Support ROS2 Jazzy (#334)

* Use cuda::std::complex instead of thrust::complex thrust types do not have a consistent ABI between TUs compiled with and without nvcc * Support ROS2 jazzy * Use std::complex in host code & cuda::std::complex in device code * Remove debugging leftover * Support ROS2 Jazzy standalone on Windows * Update docs
RobotecAI · Sep 27, 2024 · 51e09e8 · 51e09e8
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -158,6 +158,9 @@ if (RGL_BUILD_PCL_EXTENSION)
 endif()
 
 if (RGL_BUILD_ROS2_EXTENSION)
+    if (WIN32) # Workaround for compilation on Windows. fastcdr must be found from the top-level of cmake.
+        find_package(fastcdr REQUIRED)
+    endif()
     add_subdirectory(extensions/ros2)
 endif()
 

diff --git a/README.md b/README.md
@@ -45,14 +45,13 @@ And more:
 
 ## Runtime requirements
 
-|Hardware|Requirement|
-|:--|:--|
-|GPU|CUDA-enabled|
+| Hardware | Requirement  |
+|:---------|:-------------|
+| GPU      | CUDA-enabled |
 
-|Software|Requirement|
-|:--|:--|
-|Nvidia Driver (Linux)|>=515.43.04|
-|Nvidia Driver (Windows)|>=472.50|
+| Software      | Requirement                                                                                      |
+|:--------------|:-------------------------------------------------------------------------------------------------|
+| Nvidia Driver | - Ubuntu 22.04 `>=515.43.04` <br/> - Ubuntu 24.04 `>=555.42.02` <br/> - Windows 10/11 `>=472.50` |
 
 ## Usage
 
@@ -62,8 +61,8 @@ An introduction to the RGL API along with an example can be found [here](docs/Us
 
 `RobotecGPULidar` library can be built with extensions enhancing RGL with additional functions:
 - `PCL` - adds nodes and functions for point cloud processing that uses [Point Cloud Library](https://pointclouds.org/). See [documentation](docs/PclExtension.md).
-- `ROS2` - adds a node to publish point cloud messages to [ROS2](https://www.ros.org/). Check [ROS2 extension doc](docs/Ros2Extension.md) for more information, build instructions, and usage.
-- `UDP` - adds a node to publish raw lidar packets, as emitted by physical lidar. Only available in the closed-source version.
+- `ROS2` - adds a nodes for point cloud publishing to [ROS2](https://www.ros.org/). See [documentation](docs/Ros2Extension.md).
+- `UDP` - adds a nodes for raw lidar packets publishing, as emitted by physical lidar. Only available in the closed-source version.
 
