MSVC build problems

[christophfroehlich]

Generated by Generative AI

No response

Operating System:

windows-2022

ROS version or commit hash:

rolling

RMW implementation (if applicable):

No response

RMW Configuration (if applicable):

No response

Client library (if applicable):

No response

'ros2 doctor --report' output

No response

Steps to reproduce issue

With ros2_control we created a www.github.com/ros-controls/ros2_control_ci/tree/split/upstreamws/.github/workflows/reusable-ros-tooling-win-build.yml using a windows-2022 github runner, with ROS installed from pixi.

Building of a package including rclcpp/rclcpp.hpp, in this case https://github.com/ros/diagnostics/tree/ros2/diagnostic_remote_logging with c++17 fails.

Expected behavior

Builds successful.

Actual behavior

Build failures like

C:\dev\ros2_rolling\ros2-windows\include\rclcpp\rclcpp\experimental\executors\events_executor\simple_events_queue.hpp(75,39): error C2587: 'this': illegal use of local variable as default parameter [C:\upstream_ws\build\diagnostic_remote_logging\influx_component.vcxproj]

  (compiling source file '../../src/diagnostics/diagnostic_remote_logging/src/influxdb.cpp')

      C:\dev\ros2_rolling\ros2-windows\include\rclcpp\rclcpp\experimental\executors\events_executor\simple_events_queue.hpp(71,3):

      see declaration of 'this'

  

C:\dev\ros2_rolling\ros2-windows\include\rclcpp\rclcpp\experimental\executors\events_executor\simple_events_queue.hpp(75,39): error C2597: illegal reference to non-static member 'rclcpp::experimental::executors::SimpleEventsQueue::mutex_' [C:\upstream_ws\build\diagnostic_remote_logging\influx_component.vcxproj]

  (compiling source file '../../src/diagnostics/diagnostic_remote_logging/src/influxdb.cpp')

      C:\dev\ros2_rolling\ros2-windows\include\rclcpp\rclcpp\experimental\executors\events_executor\simple_events_queue.hpp(125,22):

      see declaration of 'rclcpp::experimental::executors::SimpleEventsQueue::mutex_'

and even more.

Additional information

No response

[mjcarroll]

Thanks for the report, we are working towards enabling Win11 + VS2022 in the buildfarm, any chance you can get a PR up for this?

[christophfroehlich]

you mean for fixing this in rclcpp? I can have a look, but no promise for finding any time soon

[sotanakamura]

This problem is caused by the unintended replacement of the max macro defined in "minwindef.h" that is included by "windows.h". The diagnostic_remote_logging package includes "curl.h" that includes "windows.h".
To solve this, we need to define NOMINMAX before including "windows.h" or undefine min and max macros before including "rclcpp.h".

[christophfroehlich]

It seems to be sufficient to add

#if defined(_WIN32)
#define NOMINMAX
#endif

on the client side.

Is this the way forward to fix this in rclcpp? The max() is defined in duration.hpp for example.

[mjcarroll]

That is such an ugly macro, but if it's necessary, then we probably need to do it in rclcpp.