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Fixes for Windows #439

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Fixes for Windows #439

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054acc6
Fix karto_sdk
Ace314159 Aug 4, 2021
6295142
Fix rviz plugin
Ace314159 Aug 4, 2021
3349ccb
Fix nodes
Ace314159 Aug 4, 2021
7f7e323
Fix merge_maps tool
Ace314159 Aug 4, 2021
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21 changes: 21 additions & 0 deletions CMakeLists.txt
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Expand Up @@ -136,33 +136,54 @@ target_link_libraries(ceres_solver_plugin ${CERES_LIBRARIES}
rosidl_target_interfaces(ceres_solver_plugin ${PROJECT_NAME} "rosidl_typesupport_cpp")
pluginlib_export_plugin_description_file(slam_toolbox solver_plugins.xml)

if(MSVC)
add_compile_definitions(_USE_MATH_DEFINES)
endif()

#### Tool lib for mapping
add_library(toolbox_common src/slam_toolbox_common.cpp src/map_saver.cpp src/loop_closure_assistant.cpp src/laser_utils.cpp src/slam_mapper.cpp)
ament_target_dependencies(toolbox_common
${dependencies}
)
target_link_libraries(toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
set_target_properties(toolbox_common PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
rosidl_target_interfaces(toolbox_common ${PROJECT_NAME} "rosidl_typesupport_cpp")

#### Mapping executibles
add_library(async_slam_toolbox src/slam_toolbox_async.cpp)
set_target_properties(async_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
target_link_libraries(async_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
add_executable(async_slam_toolbox_node src/slam_toolbox_async_node.cpp)
if(MSVC)
target_compile_options(async_slam_toolbox_node PRIVATE "/F 40000000")
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I'm not familiar with this /F 40000000, can you explain me this?

endif()
target_link_libraries(async_slam_toolbox_node async_slam_toolbox)

add_library(sync_slam_toolbox src/slam_toolbox_sync.cpp)
set_target_properties(sync_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
target_link_libraries(sync_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
add_executable(sync_slam_toolbox_node src/slam_toolbox_sync_node.cpp)
if(MSVC)
target_compile_options(sync_slam_toolbox_node PRIVATE "/F 40000000")
endif()
target_link_libraries(sync_slam_toolbox_node sync_slam_toolbox)

add_library(localization_slam_toolbox src/slam_toolbox_localization.cpp)
set_target_properties(localization_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
target_link_libraries(localization_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
add_executable(localization_slam_toolbox_node src/slam_toolbox_localization_node.cpp)
if(MSVC)
target_compile_options(localization_slam_toolbox_node PRIVATE "/F 40000000")
endif()
target_link_libraries(localization_slam_toolbox_node localization_slam_toolbox)

add_library(lifelong_slam_toolbox src/experimental/slam_toolbox_lifelong.cpp)
set_target_properties(lifelong_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
target_link_libraries(lifelong_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
add_executable(lifelong_slam_toolbox_node src/experimental/slam_toolbox_lifelong_node.cpp)
if(MSVC)
target_compile_options(lifelong_slam_toolbox_node PRIVATE "/F 40000000")
endif()
target_link_libraries(lifelong_slam_toolbox_node lifelong_slam_toolbox)

#### Merging maps tool
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2 changes: 2 additions & 0 deletions include/slam_toolbox/merge_maps_kinematic.hpp
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Expand Up @@ -21,7 +21,9 @@

#include <thread>
#include <sys/stat.h>
#ifndef _WIN32
#include <unistd.h>
#endif
#include <string>
#include <map>
#include <memory>
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2 changes: 2 additions & 0 deletions include/slam_toolbox/slam_toolbox_common.hpp
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Expand Up @@ -19,7 +19,9 @@
#ifndef SLAM_TOOLBOX__SLAM_TOOLBOX_COMMON_HPP_
#define SLAM_TOOLBOX__SLAM_TOOLBOX_COMMON_HPP_

