5291

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Merged
SteveMacenski merged 1 commit into from
Jun 23, 2025
Merged

Fix compilation of nav2_smac_planner on Windows #5291

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12 changes: 12 additions & 0 deletions nav2_smac_planner/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -42,9 +42,17 @@ add_library(${library_name}_common SHARED
src/node_lattice.cpp
src/smoother.cpp
)
# Add GenerateExportHeader support for symbol visibility, as we are using
# static members we need to explicitly export them on Windows, as
# CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS does not work with static members.
include(GenerateExportHeader)
generate_export_header(${library_name}_common
EXPORT_FILE_NAME "${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/${library_name}_common_visibility_control.hpp"
)
target_include_directories(${library_name}_common
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
${OMPL_INCLUDE_DIRS}
)
Expand Down Expand Up @@ -167,6 +175,10 @@ install(TARGETS ${library_name}_common ${library_name} ${library_name}_2d ${libr
install(DIRECTORY include/
DESTINATION include/${PROJECT_NAME}
)
install(FILES
"${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/${library_name}_common_visibility_control.hpp"
DESTINATION include/${PROJECT_NAME}
)

install(DIRECTORY lattice_primitives/sample_primitives DESTINATION share/${PROJECT_NAME})

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15 changes: 8 additions & 7 deletions nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#include "nav2_smac_planner/types.hpp"
#include "nav2_smac_planner/collision_checker.hpp"
#include "nav2_smac_planner/costmap_downsampler.hpp"
#include "nav2_smac_planner/nav2_smac_planner_common_visibility_control.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_costmap_2d/inflation_layer.hpp"

Expand Down Expand Up @@ -473,16 +474,16 @@ class NodeHybrid
Coordinates pose;

// Constants required across all nodes but don't want to allocate more than once
static float travel_distance_cost;
static HybridMotionTable motion_table;
NAV2_SMAC_PLANNER_COMMON_EXPORT static float travel_distance_cost;
NAV2_SMAC_PLANNER_COMMON_EXPORT static HybridMotionTable motion_table;
// Wavefront lookup and queue for continuing to expand as needed
static LookupTable obstacle_heuristic_lookup_table;
static ObstacleHeuristicQueue obstacle_heuristic_queue;
NAV2_SMAC_PLANNER_COMMON_EXPORT static LookupTable obstacle_heuristic_lookup_table;
NAV2_SMAC_PLANNER_COMMON_EXPORT static ObstacleHeuristicQueue obstacle_heuristic_queue;

static std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros;
NAV2_SMAC_PLANNER_COMMON_EXPORT static std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros;
// Dubin / Reeds-Shepp lookup and size for dereferencing
static LookupTable dist_heuristic_lookup_table;
static float size_lookup;
NAV2_SMAC_PLANNER_COMMON_EXPORT static LookupTable dist_heuristic_lookup_table;
NAV2_SMAC_PLANNER_COMMON_EXPORT static float size_lookup;

private:
float _cell_cost;
Expand Down
7 changes: 4 additions & 3 deletions nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
#include "nav2_smac_planner/collision_checker.hpp"
#include "nav2_smac_planner/node_hybrid.hpp"
#include "nav2_smac_planner/utils.hpp"
#include "nav2_smac_planner/nav2_smac_planner_common_visibility_control.hpp"

namespace nav2_smac_planner
{
Expand Down Expand Up @@ -415,10 +416,10 @@ class NodeLattice

NodeLattice * parent;
Coordinates pose;
static LatticeMotionTable motion_table;
NAV2_SMAC_PLANNER_COMMON_EXPORT static LatticeMotionTable motion_table;
// Dubin / Reeds-Shepp lookup and size for dereferencing
static LookupTable dist_heuristic_lookup_table;
static float size_lookup;
NAV2_SMAC_PLANNER_COMMON_EXPORT static LookupTable dist_heuristic_lookup_table;
NAV2_SMAC_PLANNER_COMMON_EXPORT static float size_lookup;

private:
float _cell_cost;
Expand Down
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