windows fixes

.github/workflows/main.yml

@@ -20,13 +20,13 @@ jobs:
         python-version: '3.11' # Version range or exact version of a Python version to use, using SemVer's version range syntax
     - name: Install vinca
       run: |
-        pip install git+https://github.com/RoboStack/vinca.git@rattler-build-humble
+        pip install git+https://github.com/RoboStack/vinca.git
 
     - name: Generate recipes for linux-64
       run: |
         git clean -fdx
         cp vinca_linux_64.yaml vinca.yaml
-        vinca --multiple --platform linux-64
+        vinca --multiple --platform linux-64 --snapshot rosdistro_snapshot.yaml
     - name: Generate azure pipelines for linux-64
       run: |
         vinca-gha --platform linux-64 --trigger-branch buildbranch_linux -d ./recipes --additional-recipes
@@ -52,7 +52,7 @@ jobs:
       run: |
         git clean -fdx
         cp vinca_osx.yaml vinca.yaml
-        vinca --multiple --platform osx-64
+        vinca --multiple --platform osx-64 --snapshot rosdistro_snapshot.yaml
     - name: Generate azure pipelines for osx-64
       run: |
         vinca-gha --platform osx-64 --trigger-branch buildbranch_osx -d ./recipes --additional-recipes
@@ -78,7 +78,7 @@ jobs:
       run: |
         git clean -fdx
         cp vinca_osx_arm64.yaml vinca.yaml
-        vinca --multiple --platform osx-arm64
+        vinca --multiple --platform osx-arm64 --snapshot rosdistro_snapshot.yaml
     - name: Generate azure pipelines for osx-arm64
       run: |
         vinca-gha --platform osx-arm64 --trigger-branch buildbranch_osx_arm64 -d ./recipes --additional-recipes
@@ -104,7 +104,7 @@ jobs:
       run: |
         git clean -fdx
         cp vinca_win.yaml vinca.yaml
-        vinca --multiple --platform win-64
+        vinca --multiple --platform win-64 --snapshot rosdistro_snapshot.yaml
     - name: Generate azure pipelines for win-64
       run: |
         vinca-gha --platform win-64 --trigger-branch buildbranch_win -d ./recipes --additional-recipes
@@ -130,7 +130,7 @@ jobs:
       run: |
         git clean -fdx
         cp vinca_linux_aarch64.yaml vinca.yaml
-        vinca --multiple --platform linux-aarch64
+        vinca --multiple --platform linux-aarch64 --snapshot rosdistro_snapshot.yaml
     - name: Generate azure pipelines for linux-aarch64
       run: |
         vinca-gha --platform linux-aarch64 --trigger-branch buildbranch_linux_aarch64 -d ./recipes --additional-recipes

env/robostackenv.yaml

@@ -14,4 +14,4 @@ dependencies:
 - rattler-build
 - pip
 - pip:
-  - git+https://github.com/RoboStack/vinca.git@rattler-build-humble
+  - git+https://github.com/RoboStack/vinca.git

patch/dependencies.yaml

@@ -42,8 +42,8 @@ pcl_ros:
   add_host: ["REQUIRE_OPENGL", "libboost-devel"]
 rviz_rendering:
   add_host: ["glew"]
-behaviortree_cpp_v3:
-  add_host: ["libboost-devel", "cppzmq"]
+behaviortree_cpp:
+  add_host: ["libboost-devel", "cppzmq", "zeromq", "sqlite"]
   add_run: ["libboost"]
 plotjuggler:
   add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros-jazzy-ros-workspace"]
@@ -157,7 +157,7 @@ rqt_image_overlay:
   add_host: ["REQUIRE_OPENGL"]
 slam_toolbox:
   add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["REQUIRE_OPENGL", "blas-devel"]
 vision_msgs_rviz_plugins:
   add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
   add_host: ["REQUIRE_OPENGL"]

patch/ros-jazzy-angles.win.patch

@@ -0,0 +1,11 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index f909972..5b6b6e8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -19,3 +19,6 @@ find_package(ament_cmake REQUIRED)
++if(WIN32)
++  target_compile_definitions(angles INTERFACE _USE_MATH_DEFINES)
++endif()
+
+ if(BUILD_TESTING)
+   find_package(ament_cmake_gtest REQUIRED)

