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Fix osqp_interface dependencies #66

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merged 2 commits into from
Nov 2, 2020
Merged

Fix osqp_interface dependencies #66

merged 2 commits into from
Nov 2, 2020

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fred-apex-ai
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@fred-apex-ai fred-apex-ai commented Oct 28, 2020 •
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This PR introduces two fixes:

  1. Eigen is consumed and exported properly to fix Make osqp_interface use Eigen3 robustly #63
  2. osqp lib is exported to correct linker errors with static libs

@nnmm This came out our discussion with @jilaada on PR https://github.com/tier4/Pilot.Auto/pull/24

the 2nd point bugged me for a week and I finally better understood what goes on behind the scenes. I will add some guidelines to the porting doc. You can't see it in this PR but in https://github.com/tier4/Pilot.Auto/pull/52 I can now drop this

modified   control/mpc_follower/CMakeLists.txt
@@ -43,9 +43,6 @@ set(MPC_FOLLOWER_HDR
   )
 
 ament_auto_add_executable(mpc_follower ${MPC_FOLLOWER_SRC} ${MPC_FOLLOWER_HDR})
-# TODO(Frederik.Beaujean) not clear why this isn't taken care of by `ament_auto_add_executable` but `ospq_interface`
-# isn't linked in otherwise
-ament_target_dependencies(mpc_follower osqp_interface)

which was needed even though ament_target_dependencies(mpc_follower osqp_interface) was already called once because of the linking order of static libs. Pretty nasty!

@fred-apex-ai fred-apex-ai requested a review from nnmm October 28, 2020 13:33
@fred-apex-ai fred-apex-ai mentioned this pull request Oct 28, 2020
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@TakaHoribe TakaHoribe mentioned this pull request Oct 30, 2020
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@nnmm Can you have another look and approve, please?

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@mitsudome-r please merge

@mitsudome-r mitsudome-r merged commit 1f3981d into tier4:ros2 Nov 2, 2020
@fred-apex-ai fred-apex-ai mentioned this pull request Nov 3, 2020
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nik-tier4 pushed a commit to nik-tier4/Pilot.Auto that referenced this pull request Nov 25, 2020
@fred-apex-ai @nik-tier4
Fix osqp_interface dependencies (tier4#66)
3da89ea 
* [osqp_interface] fix eigen3 dependencies

fixes tier4#63

* Fix link order in consumers of osqp_interface
nik-tier4 pushed a commit to nik-tier4/Pilot.Auto that referenced this pull request Nov 26, 2020
@fred-apex-ai @nik-tier4
Fix osqp_interface dependencies (tier4#66)
a311ad5 
* [osqp_interface] fix eigen3 dependencies

fixes tier4#63

* Fix link order in consumers of osqp_interface
taichiH pushed a commit that referenced this pull request Nov 10, 2021
@fred-apex-ai
Fix osqp_interface dependencies (#66)
2f103bf 
* [osqp_interface] fix eigen3 dependencies

fixes #63

* Fix link order in consumers of osqp_interface
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@nnmm nnmm nnmm approved these changes

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