#ifndef _WIN32
#include <sys/resource.h>
#endif
#include <boost/thread.hpp>
#include <string>
#include <map>
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5 changes: 4 additions & 1 deletion lib/karto_sdk/CMakeLists.txt
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Expand Up @@ -5,7 +5,9 @@ if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
set(CMAKE_BUILD_TYPE Release) #None, Debug, Release, RelWithDebInfo, MinSizeRel
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-backtrace-limit=0")
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-backtrace-limit=0")
endif()
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")

find_package(ament_cmake REQUIRED)
Expand All @@ -29,6 +31,7 @@ add_definitions(${EIGEN3_DEFINITIONS})

include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
add_library(kartoSlamToolbox SHARED src/Karto.cpp src/Mapper.cpp)
target_compile_definitions(kartoSlamToolbox PRIVATE KARTO_DYNAMIC)
ament_target_dependencies(kartoSlamToolbox ${dependencies})
target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} ${TBB_LIBRARIES})

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8 changes: 4 additions & 4 deletions lib/karto_sdk/src/Mapper.cpp
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Expand Up @@ -405,7 +405,7 @@ void MapperSensorManager::SetRunningScanBufferSize(kt_int32u rScanBufferSize)
m_RunningBufferMaximumSize = rScanBufferSize;

std::vector<Name> names = GetSensorNames();
for (uint i = 0; i != names.size(); i++) {
for (unsigned int i = 0; i != names.size(); i++) {
GetScanManager(names[i])->SetRunningScanBufferSize(rScanBufferSize);
}
}
Expand All @@ -415,7 +415,7 @@ void MapperSensorManager::SetRunningScanBufferMaximumDistance(kt_double rScanBuf
m_RunningBufferMaximumDistance = rScanBufferMaxDistance;

std::vector<Name> names = GetSensorNames();
for (uint i = 0; i != names.size(); i++) {
for (unsigned int i = 0; i != names.size(); i++) {
GetScanManager(names[i])->SetRunningScanBufferMaximumDistance(rScanBufferMaxDistance);
}
}
Expand Down Expand Up @@ -1867,7 +1867,7 @@ std::vector<Vertex<LocalizedRangeScan> *> MapperGraph::FindNearByVertices(

std::vector<Vertex<LocalizedRangeScan> *> rtn_vertices;
rtn_vertices.reserve(ret_matches.size());
for (uint i = 0; i != ret_matches.size(); i++) {
for (unsigned int i = 0; i != ret_matches.size(); i++) {
rtn_vertices.push_back(vertices_to_search[ret_matches[i].first]);
}
return rtn_vertices;
Expand Down Expand Up @@ -2941,7 +2941,7 @@ void Mapper::ClearLocalizationBuffer()
}

std::vector<Name> names = m_pMapperSensorManager->GetSensorNames();
for (uint i = 0; i != names.size(); i++)
for (unsigned int i = 0; i != names.size(); i++)
{
m_pMapperSensorManager->ClearRunningScans(names[i]);
m_pMapperSensorManager->ClearLastScan(names[i]);
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1 change: 1 addition & 0 deletions rviz_plugin/slam_toolbox_rviz_plugin.hpp
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Expand Up @@ -32,6 +32,7 @@
#include <QLabel>
#include <QFrame>
#include <QRadioButton>
#undef NO_ERROR
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// STL
#include <thread>
#include <chrono>
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4 changes: 4 additions & 0 deletions src/experimental/slam_toolbox_lifelong_node.cpp
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Expand Up @@ -29,6 +29,9 @@ int main(int argc, char ** argv)
auto temp_node = std::make_shared<rclcpp::Node>("slam_toolbox");
temp_node->declare_parameter("stack_size_to_use");
if (temp_node->get_parameter("stack_size_to_use", stack_size)) {
#ifdef _WIN32
RCLCPP_WARN(temp_node->get_logger(), "Can't dynamically change stack size on Windows. Node using stack size 40000000");
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Is there another API to change the stack size then? This is kind of an important element for serialization / deserialization of large maps

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From my research, I wasn't able to find a way to dynamically change the stack size of the program at runtime on Windows. However, I was able to find a way to change the stack size when a thread is created here.

Do you think it would be possible to utilize this functionality instead? Or, instead of serializing and deserializing maps on the stack, is it possible to use dynamic memory, just for Windows?

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It uses boost serialization, so that's totally out of our control where that memory is located for serialization.

So are you suggesting we serialize/deserialize in another thread that in instantiation we set the max size on? That would need some testing on your end to validate, but I could approve that.

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Instead of putting only the serialization/deserialization on a separate thread, it might be easier to just put the entire node in a separate thread. Do you think that would be fine too?

