add windows support

[jazi007]

This PR is to have r2r works under windows, this also enable using cargo-ament for building with colcon

By default once cargo-ament is installed any package containing a package.xml and Cargo.toml is considered as cargo-ament, so using the custom r2r_cargo.cmake does not work anymore

[m-dahl]

Hi. Thanks, this is really valuable. Is it ready for review/merge? I hope to be able to test it later this week, anything I should know when testing it on windows? (Haven't used windows in a long time).

Another question, since it sounds like you have experience with cargo-ament, is your feeling that cargo-ament makes r2r_cargo.cmake reduntant? If so I think we should try to drop it.

[jazi007]

Hi,
Yes it's ready for review
for windows you should know that you will get problems :-) what I installed is ros2-humble and python 3.8 at this location (C:\Python38)

regarding cargo-ament: https://github.com/colcon/colcon-ros-cargo#usage the problem is that if this is installed no way to make colcon understand that the project is cmake and not cargo. I think it's a bug. in the package.xml the build_type should be used.

anyway once colcon-ros-cargo and https://github.com/colcon/colcon-cargo are installed compilation works w/o the cmake file, so IMO you can drop the cmake work around

++

[m-dahl]

I tried it yesterday evening, and as I suspected I couldn't get it to compile under windows. This is where I got stuck:

thread 'main' panicked at 'Unable to generate bindings: ClangDiagnostic("c:\\dev\\ros2_humble\\include\\rcutils\\rcutils/allocator.h:84:1: error: unknown type name '_Check_return_'\nc:\\dev\\ros2_humble\\include\\rcutils\\rcutils/allocator.h:85:20: error: expected ';' after top level declarator\nc:\\dev\\ros2_humble\\include\\rcutils\\rcutils/allocator.h:107:1: error: unknown type name '_Check_return_'\nc:\\dev\\ros2_humble\\include\\rcutils\\rcutils/allocator.h:108:20: error: expected ';' after top level declarator\nc:\\dev\\ros2_humble\\include\\rcutils\\rcutils/allocator.h:117:1: error: unknown type name '_Check_return_'\nc:\\dev\\ros2_humble\\include\\rcutils\\rcutils/allocator.h:143:1: error: unknown type name '_Check_return_'\n")', r2r_rcl\build.rs:99:10

It looks like bindgen didn't like the _Check_return_ annotation. Have you seen this issue? I don't think its related to what you had to fix to make it run. Maybe related to clang? I used choco to install llvm to get libclang. Did you do something different?

[jazi007]

I didn't get this error, here's a step by step how I build/run the r2r_minimal_node

1. Open a Developer Powershell for VS2019

$env:PATH = "C:\Python38;C:\Python38\Scripts;$env:PATH"
C:\ros2\ros2_humble\ros2-windows\setup.ps1
colcon build --event-handlers desktop_notification- --cargo-args --release --cmake-args -Wno-dev

colcon list outputs:

r2r_minimal_node        src\r2r_minimal_node\r2r_minimal_node   (ament_cargo)
r2r_minimal_node_msgs   src\r2r_minimal_node\r2r_minimal_node_msgs      (ros.ament_cmake)

build outputs:

Starting >>> r2r_minimal_node_msgs
Finished <<< r2r_minimal_node_msgs [14.6s]
Starting >>> r2r_minimal_node
[Processing: r2r_minimal_node]
Finished <<< r2r_minimal_node [57.9s]

Summary: 2 packages finished [1min 13s]

let me know if with those steps you still have issues, in this case I will start a fresh install of all my env and try to reproduce your issue

[m-dahl]

I tried your steps (except I didn't have ament_cargo) but I got the same error as before.

My setup is roughly:

• Windows 10
• Humble installed by following these instructions: https://docs.ros.org/en/humble/Installation/Windows-Install-Binary.html
• Visual studio 2019
• Python 3.8.3
• Libclang from installing llvm with choco
• Rust from rustup.rs

Are you able to build r2r without colcon? I.e. just cargo build in the r2r root after sourcing humble.

[jazi007]

Yes I'm able to compile r2r

python --version
Python 3.8.5

and sorry missed your question about clang

here's how I did the installation: clang, basicly what is related to ros2 I followed ros2 and what is related to rust/bindgen I followed rust ones.

[m-dahl]

I updated clang and no change.

If I simply remove the _Check_return_ annotation from macros.h in rcutils everything builds fine (with your patch). While it works, I would like to be able to build against a clean source tree, will dig some more into this later.

[m-dahl]

With the workaround I pushed I can build r2r against the stock humble install. Not very elegant but it works for now. I am ready to merge this if it still works for you.

[jazi007]

Nice WA :-) yes it's ok for me