Try all of moveit on Win

patch/ros-noetic-moveit-ros-benchmarks.win.patch

@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 0eb7714e8..9cf8c6a2f 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -41,6 +41,9 @@ add_library(${MOVEIT_LIB_NAME} src/BenchmarkOptions.cpp
+                                src/BenchmarkExecutor.cpp)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
++if(WIN32)
++  target_link_libraries(${MOVEIT_LIB_NAME} ws2_32)
++endif()
+
+ add_executable(moveit_run_benchmark src/RunBenchmark.cpp)
+ target_link_libraries(moveit_run_benchmark ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})

patch/ros-noetic-moveit-ros-manipulation.win.patch

@@ -0,0 +1,34 @@
+diff --git a/pick_place/include/moveit/pick_place/pick_place.h b/pick_place/include/moveit/pick_place/pick_place.h
+index 6c2118562..ec804cab5 100644
+--- a/pick_place/include/moveit/pick_place/pick_place.h
++++ b/pick_place/include/moveit/pick_place/pick_place.h
+@@ -46,6 +46,18 @@
+ #include <boost/noncopyable.hpp>
+ #include <memory>
+
++// Import/export for windows dll's and visibility for gcc shared libraries.
++
++#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
++  #ifdef moveit_pick_place_planner_EXPORTS // we are building a shared lib/dll
++    #define MOVEIT_PICK_PLACE_DECL ROS_HELPER_EXPORT
++  #else // we are using shared lib/dll
++    #define MOVEIT_PICK_PLACE_DECL ROS_HELPER_IMPORT
++  #endif
++#else // ros is being built around static libraries
++  #define MOVEIT_PICK_PLACE_DECL
++#endif
++
+ namespace pick_place
+ {
+ MOVEIT_CLASS_FORWARD(PickPlace);
+@@ -113,8 +125,8 @@ public:
+ class PickPlace : private boost::noncopyable, public std::enable_shared_from_this<PickPlace>
+ {
+ public:
+-  static const std::string DISPLAY_PATH_TOPIC;
+-  static const std::string DISPLAY_GRASP_TOPIC;
++  static MOVEIT_PICK_PLACE_DECL const std::string DISPLAY_PATH_TOPIC;
++  static MOVEIT_PICK_PLACE_DECL const std::string DISPLAY_GRASP_TOPIC;
+
+   // the amount of time (maximum) to wait for achieving a grasp posture
+   static const double DEFAULT_GRASP_POSTURE_COMPLETION_DURATION;  // seconds

