Remove visibility macros (#1451)

Author: bmagyar

ackermann_steering_controller/CMakeLists.txt

@@ -1,12 +1,16 @@
 cmake_minimum_required(VERSION 3.16)
-project(ackermann_steering_controller LANGUAGES CXX)
+project(ackermann_steering_controller)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
                       -Werror=return-type -Werror=shadow -Werror=format  -Werror=range-loop-construct
                       -Werror=missing-braces)
 endif()
 
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface
@@ -45,10 +49,6 @@ target_link_libraries(ackermann_steering_controller PUBLIC
   ackermann_steering_controller_parameters)
 ament_target_dependencies(ackermann_steering_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(ackermann_steering_controller PRIVATE "ACKERMANN_STEERING_CONTROLLER__VISIBILITY_BUILDING_DLL")
-
 pluginlib_export_plugin_description_file(
   controller_interface ackermann_steering_controller.xml)
 

ackermann_steering_controller/include/ackermann_steering_controller/ackermann_steering_controller.hpp

@@ -20,7 +20,6 @@
 
 #include <memory>
 
-#include "ackermann_steering_controller/visibility_control.h"
 #include "ackermann_steering_controller_parameters.hpp"
 #include "steering_controllers_library/steering_controllers_library.hpp"
 
@@ -47,14 +46,11 @@ class AckermannSteeringController : public steering_controllers_library::Steerin
 public:
   AckermannSteeringController();
 
-  ACKERMANN_STEERING_CONTROLLER__VISIBILITY_PUBLIC controller_interface::CallbackReturn
-  configure_odometry() override;
+  controller_interface::CallbackReturn configure_odometry() override;
 
-  ACKERMANN_STEERING_CONTROLLER__VISIBILITY_PUBLIC bool update_odometry(
-    const rclcpp::Duration & period) override;
+  bool update_odometry(const rclcpp::Duration & period) override;
 
-  ACKERMANN_STEERING_CONTROLLER__VISIBILITY_PUBLIC void
-  initialize_implementation_parameter_listener() override;
+  void initialize_implementation_parameter_listener() override;
 
 protected:
   std::shared_ptr<ackermann_steering_controller::ParamListener> ackermann_param_listener_;

ackermann_steering_controller/include/ackermann_steering_controller/visibility_control.h

@@ -1,12 +1,16 @@
 cmake_minimum_required(VERSION 3.16)
-project(admittance_controller LANGUAGES CXX)
+project(admittance_controller)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
                       -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
                       -Werror=missing-braces)
 endif()
 
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   angles
   control_msgs
@@ -54,10 +58,6 @@ target_link_libraries(admittance_controller PUBLIC
 )
 ament_target_dependencies(admittance_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(admittance_controller PRIVATE "ADMITTANCE_CONTROLLER_BUILDING_DLL")
-
 pluginlib_export_plugin_description_file(controller_interface admittance_controller.xml)
 
 if(BUILD_TESTING)

admittance_controller/CMakeLists.txt

@@ -25,7 +25,6 @@
 #include "admittance_controller_parameters.hpp"
 
 #include "admittance_controller/admittance_rule.hpp"
-#include "admittance_controller/visibility_control.h"
 #include "control_msgs/msg/admittance_controller_state.hpp"
 #include "controller_interface/chainable_controller_interface.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
@@ -43,46 +42,37 @@ using ControllerStateMsg = control_msgs::msg::AdmittanceControllerState;
 class AdmittanceController : public controller_interface::ChainableControllerInterface
 {
 public:
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_init() override;
 
   /// Export configuration of required state interfaces.
   /**
    * Allowed types of state interfaces are \ref hardware_interface::POSITION,
    * \ref hardware_interface::VELOCITY, \ref hardware_interface::ACCELERATION.
    */
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
   /// Export configuration of required state interfaces.
   /**
    * Allowed types of state interfaces are \ref hardware_interface::POSITION,
    * \ref hardware_interface::VELOCITY, \ref hardware_interface::ACCELERATION.
    */
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_activate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_cleanup(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::return_type update_and_write_commands(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 

admittance_controller/include/admittance_controller/admittance_controller.hpp

@@ -1,12 +1,16 @@
 cmake_minimum_required(VERSION 3.16)
-project(bicycle_steering_controller LANGUAGES CXX)
+project(bicycle_steering_controller)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
                       -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
                       -Werror=missing-braces)
 endif()
 
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface
@@ -45,10 +49,6 @@ target_link_libraries(bicycle_steering_controller PUBLIC
   bicycle_steering_controller_parameters)
 ament_target_dependencies(bicycle_steering_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(bicycle_steering_controller PRIVATE "BICYCLE_STEERING_CONTROLLER__VISIBILITY_BUILDING_DLL")
-
 pluginlib_export_plugin_description_file(
   controller_interface bicycle_steering_controller.xml)
 

admittance_controller/include/admittance_controller/visibility_control.h

@@ -20,7 +20,6 @@
 
 #include <memory>
 
-#include "bicycle_steering_controller/visibility_control.h"
 #include "bicycle_steering_controller_parameters.hpp"
 #include "steering_controllers_library/steering_controllers_library.hpp"
 
@@ -43,14 +42,11 @@ class BicycleSteeringController : public steering_controllers_library::SteeringC
 public:
   BicycleSteeringController();
 
-  BICYCLE_STEERING_CONTROLLER__VISIBILITY_PUBLIC controller_interface::CallbackReturn
-  configure_odometry() override;
+  controller_interface::CallbackReturn configure_odometry() override;
 
-  BICYCLE_STEERING_CONTROLLER__VISIBILITY_PUBLIC bool update_odometry(
-    const rclcpp::Duration & period) override;
+  bool update_odometry(const rclcpp::Duration & period) override;
 
-  BICYCLE_STEERING_CONTROLLER__VISIBILITY_PUBLIC void initialize_implementation_parameter_listener()
-    override;
+  void initialize_implementation_parameter_listener() override;
 
 protected:
   std::shared_ptr<bicycle_steering_controller::ParamListener> bicycle_param_listener_;

bicycle_steering_controller/CMakeLists.txt

@@ -1,12 +1,16 @@
 cmake_minimum_required(VERSION 3.16)
-project(diff_drive_controller LANGUAGES CXX)
+project(diff_drive_controller)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable
                       -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
                       -Werror=missing-braces)
 endif()
 
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   control_toolbox
   controller_interface
@@ -49,9 +53,6 @@ target_link_libraries(diff_drive_controller
   PUBLIC
     diff_drive_controller_parameters)
 ament_target_dependencies(diff_drive_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(diff_drive_controller PRIVATE "DIFF_DRIVE_CONTROLLER_BUILDING_DLL")
 pluginlib_export_plugin_description_file(controller_interface diff_drive_plugin.xml)
 
 if(BUILD_TESTING)