Compile error while building `tf2_kdl` with `BUILD_TESTING` on - windows 10

[pijaro]

Bug report

Required Info:

• Operating System:
  • Windows 10
• Installation type:
  • source, with BUILD_TESTING
• Version or commit hash:
  • ae2120833d1777eaa91a3fa4943d56b675db3e52 (humble branch)
• DDS implementation:
  • fastrtps
• Client library (if applicable):
  • N/A

Steps to reproduce issue

Build geometry2 package with BUILD_TESTING on.

colcon build --cmake-args -DBUILD_TESTING:int=1

Expected behavior

Build succeeded

Actual behavior

Compile error for tf2_kdl package:

D:\ros2-humble\include\orocos_kdl\kdl\jacobian.hpp(26,10): fatal error C1083: cannot open include file 'Eigen/Core' no such file or directory

Additional information

Looks like Eigen is not added to include dirs. Adding it fixes the issue:

if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  find_package(rclcpp REQUIRED)
  find_package(tf2_msgs REQUIRED)
  find_package(Eigen3 REQUIRED)

  ament_add_gtest(test_kdl test/test_tf2_kdl.cpp)
  target_include_directories(
    test_kdl PRIVATE
    "${Eigen3_INCLUDE_DIRS}"
  )
  target_link_libraries(test_kdl
    tf2_kdl
    rclcpp::rclcpp
    # Used, but not linked to test tf2_kdl's exports:
    #   tf2::tf2
    #   tf2_ros::tf2_ros
  )
endif()

[clalancette]

The thing is that the error is coming from orocos_kdl, not from geometry2. So it seems like a problem in orocos_kdl (or orocos_kdl_vendor), not in geometry2.

That said, we do compile and run these tests nightly on Windows, and we haven't seen the same problem (see https://ci.ros2.org/view/nightly/job/nightly_win_deb/2538/console , for instance). So I'm guessing that somehow your installation differs from ours somehow. How did you install Eigen and orocos_kdl?

[pijaro]

I'm using the binary release of ROS2 humble for windows (link), so I believe orocos_kdl comes with it.

As for Eigen, I followed ROS2 install instructions and installed it via choco (link).

[pijaro]

I'm not a CMake expert, but I think the Eigen from choco (3.3.4) doesn't have exported targets. Therefore it might be the reason why it doesn't work.

The "C:\ProgramData\chocolatey\lib\eigen\share\cmake" directory contains only:

• Eigen3Config.cmake, and
• Eigen3ConfigVersion.cmake

I see there are no *Targets.cmake or anything similar.

[clalancette]

Yes, that is definitely true, and a longstanding issue that we haven't gotten around to fixing. But the thing is that we build these tests nightly, so I'm still a bit confused on why it didn't work for you. Probably needs a deeper look into the exports and the problem to figure out exactly what is going on.

[mjs513]

Hi I am having he same issue with the exception I downloaded eigen3 and building it along with geometry2 in a ros2 workspace.

I installed ros2 humble for windows 10 using the binary and orocos_kdl is installed as part of humble. also installed the packages the same way with choco from here: https://docs.ros.org/en/humble/Installation/Windows-Install-Binary.html#install-dependencies

Please download these packages from [this](https://github.com/ros2/choco-packages/releases/latest) GitHub repository.

    asio.1.12.1.nupkg
    bullet.3.17.nupkg
    cunit.2.1.3.nupkg
    eigen-3.3.4.nupkg
    tinyxml-usestl.2.6.2.nupkg
    tinyxml2.6.0.0.nupkg

Once these packages are downloaded, open an administrative shell and execute the following command:

choco install -y -s <PATH\TO\DOWNLOADS\> asio cunit eigen tinyxml-usestl tinyxml2 bullet

But no matter what I try I keep getting the same error: C:\dev\ros2_humble\include\orocos_kdl\kdl\jacobian.hpp(26,10): fatal error C1083: Cannot open include file: 'Eigen/Core': No such file or directory [C:\dev\ros2_ws\build\tf2_kdl\test_kdl.vcxproj]

I did find this from 2013, https://www.orocos.org/forum/orocos/orocos-users/eigen3-include-problem-kdl, I did check that findeigen3.cmake is in kdl and a couple of other places.