feat: support ur client library for windows

[wep21]

No description provided.

[wep21]

@traversaro @Tobias-Fischer Do you have any idea why msvc compiler doesn't have c++17 support?

 │ │ CMake Error at CMakeModules/DefineCXX17CompilerFlag.cmake:50 (message):
 │ │   The compiler C:/Program Files (x86)/Microsoft Visual
 │ │   Studio/2019/Enterprise/VC/Tools/MSVC/14.29.30133/bin/Hostx64/x64/cl.exe has
 │ │   no C++17 support.  Please use a different C++ compiler.

[traversaro]

I can't find that cmake file, but I guess it tests if the compiled supports the -std=c++17 option, while msvc uses -std:c++17 . Anyhow I think we can just set c++17 by setting CMAKE_CXX_STANDARD variable to 17 or other ways to enable c++17 in other ways (like target_compile_features) in a compiler agnostic way.

[traversaro]

xref potentially interesting PR: UniversalRobots/Universal_Robots_Client_Library#229

[traversaro]

Anyhow I think we can just set c++17 by setting CMAKE_CXX_STANDARD variable to 17 or other ways to enable c++17 in other ways (like target_compile_features) in a compiler agnostic way.

See also the related PR https://github.com/UniversalRobots/Universal_Robots_Client_Library/pull/244/files . To have a minimal patch that works on 1.5.0, I think we can just do something similar to traversaro/Universal_Robots_Client_Library@a4148d4 .

[wep21]

@traversaro Thanks, I've mistakenly looked into v1.6.0.

[traversaro]

For the jazzy I prepare a patch for windows on top of 1.5.0: https://github.com/traversaro/Universal_Robots_Client_Library/tree/winfix .

[wep21]

@traversaro Thank you for your patch. Works fine for ur client library, but I found out other packages also need more patch.
I decided to make only ur client library available in this PR.

[traversaro]

@traversaro Thank you for your patch. Works fine for ur client library, but I found out other packages also need more patch. I decided to make only ur client library available in this PR.

Ok, perfect! I have some more patches for ur-robot-driver in RoboStack/ros-jazzy#19, if you are interested you could look into backporting those to humble.

[traversaro]

I am afraid this does not work as the endian.h is not installed, and it is include in public headers, so any downstream package would fail.

[traversaro]

See for example the equivalent patch in ros-jazzy https://github.com/RoboStack/ros-jazzy/blob/463363b50b40c681d1176747db387c925113959a/patch/ros-jazzy-ur-client-library.win.patch#L414 .

[wep21]

@traversaro Thanks. synced patch with jazzy 5b25318.

[traversaro]

but I found out other packages also need more patch.

fyi I did several patches for other ur packages, see RoboStack/ros-jazzy#19 .

[traversaro]

Thanks @wep21 !