Add apriltag support to windows

[gftabor]

No description provided.

[gftabor]

Just looks like we need to pull over more windows fixes from the different sub packages

gftabor/apriltag_detector@1e03a6e

I had gotten it locally building before so it should all be doable.

[gftabor]

Okay so this error

│ │ %PREFIX%\Library\include\rclcpp\rclcpp\duration.hpp(109,3): error C2059: syntax error: '(' [%SRC_DIR%\build\apriltag_detector_umich.vcxproj]
 │ │   (compiling source file '../ros-jazzy-apriltag-detector-umich/src/work/src/detector_impl.cpp')
 │ │   
 │ │ %PREFIX%\Library\include\rclcpp\rclcpp\duration.hpp(109,3): error C2143: syntax error: missing ',' before '?' [%SRC_DIR%\build\apriltag_detector_umich.vcxproj]
 │ │   (compiling source file '../ros-jazzy-apriltag-detector-umich/src/work/src/detector_impl.cpp')
 │ │   
 │ │ %PREFIX%\Library\include\rclcpp\rclcpp\duration.hpp(109,3): error C2059: syntax error: '?' [%SRC_DIR%\build\apriltag_detector_umich.vcxproj]
 │ │   (compiling source file '../ros-jazzy-apriltag-detector-umich/src/work/src/detector_impl.cpp')
 │ │   
 │ │ %PREFIX%\Library\include\rclcpp\rclcpp\duration.hpp(159,3): error C2535: 'rclcpp::Duration::Duration(void)': member function already defined or declared [%SRC_DIR%\build\apriltag_detector_umich.vcxproj]
 │ │   (compiling source file '../ros-jazzy-apriltag-detector-umich/src/work/src/detector_impl.cpp')
 │ │       %PREFIX%\Library\include\rclcpp\rclcpp\duration.hpp(107,3):
 │ │       see declaration of 'rclcpp::Duration::Duration'
 │ │   
 │ │ %PREFIX%\Library\include\rclcpp\rclcpp\time.hpp(204,3): error C2059: syntax error: '(' [%SRC_DIR%\build\apriltag_detector_umich.vcxproj]
 │ │   (compiling source file '../ros-jazzy-apriltag-detector-umich/src/work/src/detector_impl.cpp')
 │ │   
 │ │ %PREFIX%\Library\include\rclcpp\rclcpp\time.hpp(204,3): error C2143: syntax error: missing ',' before '?' [%SRC_DIR%\build\apriltag_detector_umich.vcxproj]
 │ │   (compiling source file '../ros-jazzy-apriltag-detector-umich/src/work/src/detector_impl.cpp')
 │ │   
 │ │ %PREFIX%\Library\include\rclcpp\rclcpp\time.hpp(204,3): error C2059: syntax error: '?' 

Locally, I just worked around by removing a logging call so it doesnt need to reference \rclcpp\duration.hpp (see).

Not sure if there is a more appropriate fix.

[traversaro]

The code around ~109 in Duration is:

   */
  static
  Duration
  max();

  Duration
  operator*(double scale) const;

  /// Get duration in nanosecods

I suspect then the problem is the use of max, and something that is including windows.h without defining NOMINMAX (see for example

ros-jazzy/patch/ros-jazzy-moveit-kinematics.patch

Line 9 in cbd6397

+add_definitions(-DNOMINMAX)

). The actual fix is to never use windows.h in public headers, but sometimes doing that is tricky.