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I would not like to do that, that would add an extra thread for everyone for all of run-time, versus only an extra thread on serialization/deserialization processes

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I see, that makes sense! Would I just have to modify SlamToolbox::serializePoseGraphCallback and SlamToolbox::loadSerializedPoseGraph? Are there any other functions that do the serialization and deserialization?

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Yup, that's right

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Do you have any large serialized maps I can use for testing? In the README, I saw a mention about a map from Circuit Launch. Would it be possible to give me access to that or another map?

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None that I can share publicly

#else
RCLCPP_INFO(temp_node->get_logger(), "Node using stack size %i", (int)stack_size);
const rlim_t max_stack_size = stack_size;
struct rlimit stack_limit;
Expand All @@ -37,6 +40,7 @@ int main(int argc, char ** argv)
stack_limit.rlim_cur = stack_size;
}
setrlimit(RLIMIT_STACK, &stack_limit);
#endif
}
}

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4 changes: 4 additions & 0 deletions src/merge_maps_kinematic.cpp
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Expand Up @@ -100,7 +100,11 @@ bool MergeMapsKinematic::addSubmapCallback(
"/map_" + std::to_string(num_submaps_), rclcpp::QoS(1)));
sstmS_.push_back(this->create_publisher<nav_msgs::msg::MapMetaData>(
"/map_metadata_" + std::to_string(num_submaps_), rclcpp::QoS(1)));
#ifdef _WIN32
Sleep(1000);
#else
sleep(1.0);
#endif

nav_msgs::srv::GetMap::Response map;
nav_msgs::msg::OccupancyGrid & og = map.map;
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4 changes: 4 additions & 0 deletions src/slam_toolbox_async_node.cpp
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Expand Up @@ -29,6 +29,9 @@ int main(int argc, char ** argv)
auto temp_node = std::make_shared<rclcpp::Node>("slam_toolbox");
temp_node->declare_parameter("stack_size_to_use");
if (temp_node->get_parameter("stack_size_to_use", stack_size)) {
#ifdef _WIN32
RCLCPP_WARN(temp_node->get_logger(), "Can't dynamically change stack size on Windows. Using stack size 40000000");
#else
RCLCPP_INFO(temp_node->get_logger(), "Node using stack size %i", (int)stack_size);
const rlim_t max_stack_size = stack_size;
struct rlimit stack_limit;
Expand All @@ -37,6 +40,7 @@ int main(int argc, char ** argv)
stack_limit.rlim_cur = stack_size;
}
setrlimit(RLIMIT_STACK, &stack_limit);
#endif
}
}

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4 changes: 4 additions & 0 deletions src/slam_toolbox_localization_node.cpp
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Expand Up @@ -29,6 +29,9 @@ int main(int argc, char ** argv)
auto temp_node = std::make_shared<rclcpp::Node>("slam_toolbox");
temp_node->declare_parameter("stack_size_to_use");
if (temp_node->get_parameter("stack_size_to_use", stack_size)) {
#ifdef _WIN32
RCLCPP_WARN(temp_node->get_logger(), "Can't dynamically change stack size on Windows. Node using stack size 40000000");
#else
RCLCPP_INFO(temp_node->get_logger(), "Node using stack size %i", (int)stack_size);
const rlim_t max_stack_size = stack_size;
struct rlimit stack_limit;
Expand All @@ -37,6 +40,7 @@ int main(int argc, char ** argv)
stack_limit.rlim_cur = stack_size;
}
setrlimit(RLIMIT_STACK, &stack_limit);
#endif
}
}

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4 changes: 4 additions & 0 deletions src/slam_toolbox_sync_node.cpp
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Expand Up @@ -29,6 +29,9 @@ int main(int argc, char ** argv)
auto temp_node = std::make_shared<rclcpp::Node>("slam_toolbox");
temp_node->declare_parameter("stack_size_to_use");
if (temp_node->get_parameter("stack_size_to_use", stack_size)) {
#ifdef _WIN32
RCLCPP_WARN(temp_node->get_logger(), "Can't dynamically change stack size on Windows. Node using stack size 40000000");
#else
RCLCPP_INFO(temp_node->get_logger(), "Node using stack size %i", (int)stack_size);
const rlim_t max_stack_size = stack_size;
struct rlimit stack_limit;
Expand All @@ -37,6 +40,7 @@ int main(int argc, char ** argv)
stack_limit.rlim_cur = stack_size;
}
setrlimit(RLIMIT_STACK, &stack_limit);
#endif
}
}

Expand Down