Fix compilation of nav2_smac_planner on Windows

Author: traversaro

nav2_smac_planner/CMakeLists.txt

@@ -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}
 )
@@ -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})
 

nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp

@@ -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"
 
@@ -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;

nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp

@@ -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
 {
@@ -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;