Make MPPI Controller and Critics Apple Clang Friendly (#5455)

idesign0 · web-flow · commit 1ecf27cdde7d · 2025-08-14T11:39:36.000-07:00
* fix: adjust C++ standard and compiler flags for Apple Clang

Signed-off-by: Dhruv Patel &lt;dhruvpatel2991998@gmail.com&gt;

* Update: Only mppi_critics target will require C++20

Signed-off-by: Dhruv Patel &lt;dhruvpatel2991998@gmail.com&gt;

* cmake_minimum_required(VERSION 3.8) update

Signed-off-by: Dhruv Patel &lt;dhruvpatel2991998@gmail.com&gt;

---------

Signed-off-by: Dhruv Patel &lt;dhruvpatel2991998@gmail.com&gt;
diff --git a/nav2_amcl/CMakeLists.txt b/nav2_amcl/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_amcl)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_behavior_tree/CMakeLists.txt b/nav2_behavior_tree/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_behavior_tree CXX)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_behaviors/CMakeLists.txt b/nav2_behaviors/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_behaviors)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_bringup/CMakeLists.txt b/nav2_bringup/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_bringup)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_bt_navigator/CMakeLists.txt b/nav2_bt_navigator/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_bt_navigator)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_collision_monitor/CMakeLists.txt b/nav2_collision_monitor/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_collision_monitor)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_common/CMakeLists.txt b/nav2_common/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 
 project(nav2_common NONE)
 
diff --git a/nav2_constrained_smoother/CMakeLists.txt b/nav2_constrained_smoother/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_constrained_smoother)
 
 set(CMAKE_BUILD_TYPE Release) # significant Ceres optimization speedup
diff --git a/nav2_controller/CMakeLists.txt b/nav2_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_controller)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_core/CMakeLists.txt b/nav2_core/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_core)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_costmap_2d/CMakeLists.txt b/nav2_costmap_2d/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_costmap_2d)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_docking/opennav_docking/CMakeLists.txt b/nav2_docking/opennav_docking/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(opennav_docking)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_docking/opennav_docking_bt/CMakeLists.txt b/nav2_docking/opennav_docking_bt/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(opennav_docking_bt)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_docking/opennav_docking_core/CMakeLists.txt b/nav2_docking/opennav_docking_core/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(opennav_docking_core)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_dwb_controller/costmap_queue/CMakeLists.txt b/nav2_dwb_controller/costmap_queue/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(costmap_queue)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_dwb_controller/dwb_core/CMakeLists.txt b/nav2_dwb_controller/dwb_core/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(dwb_core)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_dwb_controller/dwb_critics/CMakeLists.txt b/nav2_dwb_controller/dwb_critics/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(dwb_critics)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_dwb_controller/dwb_msgs/CMakeLists.txt b/nav2_dwb_controller/dwb_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(dwb_msgs)
 
 find_package(backward_ros REQUIRED)
diff --git a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(dwb_plugins)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_dwb_controller/nav2_dwb_controller/CMakeLists.txt b/nav2_dwb_controller/nav2_dwb_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_dwb_controller)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_dwb_controller/nav_2d_msgs/CMakeLists.txt b/nav2_dwb_controller/nav_2d_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav_2d_msgs)
 
 find_package(backward_ros REQUIRED)
diff --git a/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt b/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav_2d_utils)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_graceful_controller/CMakeLists.txt b/nav2_graceful_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_graceful_controller)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_lifecycle_manager/CMakeLists.txt b/nav2_lifecycle_manager/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_lifecycle_manager)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_map_server/CMakeLists.txt b/nav2_map_server/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_map_server)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake_modules)
diff --git a/nav2_mppi_controller/CMakeLists.txt b/nav2_mppi_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_mppi_controller)
 
 find_package(ament_cmake REQUIRED)
@@ -83,7 +83,13 @@ add_library(mppi_critics SHARED
   src/critics/twirling_critic.cpp
   src/critics/velocity_deadband_critic.cpp
 )
-target_compile_options(mppi_critics PUBLIC -fconcepts -O3)
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND APPLE)
+    # Apple Clang: use C++20 and optimization, omit -fconcepts
+    target_compile_features(mppi_critics PUBLIC cxx_std_20)
+    target_compile_options(mppi_critics PUBLIC -O3)
+else()
+    target_compile_options(mppi_critics PUBLIC -fconcepts -O3)
+endif()
 target_include_directories(mppi_critics
   PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
diff --git a/nav2_msgs/CMakeLists.txt b/nav2_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_msgs)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_navfn_planner/CMakeLists.txt b/nav2_navfn_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_navfn_planner)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_planner/CMakeLists.txt b/nav2_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_planner)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_regulated_pure_pursuit_controller/CMakeLists.txt b/nav2_regulated_pure_pursuit_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_regulated_pure_pursuit_controller)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_ros_common/CMakeLists.txt b/nav2_ros_common/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_ros_common)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_rotation_shim_controller/CMakeLists.txt b/nav2_rotation_shim_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_rotation_shim_controller)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_route/CMakeLists.txt b/nav2_route/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_route CXX)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_rviz_plugins/CMakeLists.txt b/nav2_rviz_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_rviz_plugins)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_smac_planner)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_smoother/CMakeLists.txt b/nav2_smoother/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_smoother)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_system_tests/CMakeLists.txt b/nav2_system_tests/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_system_tests)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_velocity_smoother/CMakeLists.txt b/nav2_velocity_smoother/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_velocity_smoother)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_voxel_grid/CMakeLists.txt b/nav2_voxel_grid/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_voxel_grid)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_waypoint_follower/CMakeLists.txt b/nav2_waypoint_follower/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_waypoint_follower)
 
 find_package(ament_cmake REQUIRED)
diff --git a/navigation2/CMakeLists.txt b/navigation2/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(navigation2)
 
 find_package(ament_cmake REQUIRED)

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-cmake_minimum_required(VERSION 3.5)`
	`1`	`+cmake_minimum_required(VERSION 3.8)`
`2`	`2`	`project(nav2_amcl)`
`3`	`3`
`4`	`4`	`find_package(ament_cmake REQUIRED)`