patch/ros-jazzy-behaviortree-cpp.win.patch

@@ -0,0 +1,24 @@
+diff --git a/cmake/ament_build.cmake b/cmake/ament_build.cmake
+index 55c3011b2..152268032 100644
+--- a/cmake/ament_build.cmake
++++ b/cmake/ament_build.cmake
+@@ -10,7 +10,10 @@ if(BTCPP_SQLITE_LOGGING)
+     find_package(SQLite3 REQUIRED)
+ endif()
+
+-find_package(ament_index_cpp REQUIRED)
++find_package(ament_index_cpp REQUIRED)
++
++set(BTCPP_EXTRA_INCLUDE_DIRS ${ZeroMQ_INCLUDE_DIRS}
++                             ${SQLite3_INCLUDE_DIRS})
+
+ set( BTCPP_EXTRA_LIBRARIES
+     $<BUILD_INTERFACE:ament_index_cpp::ament_index_cpp>
+@@ -26,6 +29,7 @@ set( BTCPP_BIN_DESTINATION     bin )
+
+ mark_as_advanced(
+     BTCPP_EXTRA_LIBRARIES
++    BTCPP_EXTRA_INCLUDE_DIRS
+     BTCPP_LIB_DESTINATION
+     BTCPP_INCLUDE_DESTINATION
+     BTCPP_BIN_DESTINATION )

patch/ros-jazzy-control-toolbox.win.patch

@@ -0,0 +1,32 @@
+From 791d063ea62837e86831b7b4dda48b22e680d8cc Mon Sep 17 00:00:00 2001
+From: Christoph Froehlich <[email protected]>
+Date: Mon, 25 Nov 2024 20:11:09 +0000
+Subject: [PATCH] Export symbols on windows
+
+---
+ CMakeLists.txt | 9 +++++++--
+ 1 file changed, 7 insertions(+), 2 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index cc1f551..30f4bad 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -7,11 +7,16 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+ endif()
+
+ if(WIN32)
+-  # Enable Math Constants
+-  # https://docs.microsoft.com/en-us/cpp/c-runtime-library/math-constants?view=vs-2019
+   add_compile_definitions(
++    # For math constants
++    # https://docs.microsoft.com/en-us/cpp/c-runtime-library/math-constants?view=vs-2019
+     _USE_MATH_DEFINES
++    # Minimize Windows namespace collision
++    NOMINMAX
++    WIN32_LEAN_AND_MEAN
+   )
++  # set the same behavior for windows as it is on linux
++  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+ endif()
+
+ set(THIS_PACKAGE_INCLUDE_DEPENDS

patch/ros-jazzy-diagnostic-aggregator.win.patch

@@ -0,0 +1,9 @@
+diff --git a/diagnostic_aggregator/CMakeLists.txt b/diagnostic_aggregator/CMakeLists.txt
+index 6014edf3..bbcee116 100644
+--- a/diagnostic_aggregator/CMakeLists.txt
++++ b/diagnostic_aggregator/CMakeLists.txt
+@@ -6,3 +6,4 @@ endif()
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+ find_package(ament_cmake REQUIRED)
+ find_package(diagnostic_msgs REQUIRED)

patch/ros-jazzy-diagnostic-updater.win.patch

@@ -0,0 +1,9 @@
+diff --git a/diagnostic_updater/CMakeLists.txt b/diagnostic_updater/CMakeLists.txt
+index eafa9891..9199df0d 100644
+--- a/diagnostic_updater/CMakeLists.txt
++++ b/diagnostic_updater/CMakeLists.txt
+@@ -6,3 +6,4 @@ endif()
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+ find_package(ament_cmake REQUIRED)
+ find_package(ament_cmake_ros REQUIRED)

patch/ros-jazzy-filters.win.patch

@@ -0,0 +1,9 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 32b9f9f..587d5ca 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -12,3 +12,4 @@ endif()
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+ ##############################################################################
+ # Find dependencies

