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remove the need for clang by fixing issue in or-tools code #66

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remove the need for clang by fixing issue in or-tools code #66

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0b87cba
remove the need for clang by fixing issue in or-tools code
wjwwood Oct 28, 2025
043d887
add missing file
wjwwood Oct 31, 2025
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5 changes: 2 additions & 3 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -28,11 +28,10 @@ git clone https://github.com/intrinsic-ai/sdk-ros.git
Source ROS and build the SDK.

```bash
sudo apt update && sudo apt install clang-19
source /opt/ros/jazzy.setup.bash
cd ~/intrinsic_ws/
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
-DCMAKE_C_COMPILER=/usr/bin/clang-19 -DCMAKE_CXX_COMPILER=/usr/bin/clang++-19 \
colcon build \
--cmake-args -DCMAKE_BUILD_TYPE=Release \
--event-handlers=console_direct
```

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4 changes: 1 addition & 3 deletions intrinsic_sdk_cmake/docker_images/intrinsic_sdk_cmake.Dockerfile
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Expand Up @@ -87,7 +87,6 @@ RUN set -x \
RUN . /opt/ros/jazzy/setup.sh \
&& set -x \
&& apt-get update \
&& apt install clang-19 -y \
&& rosdep update --rosdistro jazzy \
&& cd /opt/intrinsic/intrinsic_sdk_cmake \
&& touch src/intrinsic_sdk_ros/intrinsic_sdk/COLCON_IGNORE \
Expand All @@ -105,8 +104,7 @@ RUN . /opt/ros/jazzy/setup.sh \
&& touch src/intrinsic_sdk_ros/intrinsic_sdk/COLCON_IGNORE \
&& touch src/intrinsic_sdk_ros/intrinsic_sdk_ros/COLCON_IGNORE \
&& colcon build \
--cmake-args -DBUILD_TESTING=ON \
-DCMAKE_C_COMPILER=/usr/bin/clang-19 -DCMAKE_CXX_COMPILER=/usr/bin/clang++-19 \
--cmake-args -DBUILD_TESTING=OFF \
--event-handlers console_direct+ console_stderr- \
--merge-install \
--executor=sequential
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7 changes: 0 additions & 7 deletions ortools_vendor/CMakeLists.txt
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@@ -1,13 +1,6 @@
cmake_minimum_required(VERSION 3.10)
project(ortools_vendor CXX)

if(NOT CMAKE_CXX_COMPILER_ID MATCHES "Clang")
message(FATAL_ERROR
"Clang is required. Detected: ${CMAKE_CXX_COMPILER_ID}. "
"'sudo apt install clang-19' and invoke colcon with --cmake-args as shown in "
"https://github.com/intrinsic-ai/sdk-ros?tab=readme-ov-file#getting-started")
endif()

# Default to C++20
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 20)
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13 changes: 13 additions & 0 deletions ortools_vendor/patches/fix_clang_issue.diff
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@@ -0,0 +1,13 @@
diff --git a/ortools/constraint_solver/routing_filter_committables.h b/ortools/constraint_solver/routing_filter_committables.h
index 5249064..1d38f41 100644
--- a/ortools/constraint_solver/routing_filter_committables.h
+++ b/ortools/constraint_solver/routing_filter_committables.h
@@ -58,7 +58,7 @@ template <typename T>
class CommittableArray {
public:
// Makes a vector with initial elements all committed to value.
- CommittableArray<T>(size_t num_elements, const T& value)
+ CommittableArray(size_t num_elements, const T& value)
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@wjwwood wjwwood Oct 31, 2025

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@codebot this is the required change, AFAIK this is just not valid c++ code, but clang seems to allow it.

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@codebot codebot Oct 31, 2025

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Thanks! I just tested this in a "normal" colcon build, and it works great!

: elements_(num_elements, {value, value}), changed_(num_elements) {}

// Return the size of the vector.
8 changes: 4 additions & 4 deletions ortools_vendor/patches/fix_ip_parser_cc.diff
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@@ -1,8 +1,8 @@
diff --git a/ortools/lp_data/lp_parser.cc b/ortools/lp_data/lp_parser.cc
index b0447ad..a8513ce 100644
index e872c4f..37a7fe7 100644
--- a/ortools/lp_data/lp_parser.cc
+++ b/ortools/lp_data/lp_parser.cc
@@ -347,16 +347,14 @@ TokenType LPParser::ConsumeToken(StringPiece* sp) {
@@ -362,16 +362,14 @@ TokenType LPParser::ConsumeToken(StringPiece* sp) {

} // namespace

Expand All @@ -21,7 +21,7 @@ index b0447ad..a8513ce 100644
}

Fractional left_bound;
@@ -417,8 +415,9 @@ StatusOr<ParsedConstraint> ParseConstraint(absl::string_view constraint) {
@@ -432,8 +430,9 @@ StatusOr<ParsedConstraint> ParseConstraint(absl::string_view constraint) {
right_bound = consumed_coeff;
if (ConsumeToken(&constraint, &consumed_name, &consumed_coeff) !=
TokenType::END) {
Expand All @@ -32,7 +32,7 @@ index b0447ad..a8513ce 100644
}
}

@@ -447,6 +446,13 @@ StatusOr<ParsedConstraint> ParseConstraint(absl::string_view constraint) {
@@ -462,6 +461,13 @@ StatusOr<ParsedConstraint> ParseConstraint(absl::string_view constraint) {
return parsed_constraint;
}

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