How to use CMake to build c++-ros2-dataflow #446

bobd988 · 2024-03-28T20:25:46Z

We are trying to start dora integration with examples/c++-ros2-dataflow
There are some C++ existing system built with cmake while dora c++-ros2-dataflow is built with cargo. Can this c++-ros2-dataflow example provide a cmake example so that dora modules can be easily integrated to cmake system?

There is a similar one in examples/cmake-dataflow which may be used as a base , however
when running the below from a Ubuntu 20.04 with Cmake 3.28

cd build && cmake ..
make install

I got error: failed to run custom build command for dora-node-api-cxx v0.3.2 (/home/demo/Public/github_dora/dora/examples/cmake-dataflow/build/dora/src/Dora/apis/c++/node)

It will be great if this cmake example cmake build issue can be resolved. And then apply to c++-ros2-dataflow exmaple ? Please provide instructions how to build and run , for example the current command to run is

cargo run --example cxx-ros2-dataflow --features ros2-examples

After applied to cmake, do we still run with this or different command ?

The text was updated successfully, but these errors were encountered:

phil-opp · 2024-03-30T09:36:50Z

I'm not familiar with cmake, so I'm not sure if I can help you with the details, but I try to take a look.

Maybe @XxChang can help?

XxChang · 2024-03-30T10:14:00Z

Please run it with cmake -DDORA_ROOT_DIR=<path-to-dora>, see run.rs for more details.

LoL. My negligence.

The case of out-of-tree compile fails because the target_dir() in build.rs was changed in last version. But it is ok with cargo run --example cmake-dataflow.

To fix these bugs, please modify DoraTargets.cmake
replace

        BUILD_COMMAND
            cargo build
            --package dora-node-api-c
            --target-dir ${CMAKE_CURRENT_BINARY_DIR}
            &&
            cargo build
            --package dora-operator-api-c
            --target-dir ${CMAKE_CURRENT_BINARY_DIR}
            &&
            cargo build
            --package dora-node-api-cxx
            --target-dir ${CMAKE_CURRENT_BINARY_DIR}
            &&
            cargo build
            --package dora-operator-api-cxx
            --target-dir ${CMAKE_CURRENT_BINARY_DIR}

with

        BUILD_COMMAND
            cargo build
            --package dora-node-api-c
            --target-dir ${CMAKE_CURRENT_BINARY_DIR}/dora/src/Dora/target
            &&
            cargo build
            --package dora-operator-api-c
            --target-dir ${CMAKE_CURRENT_BINARY_DIR}/dora/src/Dora/target
            &&
            cargo build
            --package dora-node-api-cxx
            --target-dir ${CMAKE_CURRENT_BINARY_DIR}/dora/src/Dora/target
            &&
            cargo build
            --package dora-operator-api-cxx
            --target-dir ${CMAKE_CURRENT_BINARY_DIR}/dora/src/Dora/target

replace

    add_custom_command(OUTPUT ${node_bridge} ${dora_cxx_include_dir} ${operator_bridge}
        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
        DEPENDS Dora

with

    add_custom_command(OUTPUT ${node_bridge} ${dora_cxx_include_dir} ${operator_bridge}
        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/dora/src/Dora/target
        DEPENDS Dora

and set(dora_link_dirs ${CMAKE_CURRENT_BINARY_DIR}/debug) -> set(dora_link_dirs ${CMAKE_CURRENT_BINARY_DIR}/dora/src/Dora/target/debug)

how to build with a existing cmake project? May be you can learn more from this repo

phil-opp · 2024-03-30T10:31:50Z

Thanks a lot!

To fix these bugs, please modify DoraTargets.cmake
replace

So we should perform these changes in the repo?

XxChang · 2024-03-30T10:57:19Z

There is no problem with cargo run --example cmake-dataflow, so it is ok with test scripts.

but when people want to do it on a separate project, it will fail. So please perform these changes. Thanks.

bobd988 · 2024-04-01T01:36:49Z

@XxChang with current latest code from main , to add above changes in DoraTargets.cmake, When I run cmake -DDORA_ROOT_DIR=/home/demo/Public/github_dora/dora, i got

"/home/demo/Public/github_dora/dora" does not appear to contain CMakeLists.txt ,

then I change to run cmake -DDORA_ROOT_DIR=/home/demo/Public/github_dora/dora/examples/cmake-dataflow , i got

execute_process failed command indexes:
1: "Child return code: 101"
Call Stack (most recent call first):
_deps/corrosion-src/cmake/CorrosionGenerator.cmake:217 (_cargo_metadata)
_deps/corrosion-src/cmake/Corrosion.cmake:1051 (_generator_add_cargo_targets)
DoraTargets.cmake:19 (corrosion_import_crate)
CMakeLists.txt:7 (include)