 ## Building in Docker (Linux)
 
@@ -94,9 +93,11 @@ docker build \
    --output=build .
 ```
 
-## Building on Ubuntu 22
+## Building on Ubuntu 22/24
 
-1. Install [CUDA Toolkit](https://developer.nvidia.com/cuda-downloads) **11.7+**.
+1. Install [CUDA Toolkit](https://developer.nvidia.com/cuda-downloads)
+    - Ubuntu 22.04: **11.7+**
+    - Ubuntu 24.04: **12.6+**
 2. Download [NVidia OptiX](https://developer.nvidia.com/designworks/optix/downloads/legacy) **7.2**.
     1. You may be asked to create a Nvidia account to download
 3. Export environment variable:

diff --git a/docs/Ros2Extension.md b/docs/Ros2Extension.md
@@ -1,9 +1,10 @@
 # RGL ROS2 extension
 
-The extension introduces the node to publish [PointCloud2](https://docs.ros2.org/foxy/api/sensor_msgs/msg/PointCloud2.html) messages to ROS2. RGL creates a ROS2 node named `RobotecGPULidar` and registers publishers based on constructed RGL nodes.
+The extension introduces nodes to publish [PointCloud2](https://docs.ros2.org/foxy/api/sensor_msgs/msg/PointCloud2.html) messages to ROS2. RGL creates a ROS2 node named `RobotecGPULidar` and registers publishers based on constructed RGL nodes.
 
 Supported ROS2 distributions:
 - Humble
+- Jazzy
 
 Supported DDS implementations for ROS2 standalone build:
 - Eclipse Cyclone DDS
@@ -14,24 +15,29 @@ Supported DDS implementations for ROS2 standalone build:
 RGL ROS2 extension can be built in two flavors:
 
 - **standalone** - ROS2 installation is not required on the target machine. RGL build will include all required ROS2 dependencies.
-- **overlay** - Assumes the existence of supported ROS2 installation on the target machine. RGL will try to use the existing installation of ROS2 dependencies.
+- **overlay** - Assumes the existence of supported ROS2 installation on the target machine. RGL will use ROS2 libraries already installed on the system.
 
-Before building RGL PCL extension, it is necessary to get the required dependencies.
+Before building RGL ROS2 extension, it is necessary to get the required dependencies.
 For some, the process has been automated - run `setup.py --install-ros2-deps` to get them.
 
-### Ubuntu 22
+### Ubuntu 22/24
 
 #### Prerequisites
 
-- Requirements listed in the main [README](../README.md) (section `Building on Ubuntu`).
-- ROS2 installed on the system and sourced.
+- Requirements listed in the main [README](../README.md#building-on-ubuntu-2224).
+- ROS2 installed on the system and sourced:
+  - ROS2 Humble for Ubuntu 22
+  - ROS2 Jazzy for Ubuntu 24
+- Radar messages installed:
+  ```bash
+  apt install -y ros-${ROS_DISTRO}-radar-msgs
+  ```
 - For standalone build:
   - ROS2 `cyclonedds` and `fastrtps` packages.
   - `patchelf` tool.
     ```bash
     apt install -y ros-${ROS_DISTRO}-cyclonedds ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
     apt install -y ros-${ROS_DISTRO}-fastrtps ros-${ROS_DISTRO}-rmw-fastrtps-cpp
-    apt install -y ros-${ROS_DISTRO}-radar-msgs
     apt install patchelf
     ```
 
@@ -40,45 +46,38 @@ For some, the process has been automated - run `setup.py --install-ros2-deps` to
 
 #### Steps for standalone
 1. Use script `setup.py` with option `--with-ros2-standalone`
-    - You can specify run-time search path(s) of RGL dependencies by adding the option `--lib-rpath <paths>`. This can be useful if you want RGL to search for ROS2 libraries in a different directory than RGL, e.g., if you work with a library providing its own ROS2 libraries, such as [ROS2ForUnity](https://github.com/RobotecAI/ros2-for-unity).
-2. Copy all ROS2 libraries from `<build-dir>/ros2_standalone/` to `libRobotecGPULidar.so` location (or location defined with `--lib-rpath`).
