Fixing packages with no direct Eigen dependency

locusrobotics · Sep 13, 2024 · 3f63f4b · 3f63f4b
1 parent f0847b9
commit 3f63f4b
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Showing 5 changed files with 26 additions and 16 deletions.
diff --git a/fuse_constraints/CMakeLists.txt b/fuse_constraints/CMakeLists.txt
@@ -81,8 +81,8 @@ endif()
 # the build to fail. Details are here: https://gitlab.com/libeigen/eigen/-/issues/2326. We can suppress the warning
 # for ARM builds here.
 if(Eigen3_VERSION VERSION_EQUAL 3.4 AND
-CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
-CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
+   CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
+   CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
     add_compile_options(-Wno-class-memaccess)
 endif()
 

diff --git a/fuse_core/CMakeLists.txt b/fuse_core/CMakeLists.txt
@@ -39,8 +39,8 @@ add_compile_options(-Wall -Werror)
 # the build to fail. Details are here: https://gitlab.com/libeigen/eigen/-/issues/2326. We can suppress the warning
 # for ARM builds here.
 if(Eigen3_VERSION VERSION_EQUAL 3.4 AND
-CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
-CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
+   CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
+   CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
     add_compile_options(-Wno-class-memaccess)
 endif()
 

diff --git a/fuse_models/CMakeLists.txt b/fuse_models/CMakeLists.txt
@@ -85,8 +85,8 @@ add_compile_options(-Wall -Werror)
 # the build to fail. Details are here: https://gitlab.com/libeigen/eigen/-/issues/2326. We can suppress the warning
 # for ARM builds here.
 if(Eigen3_VERSION VERSION_EQUAL 3.4 AND
-CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
-CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
+   CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
+   CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
     add_compile_options(-Wno-class-memaccess)
 endif()
 

diff --git a/fuse_publishers/CMakeLists.txt b/fuse_publishers/CMakeLists.txt
@@ -33,11 +33,16 @@ add_compile_options(-Wall -Werror)
 
 # On ARM, the use of Eigen 3.4 with g++11 (both the versions in Jammy) causes a warning, which in turn causes
 # the build to fail. Details are here: https://gitlab.com/libeigen/eigen/-/issues/2326. We can suppress the warning
-# for ARM builds here.
-if(Eigen3_VERSION VERSION_EQUAL 3.4 AND
-CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
-CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
-    add_compile_options(-Wno-class-memaccess)
+# for ARM builds here. However, this package does not depend directly upon Eigen, but includes headers from other
+# packages that do. So to prevent the error, we need to find Eigen and then check the version.
+if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
+   CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
+
+   find_package(Eigen3)
+
+   if(Eigen3_FOUND AND Eigen3_VERSION VERSION_EQUAL 3.4)
+      add_compile_options(-Wno-class-memaccess)
+   endif()
 endif()
 
 # fuse_publishers library

diff --git a/fuse_viz/CMakeLists.txt b/fuse_viz/CMakeLists.txt
@@ -37,11 +37,16 @@ add_compile_options(-Wall -Werror)
 
 # On ARM, the use of Eigen 3.4 with g++11 (both the versions in Jammy) causes a warning, which in turn causes
 # the build to fail. Details are here: https://gitlab.com/libeigen/eigen/-/issues/2326. We can suppress the warning
-# for ARM builds here.
-if(Eigen3_VERSION VERSION_EQUAL 3.4 AND
-CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
-CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
-    add_compile_options(-Wno-class-memaccess)
+# for ARM builds here. However, this package does not depend directly upon Eigen, but includes headers from other
+# packages that do. So to prevent the error, we need to find Eigen and then check the version.
+if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
+   CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
+
+   find_package(Eigen3)
+
+   if(Eigen3_FOUND AND Eigen3_VERSION VERSION_EQUAL 3.4)
+      add_compile_options(-Wno-class-memaccess)
+   endif()
 endif()
 
 catkin_package(