patch/ros-jazzy-forward-command-controller.win.patch

@@ -0,0 +1,22 @@
+diff --git a/forward_command_controller/CMakeLists.txt b/forward_command_controller/CMakeLists.txt
+index bf027866d6..f7610c5f85 100644
+--- a/forward_command_controller/CMakeLists.txt
++++ b/forward_command_controller/CMakeLists.txt
+@@ -1,5 +1,5 @@
+ cmake_minimum_required(VERSION 3.16)
+-project(forward_command_controller LANGUAGES CXX)
++project(forward_command_controller)
+
+ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+@@ -7,6 +7,10 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+                       -Werror=missing-braces)
+ endif()
+
++# using this instead of visibility macros
++# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++
+ set(THIS_PACKAGE_INCLUDE_DEPENDS
+   controller_interface
+   generate_parameter_library

patch/ros-jazzy-gripper-controllers.patch

@@ -0,0 +1,16 @@
+diff --git a/gripper_controllers/CMakeLists.txt b/gripper_controllers/CMakeLists.txt
+index 4ffdc76168..05174402d0 100644
+--- a/gripper_controllers/CMakeLists.txt
++++ b/gripper_controllers/CMakeLists.txt
+@@ -1,11 +1,6 @@
+ cmake_minimum_required(VERSION 3.16)
+ project(gripper_controllers)
+
+-if(APPLE OR WIN32)
+-  message(WARNING "gripper controllers are not available on OSX or Windows")
+-  return()
+-endif()
+-
+ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                       -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct

patch/ros-jazzy-hardware-interface.win.patch

@@ -0,0 +1,8 @@
+diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
+index b4e0f6cab0..50120726bb 100644
+--- a/hardware_interface/CMakeLists.txt
++++ b/hardware_interface/CMakeLists.txt
+@@ -57,3 +57,4 @@ target_include_directories(mock_components PUBLIC
++target_link_libraries(mock_components PUBLIC hardware_interface)
+ ament_target_dependencies(mock_components PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+

patch/ros-jazzy-image-proc.win.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 4570eb7..54bfe64 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -6,6 +6,8 @@ if(NOT CMAKE_CXX_STANDARD)
+   set(CMAKE_CXX_STANDARD 14)
+ endif()
+
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++
+ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ endif()

patch/ros-jazzy-image-publisher.win.patch

@@ -0,0 +1,25 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index cb41c81..88460ba 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,6 +1,8 @@
+ cmake_minimum_required(VERSION 3.5)
+ project(image_publisher)
+
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++
+ # Default to C++14
+ if(NOT CMAKE_CXX_STANDARD)
+   set(CMAKE_CXX_STANDARD 14)
+
+diff --git a/src/image_publisher.cpp b/src/image_publisher.cpp
+index 667e7209c..2f75459c1 100644
+--- a/src/image_publisher.cpp
++++ b/src/image_publisher.cpp
+@@ -34,3 +34,6 @@
++#ifndef _USE_MATH_DEFINES
++#define _USE_MATH_DEFINES
++#endif
+ #include <cmath>
+ #include <chrono>
+ #include <limits>

patch/ros-jazzy-image-rotate.win.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 49c3b94..8445833 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -6,6 +6,8 @@ if(NOT CMAKE_CXX_STANDARD)
+   set(CMAKE_CXX_STANDARD 14)
+ endif()
+
++add_compile_definitions(_USE_MATH_DEFINES)
++
+ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ endif()

patch/ros-jazzy-image-view.win.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 27231ef..0b0246f 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,6 +5,8 @@ if(NOT CMAKE_CXX_STANDARD)
+   set(CMAKE_CXX_STANDARD 14)
+ endif()
+
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++
+ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ endif()

patch/ros-jazzy-io-context.win.patch

@@ -0,0 +1,12 @@
+diff --git a/io_context/CMakeLists.txt b/io_context/CMakeLists.txt
+index 54804aa..3c04653 100644
+--- a/io_context/CMakeLists.txt
++++ b/io_context/CMakeLists.txt
+@@ -25,6 +25,7 @@ endif()
+ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ endif()
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+ ## dependencies
+ find_package(ament_cmake_auto REQUIRED)

patch/ros-jazzy-joint-limits-skip.win.patch

@@ -0,0 +1,12 @@
+diff --git a/joint_limits/src/joint_soft_limiter.cpp b/joint_limits/src/joint_soft_limiter.cpp
+index a2292cb033..622a320384 100644
+--- a/joint_limits/src/joint_soft_limiter.cpp
++++ b/joint_limits/src/joint_soft_limiter.cpp
+@@ -13,6 +13,7 @@
+ // limitations under the License.
+
+ /// \author Adrià Roig Moreno
++#define _USE_MATH_DEFINES
+ #include "joint_limits/joint_soft_limiter.hpp"
+
+ namespace joint_limits

