Add bitbots cargo - #944
Conversation
… rename, Rust migration - Add bitbots_cargo cmake package with r2r_cargo(), cargo_pyo3_extension(), cargo_binary() helpers - Set up root Cargo workspace covering bitbots_extrinsic_calibration and bitbots_global_planner - Rename bitbots_rust_nav → bitbots_global_planner; remove stale pixi-build files - Bring PolygonObstacle/AnyObstacle and goal obstacle support into bitbots_global_planner - Migrate bitbots_extrinsic_calibration from C++ to Rust using bitbots_cargo - Add rust and clang to pixi deps; route cargo target into build/ via CARGO_TARGET_DIR activation env - Add cargo fmt pre-commit hook and rust-analyzer vscode settings - Update bitbots_path_planning import to use new bitbots_global_planner module name
Co-authored-by: MegaIng <cornelius@krupp.hamburg>
…ain into feature/bitbots_cargo
MegaIng
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This doesn't build for me; It appears that a global llvm and/or clang version is being found instead which is missing some symbols.
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Apparently: |
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I don't like the vendoring solution in the latest commit. Feel free to revert this. |
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Do we know why the robot is different in this regard? |
I could reproduce this under a ubuntu 26.04 desktop |
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We need to revert the patches once sequenceplanner/r2r#133 is released |
Pin the r2r binding-generation crates to a dependency-only fork using the Clang-compatible bindgen release. Remove the vendored message-generator workaround and document removal of the temporary overrides after an upstream release.
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Do we want to keep the rewrite of the extrinsic calibration, @Flova |
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This builds & functions correctly in the simulator for me now. |
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Nice. I would keep the extrinsic rewrite as a demo. |
4 participants
Summary
Add a way of integrating cargo with colcon.
Proposed changes
As a demonstration the extrinsic calibration node and the global planning library are build using this way. This should also fix the issue @ayin21 had on her laptop.
Related issues
Checklist
pixi run build