It may also caused by my Ubuntu environment. Let me verify this with another ubuntu 20.04

XxChang · 2024-04-01T01:44:58Z

You should run cmake -DDORA_ROOT_DIR=<path-to-dora> under the cmake-dataflow directory

or

cd <path-to-cmake-dataflow-directory>
mkdir build
cd build
cmake -DDORA_ROOT_DIR=<path-to-dora> ..
make

or just

cd <path-to-cmake-dataflow-directory>
mkdir build
cd build
cmake ..
make

The former will build the dora with the existing dora project.
The later will fetch a new one from github.

See #446 (comment)

phil-opp · 2024-04-03T11:39:09Z

@XxChang

but when people want to do it on a separate project, it will fail. So please perform these changes. Thanks.

I opened a PR at #453

bobd988 · 2024-04-06T22:57:55Z

I got different error when running cargo run --example cmake-dataflow under ubuntu22.04. Latest dora code from main

Finished dev [unoptimized + debuginfo] target(s) in 11.70s
Running target/debug/examples/cmake-dataflow
-- Rust Toolchain: 1.76-x86_64-unknown-linux-gnu
-- Rust Target: x86_64-unknown-linux-gnu
-- Found Rust: /home/demo/.rustup/toolchains/1.76-x86_64-unknown-linux-gnu/bin/rustc (found version "1.76.0")
-- Using Corrosion as a subdirectory
-- Rust Toolchain: 1.76-x86_64-unknown-linux-gnu
-- Rust Target: x86_64-unknown-linux-gnu
-- Found Rust: /home/demo/.rustup/toolchains/1.76-x86_64-unknown-linux-gnu/bin/rustc (found suitable version "1.76.0", minimum required is "1.72")
-- Configuring done (0.4s)
-- Generating done (0.0s)
-- Build files have been written to: /home/demo/Public/dora/examples/cmake-dataflow/build
[ 0%] Built target cargo-prebuild_dora-node-api-c
Finished dev [unoptimized + debuginfo] target(s) in 0.15s
Copying byproducts libdora_node_api_c.a to /home/demo/Public/dora/examples/cmake-dataflow/build
[ 0%] Built target _cargo-build_dora-node-api-c
[ 0%] Built target cargo-build_dora-node-api-c
[ 0%] Built target cargo-prebuild_dora-operator-api-c
Finished dev [unoptimized + debuginfo] target(s) in 0.13s
Copying byproducts libdora_operator_api_c.a to /home/demo/Public/dora/examples/cmake-dataflow/build
[ 0%] Built target _cargo-build_dora-operator-api-c
[ 0%] Built target cargo-build_dora-operator-api-c
[ 0%] Built target cargo-prebuild_dora-node-api-cxx
Finished dev [unoptimized + debuginfo] target(s) in 0.11s
Copying byproducts libdora_node_api_cxx.a to /home/demo/Public/dora/examples/cmake-dataflow/build
[ 0%] Built target _cargo-build_dora-node-api-cxx
[ 0%] Built target cargo-build_dora-node-api-cxx
[ 0%] Built target cargo-prebuild_dora-operator-api-cxx
Finished dev [unoptimized + debuginfo] target(s) in 0.08s
Copying byproducts libdora_operator_api_cxx.a to /home/demo/Public/dora/examples/cmake-dataflow/build
[ 0%] Built target _cargo-build_dora-operator-api-cxx
[ 0%] Built target cargo-build_dora-operator-api-cxx
[ 8%] Built target Dora_c
[ 25%] Built target node_c_api
[ 33%] Generating node_bridge.cc, include/cxx, operator_bridge.cc
cp: cannot stat 'target/cxxbridge/dora-node-api-cxx/src/lib.rs.cc': No such file or directory
gmake[2]: *** [CMakeFiles/Dora_cxx.dir/build.make:75: node_bridge.cc] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:630: CMakeFiles/Dora_cxx.dir/all] Error 2
gmake: *** [Makefile:136: all] Error 2
Error: failed to build a cmake-generated project binary tree

XxChang · 2024-04-07T00:46:07Z

see PR #453

XxChang · 2024-04-07T18:30:34Z

I got different error when running cargo run --example cmake-dataflow under ubuntu22.04. Latest dora code from main