+    - You can specify run-time search path(s) of RGL dependencies by adding the option `--lib-rpath <paths>`. This can be useful if you want RGL to search for ROS2 libraries in a different directory than RGL, e.g., if you work with a library that also provides its ROS2 libraries, such as [ROS2ForUnity](https://github.com/RobotecAI/ros2-for-unity).
+2. Copy all ROS2 libraries from `<build-dir>/lib/ros2_standalone/` to `libRobotecGPULidar.so` location (or location defined with `--lib-rpath`).
+
+#### Tips for integrating RGL with [AWSIM](https://github.com/tier4/AWSIM/tree/main)
+
+AWSIM project includes two ROS-based plugins: [ROS2ForUnity](https://github.com/RobotecAI/ros2-for-unity) and [RGLUnityPlugin](https://github.com/tier4/AWSIM/tree/main/Assets/RGLUnityPlugin). Since AWSIM is configured to run in a standalone mode (where ROS does not need to be installed on the host machine), all necessary ROS libraries are included within the project.
+Ros2ForUnity and RGLUnityPlugin share a common set of ROS libraries (e.g., `librcl.so`).
+To avoid duplication - since Unity does not support having multiple instances of the same libraries - one of the solutions is to store all ROS libraries in a single plugin.
+In this case, the ROS libraries are stored in the ROS2ForUnity plugin, and RGL is configured with a runtime search path to access them.
 
-#### Tips for integrating RGL + ROS2 standalone with Unity and [ROS2ForUnity](https://github.com/RobotecAI/ros2-for-unity) plugin.
 1. Build RGL with the command:
     ```bash
     ./setup.py --with-ros2-standalone --lib-rpath \$ORIGIN/../../../../Ros2ForUnity/Plugins/Linux/x86_64/
     ```
     *$ORIGIN represents the directory in which an object (library) originated. It is resolved at run-time.*\
     *Your rpath may differ. It depends on your relative location between RGLUnityPlugin and Ros2ForUnity.*
-2. Copy library `<build-dir>/libRobotecGPULidar.so` to the appropriate directory in your RGLUnityPlugin.
-3. Copy all ROS2 libraries from `<build-dir>/ros2_standalone/` to `Ros2ForUnity\Plugins\Linux\x86_64` directory. Skip for duplicates.
-
-RGL's ROS2 standalone build is dependent on ROS2ForUnity's ROS2 standalone build. RobotecGPULidar library will find ROS2 because we have set the appropriate rpath for the ROS2 libraries in ROS2ForUnity.
+2. Copy library `<build-dir>/lib/libRobotecGPULidar.so` to the appropriate directory in your RGLUnityPlugin.
+3. Copy all ROS2 libraries from `<build-dir>/lib/ros2_standalone/` to `Ros2ForUnity\Plugins\Linux\x86_64` directory. **Skip for duplicates**.
 
 ### Windows
 
 #### Prerequisites
 
-- Requirements listed in the main [README](../README.md) (section `Building on Windows`).
-- ROS2 installed on the system and sourced.
-- Fixed ROS2 logging macros in rclcpp package to make it compile with C++20. More about this bug: [github PR](https://github.com/ros2/rclcpp/pull/2063).
+- Requirements listed in the main [README](../README.md#building-on-windows).
+- ROS2 installed on the system and sourced. We recommend installation from a pre-built binary package:
+  - [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Windows-Install-Binary.html)
+  - [ROS2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Windows-Install-Binary.html)
+- [ROS2 Humble only] Fixed ROS2 logging macros in rclcpp package to make it compile with C++20. More about this bug: [github PR](https://github.com/ros2/rclcpp/pull/2063).
   - Use `fix_ros2_humble.py` script to apply those changes:
     ```bash
     python ros2_standalone\fix_ros2_humble.py <your-path-to-ros2>
     ```
