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…hon refactor, safer deps
traversaro
reviewed
Sep 18, 2025
…ead of building in-tree
On macOS the in-tree webots/ copy has no proper .app layout, so building the controller /
vehicle / generic_robot_window libraries from source there is fragile (universal lipo build,
missing Contents/ dirs, java/python sub-builds). The official Webots macOS release already
ships all of them prebuilt and UNIVERSAL (x86_64+arm64) inside Webots.app/Contents/lib/controller.
Change the APPLE branch to resolve a prebuilt Webots.app into WEBOTS_HOME from, in order:
1. $WEBOTS_HOME (a Webots you already have),
2. /Applications/Webots.app,
3. otherwise auto-download+cache the official webots-<ver>.dmg (cmake/fetch_webots_macos.sh:
curl the release, hdiutil-mount, copy Webots.app to $HOME/.cache/webots/<ver> -- idempotent,
override the cache dir with $WEBOTS_CACHE_DIR).
Pinned to R2025a. The Linux from-source path is unchanged. This gives a complete macOS solution
(the driver links the prebuilt controller/vehicle/window libs) and a runnable simulator.
Tested on macOS 15 (Apple clang): fetch_webots_macos.sh downloads+extracts idempotently; the
CMake resolve picks /Applications when present and the cache otherwise, and all of
libController/libCppController/libcar/libdriver/libgeneric_robot_window + include/webots/robot.h
resolve under the chosen WEBOTS_HOME.
…(macOS) path
When a prebuilt Webots is used (WEBOTS_HOME set -- the macOS path), the
include_directories() only added the Webots controller headers and Python, not
the package's own include/ dir. So Driver.cpp's #include
<webots_ros2_driver/PluginInterface.hpp> failed ('file not found'). The non-
prebuilt else() branch already lists include/; add it to the prebuilt branch too.
Compile-test: macOS arm64 (prebuilt Webots), Apple clang / Xcode 26.6, in the
idesign0/ros2_macOS layered CI (folded in from investigating run 34835664100).
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
findVariance() tested `a < rawValue < b` (and the `>` mirror), which parses as `(a < rawValue) < b` — comparing a bool (0/1) against b, not a range check. Older compilers accepted it with a warning; clang 21 (Xcode 26) rejects chained comparisons as an error: error: chained comparison 'X < Y < Z' does not behave the same as a mathematical expression [-Wparentheses] Rewrite as proper bounds checks (a < rawValue && rawValue < b), preserving the ascending/descending intent, so the lookup-table interpolation selects the correct bracket. Compile-tested on macOS (Apple clang 21, arm64): the corrected expression compiles clean under -Wall -Wextra -Werror in isolation. Full colcon build of webots_ros2_driver is blocked locally by the ros2 typesupport env. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
…e `yaml-cpp` target_link_libraries(driver ... yaml-cpp) passes the bare token `yaml-cpp`, which CMake forwards to the linker as `-lyaml-cpp`. yaml_cpp_vendor builds yaml-cpp 0.8.0, whose exported target is the namespaced `yaml-cpp::yaml-cpp` (carrying IMPORTED_LOCATION); there is no plain `libyaml-cpp` on the default macOS link path, so the link fails with `ld: library 'yaml-cpp' not found`. Link the namespaced target instead (both the WEBOTS_LIB branch and the else branch). Same fix already applied to autoware_map_loader in the workspace. Compile-tested: macOS 15 / Apple clang 17, ROS 2 kilted workspace with yaml_cpp_vendor building yaml-cpp 0.8.0 (exports yaml-cpp::yaml-cpp, verified in the vendored lib/cmake/yaml-cpp config). Old behavior: `ld: library 'yaml-cpp' not found` at the webots_ros2_driver link step; with the namespaced target the driver links clean. On humble (yaml-cpp 0.7.0, unnamespaced only) the workspace's ci-yamlcpp-ns-alias patch fabricates yaml-cpp::yaml-cpp, so this stays correct across distros. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
…_robot_* symbols)
Ros2Control.cpp / Ros2ControlSystem.cpp call libController C symbols
(wb_robot_get_basic_time_step, wb_robot_get_time, ...). On the non-humble/jazzy
path the targets link only hardware_interface/controller_manager/rclcpp — not
webots_ros2_driver nor libController — and macOS does not chain DT_NEEDED, so the
symbols the driver links are not visible here -> "Undefined symbols for
architecture arm64: _wb_robot_get_*". Locate the Webots install
webots_ros2_driver already resolved (WEBOTS_HOME env, /Applications, or the
driver's ~/.cache/webots/<ver> download) and link its *CppController/*Controller
dylibs into both plugin libraries. APPLE-only; humble/jazzy use
ament_target_dependencies(webots_ros2_driver) and are untouched.
Compile-tested: macOS 15 / Apple clang; mirrors how webots_ros2_driver (which
builds cleanly) links ${WEBOTS_LIB}. The symbols resolve from the same
CppController dylib. Depends on webots_ros2_driver having populated WEBOTS_HOME
(it runs first).
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Summary
This PR improves the CMake build of
webots_ros2_driverto support both Linux and macOS environments:/Applications/Webots.appon macOS and link against its libraries.file(GLOB …)for Webots libraries instead of hardcoded list.humble/iron → 3.10, others → 3.12).yaml-cpptoyaml_cpp_vendorfor consistency with ROS 2.add_dependenciesonly when not using prebuilt Webots.webots-controllerscript installation now uses${WEBOTS_CONTROLLER_EXEC}.Motivation
These changes allow
webots_ros2_driverto build on:Notes
@traversaro — I would greatly appreciate your guidance and feedback here. :)
Testing