Finished dev [unoptimized + debuginfo] target(s) in 11.70s
Running target/debug/examples/cmake-dataflow
-- Rust Toolchain: 1.76-x86_64-unknown-linux-gnu
-- Rust Target: x86_64-unknown-linux-gnu
-- Found Rust: /home/demo/.rustup/toolchains/1.76-x86_64-unknown-linux-gnu/bin/rustc (found version "1.76.0")
-- Using Corrosion as a subdirectory
-- Rust Toolchain: 1.76-x86_64-unknown-linux-gnu
-- Rust Target: x86_64-unknown-linux-gnu
-- Found Rust: /home/demo/.rustup/toolchains/1.76-x86_64-unknown-linux-gnu/bin/rustc (found suitable version "1.76.0", minimum required is "1.72")
-- Configuring done (0.4s)
-- Generating done (0.0s)
-- Build files have been written to: /home/demo/Public/dora/examples/cmake-dataflow/build
[ 0%] Built target cargo-prebuild_dora-node-api-c
Finished dev [unoptimized + debuginfo] target(s) in 0.15s
Copying byproducts libdora_node_api_c.a to /home/demo/Public/dora/examples/cmake-dataflow/build
[ 0%] Built target _cargo-build_dora-node-api-c
[ 0%] Built target cargo-build_dora-node-api-c
[ 0%] Built target cargo-prebuild_dora-operator-api-c
Finished dev [unoptimized + debuginfo] target(s) in 0.13s
Copying byproducts libdora_operator_api_c.a to /home/demo/Public/dora/examples/cmake-dataflow/build
[ 0%] Built target _cargo-build_dora-operator-api-c
[ 0%] Built target cargo-build_dora-operator-api-c
[ 0%] Built target cargo-prebuild_dora-node-api-cxx
Finished dev [unoptimized + debuginfo] target(s) in 0.11s
Copying byproducts libdora_node_api_cxx.a to /home/demo/Public/dora/examples/cmake-dataflow/build
[ 0%] Built target _cargo-build_dora-node-api-cxx
[ 0%] Built target cargo-build_dora-node-api-cxx
[ 0%] Built target cargo-prebuild_dora-operator-api-cxx
Finished dev [unoptimized + debuginfo] target(s) in 0.08s
Copying byproducts libdora_operator_api_cxx.a to /home/demo/Public/dora/examples/cmake-dataflow/build
[ 0%] Built target _cargo-build_dora-operator-api-cxx
[ 0%] Built target cargo-build_dora-operator-api-cxx
[ 8%] Built target Dora_c
[ 25%] Built target node_c_api
[ 33%] Generating node_bridge.cc, include/cxx, operator_bridge.cc
cp: cannot stat 'target/cxxbridge/dora-node-api-cxx/src/lib.rs.cc': No such file or directory
gmake[2]: *** [CMakeFiles/Dora_cxx.dir/build.make:75: node_bridge.cc] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:630: CMakeFiles/Dora_cxx.dir/all] Error 2
gmake: *** [Makefile:136: all] Error 2
Error: failed to build a cmake-generated project binary tree

fix it on #460

github-actions bot added c++ cli CLI labels Mar 28, 2024

phil-opp added a commit that referenced this issue Apr 3, 2024

Fix out-of-tree builds in cmake example

b42b1a6

See #446 (comment)

phil-opp mentioned this issue Apr 3, 2024

Fix out-of-tree builds in cmake example #453

Merged

XxChang mentioned this issue Apr 7, 2024

fix cargo run --example cmake-dataflow compile bugs #460

Merged

haixuanTao closed this as completed Apr 21, 2024

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How to use CMake to build c++-ros2-dataflow #446

How to use CMake to build c++-ros2-dataflow #446

bobd988 commented Mar 28, 2024

phil-opp commented Mar 30, 2024

XxChang commented Mar 30, 2024 •

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phil-opp commented Mar 30, 2024

XxChang commented Mar 30, 2024

bobd988 commented Apr 1, 2024

XxChang commented Apr 1, 2024 •

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phil-opp commented Apr 3, 2024

bobd988 commented Apr 6, 2024

XxChang commented Apr 7, 2024

XxChang commented Apr 7, 2024

How to use CMake to build c++-ros2-dataflow #446

How to use CMake to build c++-ros2-dataflow #446

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bobd988 commented Mar 28, 2024

phil-opp commented Mar 30, 2024

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