fix: set Eigen include directory as SYSTEM for Humble arm64 (#978)

kenji-miyake · web-flow · commit 75b352944fc6 · 2022-05-26T18:19:14.000Z
Signed-off-by: Kenji Miyake &lt;kenji.miyake@tier4.jp&gt;
diff --git a/common/kalman_filter/CMakeLists.txt b/common/kalman_filter/CMakeLists.txt
@@ -7,6 +7,11 @@ autoware_package()
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+)
+
 ament_auto_add_library(kalman_filter SHARED
   src/kalman_filter.cpp
   src/time_delay_kalman_filter.cpp
diff --git a/common/motion_common/CMakeLists.txt b/common/motion_common/CMakeLists.txt
@@ -6,6 +6,11 @@ autoware_package()
 
 find_package(Eigen3 REQUIRED)
 
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+)
+
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/motion_common/config.cpp
   src/motion_common/motion_common.cpp
diff --git a/common/osqp_interface/CMakeLists.txt b/common/osqp_interface/CMakeLists.txt
@@ -31,6 +31,7 @@ target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast -Wno-er
 target_include_directories(osqp_interface
   SYSTEM PUBLIC
     "${OSQP_INCLUDE_DIR}"
+    "${EIGEN3_INCLUDE_DIR}"
 )
 
 ament_target_dependencies(osqp_interface
diff --git a/common/tier4_debug_tools/CMakeLists.txt b/common/tier4_debug_tools/CMakeLists.txt
@@ -6,6 +6,11 @@ autoware_package()
 
 find_package(Eigen3 REQUIRED)
 
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+)
+
 ament_auto_add_library(lateral_error_publisher SHARED
   src/lateral_error_publisher.cpp
 )
diff --git a/common/tier4_planning_rviz_plugin/CMakeLists.txt b/common/tier4_planning_rviz_plugin/CMakeLists.txt
@@ -11,6 +11,11 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
 add_definitions(-DQT_NO_KEYWORDS)
 find_package(Eigen3 REQUIRED)
 
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+)
+
 ament_auto_add_library(tier4_planning_rviz_plugin SHARED
   include/drivable_area/display.hpp
   src/drivable_area/display.cpp
diff --git a/control/control_performance_analysis/CMakeLists.txt b/control/control_performance_analysis/CMakeLists.txt
@@ -9,6 +9,11 @@ find_package(Boost REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+)
+
 rosidl_generate_interfaces(control_performance_analysis_msgs
   msg/Error.msg
   msg/ErrorStamped.msg
diff --git a/control/pure_pursuit/CMakeLists.txt b/control/pure_pursuit/CMakeLists.txt
@@ -7,7 +7,8 @@ autoware_package()
 find_package(Eigen3 REQUIRED)
 
 include_directories(
-  ${EIGEN3_INCLUDE_DIRS}
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIRS}
 )
 
 # pure_pursuit_core
diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt
@@ -6,6 +6,11 @@ autoware_package()
 
 find_package(Eigen3 REQUIRED)
 
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+)
+
 ament_auto_add_executable(ekf_localizer
   src/ekf_localizer_node.cpp
   src/ekf_localizer.cpp
diff --git a/perception/detected_object_validation/CMakeLists.txt b/perception/detected_object_validation/CMakeLists.txt
@@ -20,6 +20,7 @@ include_directories(
   ${OpenCV_INCLUDE_DIRS}
   ${PCL_COMMON_INCLUDE_DIRS}
   ${PCL_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
 )
 
 # Generate occupancy grid based validator exe file
diff --git a/perception/detection_by_tracker/CMakeLists.txt b/perception/detection_by_tracker/CMakeLists.txt
@@ -19,8 +19,9 @@ find_package(Eigen3 REQUIRED)
 include_directories(
   include
   SYSTEM
-  ${PCL_COMMON_INCLUDE_DIRS}
-  ${PCL_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIRS}
+    ${PCL_COMMON_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
 )
 