patch/ros-noetic-moveit-ros-perception.win.patch

@@ -0,0 +1,115 @@
+diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
+index 73f692e68..d17ed79d0 100644
+--- a/moveit_ros/perception/CMakeLists.txt
++++ b/moveit_ros/perception/CMakeLists.txt
+@@ -26,6 +26,9 @@ if(WITH_OPENGL)
+   set(gl_LIBS ${gl_LIBS} ${OPENGL_LIBRARIES})
+   set(perception_GL_INCLUDE_DIRS "mesh_filter/include" "depth_image_octomap_updater/include")
+   set(SYSTEM_GL_INCLUDE_DIRS ${GLEW_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
++  if(TARGET GLEW::glew)
++    set(GLEW_LIBRARIES GLEW::glew)
++  endif()
+ endif(WITH_OPENGL)
+
+ if(APPLE)
+diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
+index 5ffd8174d..6445b8d37 100644
+--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
++++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
+@@ -39,6 +39,18 @@
+ #include <moveit/mesh_filter/sensor_model.h>
+ #include <string>
+
++// Import/export for windows dll's and visibility for gcc shared libraries.
++
++#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
++  #ifdef moveit_mesh_filter_EXPORTS // we are building a shared lib/dll
++    #define MOVEIT_MESH_FILTER_DECL ROS_HELPER_EXPORT
++  #else // we are using shared lib/dll
++    #define MOVEIT_MESH_FILTER_DECL ROS_HELPER_IMPORT
++  #endif
++#else // ros is being built around static libraries
++  #define MOVEIT_MESH_FILTER_DECL
++#endif
++
+ namespace mesh_filter
+ {
+ /**
+@@ -148,18 +160,18 @@ public:
+   };
+
+   /** \brief predefined sensor model for OpenNI compatible devices (e.g., PrimeSense, Kinect, Asus Xtion) */
+-  static const StereoCameraModel::Parameters& REGISTERED_PSDK_PARAMS;  // NOLINT(readability-identifier-naming)
++  MOVEIT_MESH_FILTER_DECL static const StereoCameraModel::Parameters& REGISTERED_PSDK_PARAMS;  // NOLINT(readability-identifier-naming)
+
+   /** \brief source code of the vertex shader used to render the meshes*/
+-  static const std::string RENDER_VERTEX_SHADER_SOURCE;
++  MOVEIT_MESH_FILTER_DECL static const std::string RENDER_VERTEX_SHADER_SOURCE;
+
+   /** \brief source code of the fragment shader used to render the meshes*/
+-  static const std::string RENDER_FRAGMENT_SHADER_SOURCE;
++  MOVEIT_MESH_FILTER_DECL static const std::string RENDER_FRAGMENT_SHADER_SOURCE;
+
+   /** \brief source code of the vertex shader used to filter the depth map*/
+-  static const std::string FILTER_VERTEX_SHADER_SOURCE;
++  MOVEIT_MESH_FILTER_DECL static const std::string FILTER_VERTEX_SHADER_SOURCE;
+
+   /** \brief source code of the fragment shader used to filter the depth map*/
+-  static const std::string FILTER_FRAGMENT_SHADER_SOURCE;
++  MOVEIT_MESH_FILTER_DECL static const std::string FILTER_FRAGMENT_SHADER_SOURCE;
+ };
+ }  // namespace mesh_filter
+diff --git a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
+index 4f351b53e..93086ba74 100644
+--- a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
++++ b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
+@@ -52,7 +52,7 @@
+
+ using namespace std;
+
+-mesh_filter::GLRenderer::GLRenderer(unsigned width, unsigned height, float near, float far)
++mesh_filter::GLRenderer::GLRenderer(unsigned width, unsigned height, float _near, float _far)
+   : width_(width)
+   , height_(height)
+   , fbo_id_(0)
+@@ -60,8 +60,8 @@ mesh_filter::GLRenderer::GLRenderer(unsigned width, unsigned height, float near,
+   , rgb_id_(0)
+   , depth_id_(0)
+   , program_(0)
+-  , near_(near)
+-  , far_(far)
++  , near_(_near)
++  , far_(_far)
+   , fx_(width >> 1)  // 90 degree wide angle
+   , fy_(fx_)
+   , cx_(width >> 1)
+@@ -89,14 +89,14 @@ void mesh_filter::GLRenderer::setBufferSize(unsigned width, unsigned height)
+   }
+ }
+
+-void mesh_filter::GLRenderer::setClippingRange(float near, float far)
++void mesh_filter::GLRenderer::setClippingRange(float _near, float _far)
+ {
+   if (near_ <= 0)
+     throw runtime_error("near clipping plane distance needs to be larger than 0");
+   if (far_ <= near_)
+     throw runtime_error("far clipping plane needs to be larger than near clipping plane distance");
+-  near_ = near;
+-  far_ = far;
++  near_ = _near;
++  far_ = _far;
+ }
+
+ void mesh_filter::GLRenderer::setCameraParameters(float fx, float fy, float cx, float cy)
+diff --git a/moveit_ros/perception/mesh_filter/src/stereo_camera_model.cpp b/moveit_ros/perception/mesh_filter/src/stereo_camera_model.cpp
+index 5881faffd..7ae0d76b0 100644
+--- a/moveit_ros/perception/mesh_filter/src/stereo_camera_model.cpp
++++ b/moveit_ros/perception/mesh_filter/src/stereo_camera_model.cpp
+@@ -34,6 +34,7 @@
+
+ /* Author: Suat Gedikli */
+
++#include <ros/ros.h>
+ #include <moveit/mesh_filter/stereo_camera_model.h>
+ #include <moveit/mesh_filter/gl_renderer.h>
+

