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https://github.com/PX4/PX4-Autopilot.git
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build(sim): convert PX4-OpticalFlow to git submodule (#27184)
Replace the ExternalProject_Add-based fetch of PX4/PX4-OpticalFlow with a proper git submodule at src/modules/simulation/gz_plugins/optical_flow/PX4-OpticalFlow, matching how every other external C++ dependency is integrated in PX4 (mavlink, gps/devices, Micro-XRCE-DDS-Client, libevents, heatshrink, etc.). The previous approach cloned the repo over the network on every clean build, pinned to GIT_TAG master (unreproducible), and had generated a string of follow-up PRs over the last year chasing ExternalProject quirks (install paths, macOS .dylib vs .so, permissions). The plugin now consumes the upstream OpticalFlow target directly via add_subdirectory and px4_add_git_submodule. The upstream repo predates PX4's strict warning policy, so the OpticalFlow and klt_feature_tracker targets get -Wno-error plus a few specific -Wno-* flags and -fvisibility=default to build cleanly inside the PX4 tree. Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche
GitHub
@@ -115,3 +115,6 @@
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[submodule "libmodal-pipe"]
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path = boards/modalai/voxl2/src/lib/mpa/libmodal-pipe
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url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe.git
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[submodule "src/modules/simulation/gz_plugins/optical_flow/PX4-OpticalFlow"]
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path = src/modules/simulation/gz_plugins/optical_flow/PX4-OpticalFlow
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url = https://github.com/PX4/PX4-OpticalFlow.git
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@@ -33,12 +33,37 @@
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project(OpticalFlowSystem)
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# Include the OpticalFlow external dependency
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include(${CMAKE_CURRENT_SOURCE_DIR}/optical_flow.cmake)
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# Find OpenCV
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find_package(OpenCV REQUIRED COMPONENTS core imgproc)
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set(PX4_OPTICAL_FLOW_DIR ${CMAKE_CURRENT_SOURCE_DIR}/PX4-OpticalFlow)
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px4_add_git_submodule(TARGET git_px4_optical_flow PATH "${PX4_OPTICAL_FLOW_DIR}")
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if(NOT TARGET OpticalFlow)
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add_subdirectory(${PX4_OPTICAL_FLOW_DIR} ${CMAKE_CURRENT_BINARY_DIR}/PX4-OpticalFlow EXCLUDE_FROM_ALL)
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add_dependencies(OpticalFlow git_px4_optical_flow)
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add_dependencies(klt_feature_tracker git_px4_optical_flow)
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# PX4-OpticalFlow is an external dependency that predates PX4's strict
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# warning policy. Relax -Werror and the few specific warnings it trips so
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# upstream source builds cleanly inside our tree. Also restore default
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# symbol visibility so the shared library exports its C++ class symbols
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# (PX4's global CXX flags set -fvisibility=hidden).
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foreach(_tgt OpticalFlow klt_feature_tracker)
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target_compile_options(${_tgt} PRIVATE
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-Wno-error
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-Wno-sign-compare
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-Wno-cast-align
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-Wno-shadow
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-fvisibility=default
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)
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set_target_properties(${_tgt} PROPERTIES
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CXX_VISIBILITY_PRESET default
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VISIBILITY_INLINES_HIDDEN OFF
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)
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endforeach()
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endif()
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add_library(${PROJECT_NAME} SHARED
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OpticalFlowSensor.cpp
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OpticalFlowSystem.cpp
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@@ -51,26 +76,26 @@ target_link_libraries(${PROJECT_NAME}
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PUBLIC ${GZ_SIM_TARGET}
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PUBLIC ${GZ_TRANSPORT_TARGET}
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PUBLIC ${OpenCV_LIBS}
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PUBLIC ${OpticalFlow_LIBS}
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PUBLIC OpticalFlow
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)
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target_include_directories(${PROJECT_NAME}
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PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
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PUBLIC ${CMAKE_CURRENT_BINARY_DIR}
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PUBLIC ${OpenCV_INCLUDE_DIRS}
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PUBLIC ${OpticalFlow_INCLUDE_DIRS}
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PUBLIC ${PX4_OPTICAL_FLOW_DIR}/include
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PUBLIC ${PX4_OPTICAL_FLOW_DIR}/external/klt_feature_tracker/include
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PUBLIC px4_gz_msgs
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)
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add_dependencies(${PROJECT_NAME} OpticalFlow)
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# Add $ORIGIN to RPATH so the plugin finds libOpticalFlow.so in its own
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# directory when installed (the packaging copies both .so files together).
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# libOpticalFlow.so is built alongside the plugin in the same output directory
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# (CMAKE_LIBRARY_OUTPUT_DIRECTORY is set by the parent gz_plugins CMakeLists),
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# so $ORIGIN is sufficient at both build and install time.
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set_target_properties(${PROJECT_NAME} PROPERTIES
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BUILD_RPATH "$ORIGIN;${OPTICAL_FLOW_INSTALL_PREFIX}/lib"
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INSTALL_RPATH "$ORIGIN"
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BUILD_RPATH "$ORIGIN"
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INSTALL_RPATH "$ORIGIN"
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)
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if (NOT CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
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install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION lib/px4_gz_plugins)
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install(TARGETS ${PROJECT_NAME} OpticalFlow LIBRARY DESTINATION lib/px4_gz_plugins)
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endif()
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Submodule src/modules/simulation/gz_plugins/optical_flow/PX4-OpticalFlow added at 5d60b9eca7
@@ -1,55 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2025 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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include(ExternalProject)
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find_package(OpenCV REQUIRED)
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if(NOT TARGET OpticalFlow)
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set(OPTICAL_FLOW_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/OpticalFlow/install")
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ExternalProject_Add(OpticalFlow
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GIT_REPOSITORY https://github.com/PX4/PX4-OpticalFlow.git
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GIT_TAG master
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PREFIX ${CMAKE_BINARY_DIR}/OpticalFlow
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INSTALL_DIR ${OPTICAL_FLOW_INSTALL_PREFIX}
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CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${OPTICAL_FLOW_INSTALL_PREFIX}
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BUILD_BYPRODUCTS
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${OPTICAL_FLOW_INSTALL_PREFIX}/lib/libOpticalFlow${CMAKE_SHARED_LIBRARY_SUFFIX}
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UPDATE_DISCONNECTED ON
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BUILD_ALWAYS OFF
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STEP_TARGETS build
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)
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set(OpticalFlow_INCLUDE_DIRS ${OPTICAL_FLOW_INSTALL_PREFIX}/include CACHE INTERNAL "")
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set(OpticalFlow_LIBS ${OPTICAL_FLOW_INSTALL_PREFIX}/lib/libOpticalFlow${CMAKE_SHARED_LIBRARY_SUFFIX} CACHE INTERNAL "")
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endif()
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