 # Generate exe file
diff --git a/perception/image_projection_based_fusion/CMakeLists.txt b/perception/image_projection_based_fusion/CMakeLists.txt
@@ -9,8 +9,9 @@ find_package(Eigen3 REQUIRED)
 
 include_directories(
   include
-  ${OpenCV_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
+  SYSTEM
+    ${OpenCV_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIRS}
 )
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
diff --git a/perception/map_based_prediction/CMakeLists.txt b/perception/map_based_prediction/CMakeLists.txt
@@ -6,6 +6,11 @@ autoware_package()
 
 find_package(Eigen3 REQUIRED)
 
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+)
+
 ament_auto_add_library(map_based_prediction_node SHARED
   src/map_based_prediction_node.cpp
   src/path_generator.cpp
diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt
@@ -13,6 +13,11 @@ endif()
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+)
+
 # Generate exe file
 set(MULTI_OBJECT_TRACKER_SRC
   src/multi_object_tracker_core.cpp
diff --git a/perception/shape_estimation/CMakeLists.txt b/perception/shape_estimation/CMakeLists.txt
@@ -39,6 +39,7 @@ ament_target_dependencies(shape_estimation_lib ${SHAPE_ESTIMATION_DEPENDENCIES})
 target_include_directories(shape_estimation_lib
   SYSTEM PUBLIC
     "${PCL_INCLUDE_DIRS}"
+    "${EIGEN3_INCLUDE_DIR}"
 )
 
 ament_auto_add_library(shape_estimation_node SHARED
diff --git a/perception/traffic_light_map_based_detector/CMakeLists.txt b/perception/traffic_light_map_based_detector/CMakeLists.txt
@@ -7,7 +7,8 @@ autoware_package()
 find_package(Eigen3 REQUIRED)
 
 include_directories(
-  ${EIGEN3_INCLUDE_DIR}
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
 )
 
 ament_auto_add_library(traffic_light_map_based_detector SHARED
diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt
@@ -41,6 +41,7 @@ target_include_directories(behavior_velocity_planner
     ${BOOST_INCLUDE_DIRS}
     ${PCL_INCLUDE_DIRS}
     ${tf2_geometry_msgs_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
 )
 
 ament_target_dependencies(behavior_velocity_planner
diff --git a/planning/motion_velocity_smoother/CMakeLists.txt b/planning/motion_velocity_smoother/CMakeLists.txt
@@ -8,6 +8,11 @@ find_package(Boost REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+)
+
 set(MOTION_VELOCITY_SMOOTHER_SRC
   src/motion_velocity_smoother_node.cpp
   src/trajectory_utils.cpp
diff --git a/planning/obstacle_avoidance_planner/CMakeLists.txt b/planning/obstacle_avoidance_planner/CMakeLists.txt
@@ -20,8 +20,9 @@ ament_auto_add_library(obstacle_avoidance_planner SHARED
 )
 
 target_include_directories(obstacle_avoidance_planner
-  PUBLIC
+  SYSTEM PUBLIC
     ${OpenCV_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
 )
 
 target_link_libraries(obstacle_avoidance_planner
diff --git a/planning/obstacle_stop_planner/CMakeLists.txt b/planning/obstacle_stop_planner/CMakeLists.txt
@@ -15,9 +15,10 @@ ament_auto_add_library(obstacle_stop_planner SHARED
 )
 
 target_include_directories(obstacle_stop_planner
-  PUBLIC
+  SYSTEM PUBLIC
     ${OpenCV_INCLUDE_DIRS}
     ${PCL_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
 )
 
 target_link_libraries(obstacle_stop_planner
diff --git a/planning/surround_obstacle_checker/CMakeLists.txt b/planning/surround_obstacle_checker/CMakeLists.txt
@@ -8,6 +8,11 @@ find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common)
 
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+)
+
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug_marker.cpp
   src/node.cpp
diff --git a/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt b/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt
@@ -8,6 +8,11 @@ find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(PCL REQUIRED)
 
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+)
+
 # PointcloudBasedOccupancyGridMap
 ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED
   src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
diff --git a/sensing/tier4_pcl_extensions/CMakeLists.txt b/sensing/tier4_pcl_extensions/CMakeLists.txt
@@ -8,7 +8,11 @@ find_package(PCL REQUIRED COMPONENTS common)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-include_directories(${PCL_INCLUDE_DIRS})
+include_directories(
+  SYSTEM
+    ${EIGEN3_INCLUDE_DIR}
+    ${PCL_INCLUDE_DIRS}
+)
 link_directories(${PCL_LIBRARY_DIRS})
 add_definitions(${PCL_DEFINITIONS})
 