patch/ros-jazzy-joint-state-broadcaster.win.patch

@@ -0,0 +1,18 @@
+diff --git a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
+index f1c532dce9..9eb7ab8a13 100644
+--- a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
++++ b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
+@@ -88,9 +88,13 @@ class JointStateBroadcaster : public controller_interface::ControllerInterface
+     const rclcpp_lifecycle::State & previous_state) override;
+
+ protected:
++  JOINT_STATE_BROADCASTER_PUBLIC
+   bool init_joint_data();
++  JOINT_STATE_BROADCASTER_PUBLIC
+   void init_joint_state_msg();
++  JOINT_STATE_BROADCASTER_PUBLIC
+   void init_dynamic_joint_state_msg();
++  JOINT_STATE_BROADCASTER_PUBLIC
+   bool use_all_available_interfaces() const;
+
+ protected:

patch/ros-jazzy-laser-filters.win.patch

@@ -0,0 +1,11 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 3bb5bfd..b9f334b 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -23,1 +23,6 @@ ament_auto_add_library(laser_scan_filters SHARED src/laser_scan_filters.cpp)
++find_package(Boost REQUIRED COMPONENTS thread)
++target_link_libraries(laser_scan_filters Boost::thread)
++set_target_properties(laser_scan_filters PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
++set_target_properties(laser_filter_chains PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS 1)
+

patch/ros-jazzy-moveit-core.win.patch

@@ -1,17 +1,10 @@
-diff --git a/moveit_core/collision_detection_fcl/CMakeLists.txt b/moveit_core/collision_detection_fcl/CMakeLists.txt
-index 382dc41c70..99d49531ef 100644
---- a/moveit_core/collision_detection_fcl/CMakeLists.txt
-+++ b/moveit_core/collision_detection_fcl/CMakeLists.txt
-@@ -14,11 +14,11 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
-   urdf
-   urdfdom
-   urdfdom_headers
--  LIBFCL
-   visualization_msgs
- )
- target_link_libraries(${MOVEIT_LIB_NAME}
-   moveit_collision_detection
-+  ${LIBFCL_LINK_LIBRARIES}
- )
-
- add_library(collision_detector_fcl_plugin SHARED src/collision_detector_fcl_plugin_loader.cpp)
+diff --git a/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp b/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp
+index 3e6b3de049..3bafe55098 100644
+--- a/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp
++++ b/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp
+@@ -224,3 +224,3 @@ double jointLimitAccelerationScalingFactor(const Eigen::VectorXd& accelerations,
+-        min_scaling_factor = std::min(min_scaling_factor, joint_scaling_factor);
++        min_scaling_factor = (std::min)(min_scaling_factor, joint_scaling_factor);
+       }
+       ++idx;
+     }

patch/ros-jazzy-moveit-planners-stomp.win.patch

@@ -0,0 +1,13 @@
+diff --git a/moveit_planners/stomp/include/stomp_moveit/cost_functions.hpp b/moveit_planners/stomp/include/stomp_moveit/cost_functions.hpp
+index b910cd3393..97350bec21 100644
+--- a/moveit_planners/stomp/include/stomp_moveit/cost_functions.hpp
++++ b/moveit_planners/stomp/include/stomp_moveit/cost_functions.hpp
+@@ -168,7 +168,7 @@ CostFn getCostFunctionFromStateValidator(const StateValidatorFn& state_validator
+       const long kernel_start = mu - static_cast<long>(sigma) * 4;
+       const long kernel_end = mu + static_cast<long>(sigma) * 4;
+       const long bounded_kernel_start = std::max(0l, kernel_start);
+-      const long bounded_kernel_end = std::min(values.cols() - 1, kernel_end);
++      const long bounded_kernel_end = std::min(static_cast<long>(values.cols()) - 1, kernel_end);
+       for (auto j = bounded_kernel_start; j <= bounded_kernel_end; ++j)
+       {
+         costs(j) = std::exp(-std::pow(j - mu, 2) / (2 * std::pow(sigma, 2))) / (sigma * std::sqrt(2 * M_PI));