-- For standalone build:
-  - If you have installed ROS2 from pre-built binaries, there is `rmw_cyclonedds_cpp` package missing. You need to build this one from the source:
-    1. Make sure you have installed [ROS2 prerequisites](https://docs.ros.org/en/humble/Installation/Alternatives/Windows-Development-Setup.html#installing-prerequisites).
-    2. A good practice is to disable Windows path limits, [see](https://learn.microsoft.com/en-us/windows/win32/fileio/maximum-file-path-limitation?tabs=registry).
-    3. Run `x64 Native Tools Command Prompt for VS 2019`, setup development folder (e.g., `C:\rosrmw`), clone ROS2 repos, and build:
-        ```bash
-        md \rosrmw\src
-        cd \rosrmw
-        vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src
-        colcon build --merge-install --packages-up-to rmw_cyclonedds_cpp
-        ``` 
-    4. Before building RGL, source `rosrmw` workspace: `call C:\rosrmw\install\setup.bat`.
-
 
 #### Steps for overlay
 1. Run `x64 Native Tools Command Prompt for VS 2019` and navigate to RGL repository.
@@ -87,14 +86,17 @@ RGL's ROS2 standalone build is dependent on ROS2ForUnity's ROS2 standalone build
 #### Steps for standalone
 1. Run `x64 Native Tools Command Prompt for VS 2019` and navigate to RGL repository.
 2. Run `python setup.py --with-ros2-standalone` command to build RGL with ROS2 extension and install ROS2 libraries.
-3. Copy all ROS2 libraries from `<build-dir>/ros2_standalone/` into `RobotecGPULidar.dll` location, or extend environment variable `Path` appropriately.
+3. Copy all ROS2 libraries from `<build-dir>/lib/ros2_standalone/` into `RobotecGPULidar.dll` location, or extend environment variable `Path` appropriately.
+
+#### Tips for integrating RGL with [AWSIM](https://github.com/tier4/AWSIM/tree/main)
+
+See description from [Ubuntu section](#tips-for-integrating-rgl-with-awsim) for more details.
 
-#### Tips for integrating RGL + ROS2 standalone with Unity and [ROS2ForUnity](https://github.com/RobotecAI/ros2-for-unity) plugin.
 1. Build RGL with ROS2 standalone as described above.
-2. Copy `<build-dir>/RobotecGPULidar.dll` and all depend libraries located in `<build-dir>` to the appropriate directory in your RGLUnityPlugin.
-3. Copy all ROS2 libraries from `<build-dir>/ros2_standalone/` to `Ros2ForUnity\Plugins\Windows\x86_64` directory. Skip for duplicates.
+2. Copy `<build-dir>/RobotecGPULidar.dll` and all dependent libraries located in `<build-dir>` to the appropriate directory in your RGLUnityPlugin.
+3. Copy all ROS2 libraries from `<build-dir>/lib/ros2_standalone/` to `Ros2ForUnity\Plugins\Windows\x86_64` directory. Skip for duplicates.
 
-RGL's ROS2 standalone build is dependent on ROS2ForUnity's ROS2 standalone build. RobotecGPULidar library will find ROS2 because ROS2ForUnity sets the environment variable `Path` for the ROS2 libraries.
+*Note:* On Windows there is no `-rpath` linker flag to modify an executable’s search path. Instead, the `Path` environment variable can be set. ROS2ForUnity handles this automatically before the simulation starts.
 
 ## Usage
 

diff --git a/extensions/ros2/CMakeLists.txt b/extensions/ros2/CMakeLists.txt
@@ -1,6 +1,9 @@
 
-if (NOT $ENV{ROS_DISTRO} STREQUAL "humble")
-    message(FATAL_ERROR "ROS $ENV{ROS_DISTRO} not supported. Only humble is available.")
+set(SUPPORTED_ROS_DISTROS humble jazzy)
+
+list(FIND SUPPORTED_ROS_DISTROS $ENV{ROS_DISTRO} ROS_DISTRO_INDEX)
+if (ROS_DISTRO_INDEX EQUAL -1)
+    message(FATAL_ERROR "ROS $ENV{ROS_DISTRO} not supported. Choose one of: '${SUPPORTED_ROS_DISTROS}'.")
 endif()
 
 find_package(rclcpp REQUIRED)