patch/ros-noetic-moveit-ros-planning-interface.win.patch

@@ -0,0 +1,73 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index bcc6070c8..78c0637bf 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -28,6 +28,9 @@ find_package(catkin REQUIRED COMPONENTS
+   rosconsole
+ )
+
++find_package(PkgConfig REQUIRED)
++pkg_check_modules(EIGENPY REQUIRED eigenpy)
++
+ find_package(PythonInterp REQUIRED)
+ find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIRED)
+
+@@ -88,8 +91,11 @@ include_directories(SYSTEM
+                     ${catkin_INCLUDE_DIRS}
+                     ${Boost_INCLUDE_DIRS}
+                     ${EIGEN3_INCLUDE_DIRS}
++                    ${EIGENPY_INCLUDE_DIRS}
+                     ${PYTHON_INCLUDE_DIRS})
+
++link_directories(${EIGENPY_LIBRARY_DIRS})
++
+ add_subdirectory(py_bindings_tools)
+ add_subdirectory(common_planning_interface_objects)
+ add_subdirectory(planning_scene_interface)
+diff --git a/move_group_interface/CMakeLists.txt b/move_group_interface/CMakeLists.txt
+index d822174bf..c3eb1686c 100644
+--- a/move_group_interface/CMakeLists.txt
++++ b/move_group_interface/CMakeLists.txt
+@@ -2,7 +2,7 @@ set(MOVEIT_LIB_NAME moveit_move_group_interface)
+
+ add_library(${MOVEIT_LIB_NAME} src/move_group_interface.cpp)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+-target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_objects moveit_planning_scene_interface ${catkin_LIBRARIES} ${Boost_LIBRARIES})
++target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_objects moveit_planning_scene_interface ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${EIGENPY_LIBRARIES})
+ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
+
+ add_library(${MOVEIT_LIB_NAME}_python src/wrap_python_move_group.cpp)
+diff --git a/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+index ec8d70f0b..0e8c6b340 100644
+--- a/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
++++ b/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+@@ -55,6 +55,20 @@
+ #include <utility>
+ #include <tf2_ros/buffer.h>
+
++#include <ros/macros.h>
++
++// Import/export for windows dll's and visibility for gcc shared libraries.
++
++#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
++  #ifdef moveit_move_group_interface_EXPORTS // we are building a shared lib/dll
++    #define MOVEIT_MOVE_GROUP_INTERFACE_DECL ROS_HELPER_EXPORT
++  #else // we are using shared lib/dll
++    #define MOVEIT_MOVE_GROUP_INTERFACE_DECL ROS_HELPER_IMPORT
++  #endif
++#else // ros is being built around static libraries
++  #define MOVEIT_MOVE_GROUP_INTERFACE_DECL
++#endif
++
+ namespace moveit
+ {
+ /** \brief Simple interface to MoveIt components */
+@@ -96,7 +110,7 @@ MOVEIT_CLASS_FORWARD(MoveGroupInterface);
+     \brief Client class to conveniently use the ROS interfaces provided by the move_group node.
+
+     This class includes many default settings to make things easy to use. */
+-class MoveGroupInterface
++class MOVEIT_MOVE_GROUP_INTERFACE_DECL MoveGroupInterface
+ {
+ public:
+   /** \brief Default ROS parameter name from where to read the robot's URDF. Set to 'robot_description' */

patch/ros-noetic-moveit-ros-robot-interaction.win.patch

@@ -0,0 +1,35 @@
+diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
+index 40ebd87d1..8d7a8972a 100644
+--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
++++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h
+@@ -40,6 +40,18 @@
+ #include <boost/thread.hpp>
+ #include <boost/function.hpp>
+
++// Import/export for windows dll's and visibility for gcc shared libraries.
++
++#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
++  #ifdef moveit_robot_interaction_EXPORTS // we are building a shared lib/dll
++    #define MOVEIT_ROBOT_INTERACTION_DECL ROS_HELPER_EXPORT
++  #else // we are using shared lib/dll
++    #define MOVEIT_ROBOT_INTERACTION_DECL ROS_HELPER_IMPORT
++  #endif
++#else // ros is being built around static libraries
++  #define MOVEIT_ROBOT_INTERACTION_DECL
++#endif
++
+ namespace robot_interaction
+ {
+ // Maintains a set of KinematicOptions with a key/value mapping and a default
+@@ -51,10 +63,10 @@ public:
+   KinematicOptionsMap();
+
+   /// When used as \e key this means the default value
+-  static const std::string DEFAULT;
++  static MOVEIT_ROBOT_INTERACTION_DECL const std::string DEFAULT;
+
+   /// When used as \e key this means set ALL keys (including default)
+-  static const std::string ALL;
++  static MOVEIT_ROBOT_INTERACTION_DECL const std::string ALL;
+
+   /// Set \e state using inverse kinematics.

patch/ros-noetic-moveit-ros-visualization.win.patch

@@ -0,0 +1,35 @@
+   /// @param state the state to set
+diff --git a/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h b/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
+index 99f9ab863..69ce6a7c1 100644
+--- a/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
++++ b/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
+@@ -45,6 +45,20 @@
+ #include <ros/ros.h>
+ #endif
+
++#include <ros/macros.h>
++
++// Import/export for windows dll's and visibility for gcc shared libraries.
++
++#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
++  #ifdef moveit_planning_scene_rviz_plugin_core_EXPORTS // we are building a shared lib/dll
++    #define MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_CORE_DECL ROS_HELPER_EXPORT
++  #else // we are using shared lib/dll
++    #define MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_CORE_DECL ROS_HELPER_IMPORT
++  #endif
++#else // ros is being built around static libraries
++  #define MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_CORE_DECL
++#endif
++
+ namespace Ogre
+ {
+ class SceneNode;
+@@ -64,7 +78,7 @@ class EnumProperty;
+
+ namespace moveit_rviz_plugin
+ {
+-class PlanningSceneDisplay : public rviz::Display
++class MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_CORE_DECL PlanningSceneDisplay : public rviz::Display
+ {
+   Q_OBJECT
+