Original file line number	Diff line number	Diff line change
`@@ -31,6 +31,7 @@ target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast -Wno-er`
`31`	`31`	`target_include_directories(osqp_interface`
`32`	`32`	`SYSTEM PUBLIC`
`33`	`33`	`"${OSQP_INCLUDE_DIR}"`
	`34`	`+ "${EIGEN3_INCLUDE_DIR}"`
`34`	`35`	`)`
`35`	`36`
`36`	`37`	`ament_target_dependencies(osqp_interface`
Original file line number	Diff line number	Diff line change
`@@ -7,7 +7,8 @@ autoware_package()`
`7`	`7`	`find_package(Eigen3 REQUIRED)`
`8`	`8`
`9`	`9`	`include_directories(`
`10`		`- ${EIGEN3_INCLUDE_DIRS}`
	`10`	`+ SYSTEM`
	`11`	`+ ${EIGEN3_INCLUDE_DIRS}`
`11`	`12`	`)`
`12`	`13`
`13`	`14`	`# pure_pursuit_core`
Original file line number	Diff line number	Diff line change
`@@ -20,6 +20,7 @@ include_directories(`
`20`	`20`	`${OpenCV_INCLUDE_DIRS}`
`21`	`21`	`${PCL_COMMON_INCLUDE_DIRS}`
`22`	`22`	`${PCL_INCLUDE_DIRS}`
	`23`	`+ ${EIGEN3_INCLUDE_DIR}`
`23`	`24`	`)`
`24`	`25`
`25`	`26`	`# Generate occupancy grid based validator exe file`
Original file line number	Diff line number	Diff line change
`@@ -39,6 +39,7 @@ ament_target_dependencies(shape_estimation_lib ${SHAPE_ESTIMATION_DEPENDENCIES})`
`39`	`39`	`target_include_directories(shape_estimation_lib`
`40`	`40`	`SYSTEM PUBLIC`
`41`	`41`	`"${PCL_INCLUDE_DIRS}"`
	`42`	`+ "${EIGEN3_INCLUDE_DIR}"`
`42`	`43`	`)`
`43`	`44`
`44`	`45`	`ament_auto_add_library(shape_estimation_node SHARED`
Original file line number	Diff line number	Diff line change
`@@ -41,6 +41,7 @@ target_include_directories(behavior_velocity_planner`
`41`	`41`	`${BOOST_INCLUDE_DIRS}`
`42`	`42`	`${PCL_INCLUDE_DIRS}`
`43`	`43`	`${tf2_geometry_msgs_INCLUDE_DIRS}`
	`44`	`+ ${EIGEN3_INCLUDE_DIR}`
`44`	`45`	`)`
`45`	`46`
`46`	`47`	`ament_target_dependencies(behavior_velocity_planner`
Original file line number	Diff line number	Diff line change
`@@ -20,8 +20,9 @@ ament_auto_add_library(obstacle_avoidance_planner SHARED`
`20`	`20`	`)`
`21`	`21`
`22`	`22`	`target_include_directories(obstacle_avoidance_planner`
`23`		`- PUBLIC`
	`23`	`+ SYSTEM PUBLIC`
`24`	`24`	`${OpenCV_INCLUDE_DIRS}`
	`25`	`+ ${EIGEN3_INCLUDE_DIR}`
`25`	`26`	`)`
`26`	`27`
`27`	`28`	`target_link_libraries(obstacle_avoidance_planner`
Original file line number	Diff line number	Diff line change
`@@ -15,9 +15,10 @@ ament_auto_add_library(obstacle_stop_planner SHARED`
`15`	`15`	`)`
`16`	`16`
`17`	`17`	`target_include_directories(obstacle_stop_planner`
`18`		`- PUBLIC`
	`18`	`+ SYSTEM PUBLIC`
`19`	`19`	`${OpenCV_INCLUDE_DIRS}`
`20`	`20`	`${PCL_INCLUDE_DIRS}`
	`21`	`+ ${EIGEN3_INCLUDE_DIR}`
`21`	`22`	`)`
`22`	`23`
`23`	`24`	`target_link_libraries(obstacle_stop_planner`