diff --git a/extensions/ros2/install_deps.py b/extensions/ros2/install_deps.py
@@ -7,7 +7,7 @@
 
 
 class Config:
-    SUPPORTED_ROS_DISTROS = ["humble"]
+    SUPPORTED_ROS_DISTROS = ["humble", "jazzy"]
 
     # Paths relative to project root
     RADAR_MSGS_DIR = os.path.join("external", "radar_msgs")
@@ -39,7 +39,6 @@ def install_ros2_deps(cfg):
             run_subprocess_command("sudo apt-get install -y python3-colcon-common-extensions")
     # Clone radar msgs
     if not os.path.isdir(cfg.RADAR_MSGS_DIR):
-        run_subprocess_command("ls")
         run_subprocess_command(
             f"git clone --single-branch --depth 1 https://github.com/ros-perception/radar_msgs.git {cfg.RADAR_MSGS_DIR}")
         run_subprocess_command(f"cd {cfg.RADAR_MSGS_DIR} && git checkout {cfg.RADAR_MSGS_COMMIT} && cd ..")

diff --git a/ros2_standalone/CMakeLists.txt b/ros2_standalone/CMakeLists.txt
@@ -17,6 +17,7 @@ set(REQ_THIRD_PARTY_STANDALONE_LIBS "")
 set(REQ_STANDALONE_DLLS "")
 
 set(INSTALL_DESTINATION_DIR "lib/ros2_standalone")
+set(ROS_DISTRO "$ENV{ROS_DISTRO}")
 
 # Extend REQ_THIRD_PARTY_STANDALONE_LIBS with _library_name third party dependencies
 macro(get_standalone_third_party_dependencies _library_name)
@@ -104,6 +105,12 @@ macro(get_standalone_dependencies _library_name)
             endif()
         endif()
 
+        # Get rosidl_dynamic_typesupport_fastrtps
+        if("${_library_name}" STREQUAL "rosidl_dynamic_typesupport_fastrtps")
+            fetch_target_lib(rosidl_dynamic_typesupport_fastrtps::rosidl_dynamic_typesupport_fastrtps)
+            list(APPEND REQ_STANDALONE_LIBS ${rosidl_dynamic_typesupport_fastrtps_rosidl_dynamic_typesupport_fastrtps_LIB_PATH})
+        endif()
+
         # If library is msgs, fetch all targets to get libraries for dynamic type support
         # Those libraries are not listed in <XX>_LIBRARIES (which stands for libraries to link against to use <XX>)
         if(${_library_name} MATCHES ".*\_msgs$")
@@ -116,12 +123,20 @@ macro(get_standalone_dependencies _library_name)
         endif()
 
         # Get spdlog and dependency
-        if(UNIX AND "${_library_name}" STREQUAL "spdlog")
+        if("${_library_name}" STREQUAL "spdlog")
             include(${${_library_name}_CONFIG})
             fetch_target_lib(spdlog::spdlog)
             list(APPEND REQ_STANDALONE_LIBS ${spdlog_spdlog_LIB_PATH})
-            fetch_target_lib(fmt::fmt)
-            list(APPEND REQ_STANDALONE_LIBS ${fmt_fmt_LIB_PATH})
+            if(UNIX)
+                fetch_target_lib(fmt::fmt)
+                list(APPEND REQ_STANDALONE_LIBS ${fmt_fmt_LIB_PATH})
+            endif()
+        endif()
+
+        # Get yaml
+        if(WIN32 AND "${_library_name}" STREQUAL "yaml")
+            fetch_target_lib(yaml)
+            list(APPEND REQ_STANDALONE_LIBS ${yaml_LIB_PATH})
         endif()
 
         # We skip python libs
@@ -223,14 +238,23 @@ set(ros2_standalone_libs
   rosidl_typesupport_cpp
   rosidl_typesupport_introspection_c
   rosidl_typesupport_introspection_cpp
-  spdlog
   tracetools
-  yaml
   tinyxml2
 )
 
 if(UNIX)
-    list(APPEND ros2_standalone_libs iceoryx_binding_c iceoryx_posh iceoryx_hoofs)
+    list(APPEND ros2_standalone_libs spdlog iceoryx_binding_c iceoryx_posh iceoryx_hoofs)
+endif()
+
+if(ROS_DISTRO STREQUAL "humble")
+    list(APPEND ros2_standalone_libs yaml)
+endif()
+
+if(ROS_DISTRO STREQUAL "jazzy")
+    list(APPEND ros2_standalone_libs rcl_logging_spdlog rcl_interfaces rosidl_dynamic_typesupport_fastrtps)
+    if(WIN32)
+        list(APPEND ros2_standalone_libs yaml spdlog)
+    endif()
 endif()
 
 foreach(ros2_standalone_lib ${ros2_standalone_libs})