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… rename, Rust migration - Add bitbots_cargo cmake package with r2r_cargo(), cargo_pyo3_extension(), cargo_binary() helpers - Set up root Cargo workspace covering bitbots_extrinsic_calibration and bitbots_global_planner - Rename bitbots_rust_nav → bitbots_global_planner; remove stale pixi-build files - Bring PolygonObstacle/AnyObstacle and goal obstacle support into bitbots_global_planner - Migrate bitbots_extrinsic_calibration from C++ to Rust using bitbots_cargo - Add rust and clang to pixi deps; route cargo target into build/ via CARGO_TARGET_DIR activation env - Add cargo fmt pre-commit hook and rust-analyzer vscode settings - Update bitbots_path_planning import to use new bitbots_global_planner module name
Co-authored-by: MegaIng <cornelius@krupp.hamburg>
…ain into feature/bitbots_cargo
MegaIng
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This doesn't build for me; It appears that a global llvm and/or clang version is being found instead which is missing some symbols.
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Apparently: |
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I don't like the vendoring solution in the latest commit. Feel free to revert this. |
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Do we know why the robot is different in this regard? |
I could reproduce this under a ubuntu 26.04 desktop |
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We need to revert the patches once sequenceplanner/r2r#133 is released |
Pin the r2r binding-generation crates to a dependency-only fork using the Clang-compatible bindgen release. Remove the vendored message-generator workaround and document removal of the temporary overrides after an upstream release.
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Do we want to keep the rewrite of the extrinsic calibration, @Flova |
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This builds & functions correctly in the simulator for me now. |
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Nice. I would keep the extrinsic rewrite as a demo. |
# Conflicts: # pixi.lock # src/bitbots_misc/bitbots_extrinsic_calibration/CMakeLists.txt
Publishing immediately after startup broadcast a /tf_static message with empty frame ids from the default parameters and could panic on clock or publish errors. Gate publication on the parameter event stream and log errors instead of unwrapping.
- add missing tf2_msgs build dependency and fix docs language export - depend on bitbots_global_planner instead of nonexistent cargo package - honor CARGO_TARGET_DIR env and check cargo metadata result in helper - guard dummy target and bump cmake_minimum_required to 3.21 - use colcon cargo profile for cargo tests
4 participants
Summary
Add a way of integrating cargo with colcon.
Proposed changes
As a demonstration the extrinsic calibration node and the global planning library are build using this way. This should also fix the issue @ayin21 had on her laptop.
Related issues
Checklist
pixi run build