Add various moveit, rviz and ur packages required by IIT internal projects

patch/dependencies.yaml

@@ -227,3 +227,7 @@ gz_ogre_next_vendor:
   add_run: ["ogre-next"]
 rosx_introspection:
   add_host: ["rapidjson"]
+gz_ros2_control:
+  add_host: ["REQUIRE_OPENGL"]
+gz_ros2_control_demos:
+  add_host: ["REQUIRE_OPENGL"]

patch/ros-jazzy-ackermann-steering-controller.win.patch

@@ -0,0 +1,12 @@
+diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
+index 6ad0e9485f..874e9055b3 100644
+--- a/ackermann_steering_controller/CMakeLists.txt
++++ b/ackermann_steering_controller/CMakeLists.txt
+@@ -4,6 +4,7 @@ project(ackermann_steering_controller LANGUAGES CXX)
+ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+   add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+ endif()
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+ # find dependencies
+ set(THIS_PACKAGE_INCLUDE_DEPENDS

patch/ros-jazzy-admittance-controller.win.patch

@@ -0,0 +1,14 @@
+
+diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt
+index 884513deef..359e55b46d 100644
+--- a/admittance_controller/CMakeLists.txt
++++ b/admittance_controller/CMakeLists.txt
+@@ -7,6 +7,8 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+                       -Werror=missing-braces)
+ endif()
+
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++
+ set(THIS_PACKAGE_INCLUDE_DEPENDS
+   angles
+   control_msgs

patch/ros-jazzy-gz-ros2-control.patch

@@ -0,0 +1,40 @@
+diff --git a/gz_ros2_control/CMakeLists.txt b/gz_ros2_control/CMakeLists.txt
+index 196f62d5..a7bdfd01 100644
+--- a/gz_ros2_control/CMakeLists.txt
++++ b/gz_ros2_control/CMakeLists.txt
+@@ -24,6 +24,12 @@ find_package(pluginlib REQUIRED)
+ find_package(rclcpp REQUIRED)
+ find_package(yaml_cpp_vendor REQUIRED)
+
++# Compatibility with https://github.com/gazebosim/gz-cmake/blob/eb1c510e6278935eb742ed92c6a6d1388439f8bd/cmake/FindTINYXML2.cmake#L4
++if(NOT TARGET TINYXML2::TINYXML2)
++  add_library(TINYXML2::TINYXML2 INTERFACE IMPORTED)
++  set_property(TARGET tinyxml2::tinyxml2 PROPERTY INTERFACE_LINK_LIBRARIES tinyxml2::tinyxml2)
++endif()
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+ find_package(gz_sim_vendor REQUIRED)
+ find_package(gz-sim REQUIRED)
+
+diff --git a/gz_ros2_control/src/gz_ros2_control_plugin.cpp b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
+index d38ce556..333d42a5 100644
+--- a/gz_ros2_control/src/gz_ros2_control_plugin.cpp
++++ b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
+@@ -15,5 +15,3 @@
+-#include <unistd.h>
+-
+ #include <chrono>
+ #include <map>
+ #include <memory>
+
+diff --git a/gz_ros2_control/src/gz_system.cpp b/gz_ros2_control/src/gz_system.cpp
+index 5c9952b9..d5554d2c 100644
+--- a/gz_ros2_control/src/gz_system.cpp
++++ b/gz_ros2_control/src/gz_system.cpp
+@@ -51,3 +51,7 @@
++#ifdef ERROR
++#undef ERROR
++#endif
++
+ struct jointData
+ {
+   /// \brief Joint's names.

patch/ros-jazzy-kinematics-interface-kdl.win.patch

@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index afeadae..c1cc640 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,6 +5,10 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ 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
+   kdl_parser
+   kinematics_interface

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

@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 88eaf9e..f0dbffd 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,6 +5,10 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ 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
+   rclcpp
+   rclcpp_lifecycle

patch/ros-jazzy-steering-controllers-library.win.patch

@@ -0,0 +1,15 @@
+diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt
+index fc79d54b7c..2e80ed198f 100644
+--- a/steering_controllers_library/CMakeLists.txt
++++ b/steering_controllers_library/CMakeLists.txt
+@@ -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)
++
+ # find dependencies
+ set(THIS_PACKAGE_INCLUDE_DEPENDS
+   control_msgs

patch/ros-jazzy-tinyxml2-vendor.patch

@@ -0,0 +1,17 @@
+diff --git a/cmake/Modules/FindTinyXML2.cmake b/cmake/Modules/FindTinyXML2.cmake
+index 87991be..5436d86 100644
+--- a/cmake/Modules/FindTinyXML2.cmake
++++ b/cmake/Modules/FindTinyXML2.cmake
+@@ -67,6 +67,12 @@ else()
+     set_property(TARGET tinyxml2::tinyxml2 PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${TINYXML2_INCLUDE_DIR})
+     list(APPEND TinyXML2_TARGETS tinyxml2::tinyxml2)
+   endif()
++
++  # Compatibility with https://github.com/gazebosim/gz-cmake/blob/eb1c510e6278935eb742ed92c6a6d1388439f8bd/cmake/FindTINYXML2.cmake#L4
++  if(NOT TARGET TINYXML2::TINYXML2)
++      add_library(TINYXML2::TINYXML2 INTERFACE IMPORTED)
++      set_property(TARGET TINYXML2::TINYXML2 PROPERTY INTERFACE_LINK_LIBRARIES tinyxml2::tinyxml2)
++  endif()
+ endif()
+
+ # Set mixed case INCLUDE_DIRS and LIBRARY variables from upper case ones.

patch/ros-jazzy-ur-client-library.patch

@@ -0,0 +1,249 @@
+diff --git a/include/ur_client_library/portable_endian.h b/include/ur_client_library/portable_endian.h
+new file mode 100644
+index 0000000..2b43378
+--- /dev/null
++++ b/include/ur_client_library/portable_endian.h
+@@ -0,0 +1,118 @@
++// "License": Public Domain
++// I, Mathias Panzenböck, place this file hereby into the public domain. Use it at your own risk for whatever you like.
++// In case there are jurisdictions that don't support putting things in the public domain you can also consider it to
++// be "dual licensed" under the BSD, MIT and Apache licenses, if you want to. This code is trivial anyway. Consider it
++// an example on how to get the endian conversion functions on different platforms.
++
++#ifndef PORTABLE_ENDIAN_H__
++#define PORTABLE_ENDIAN_H__
++
++#if (defined(_WIN16) || defined(_WIN32) || defined(_WIN64)) && !defined(__WINDOWS__)
++
++#	define __WINDOWS__
++
++#endif
++
++#if defined(__linux__) || defined(__CYGWIN__)
++
++#	include <endian.h>
++
++#elif defined(__APPLE__)
++
++#	include <libkern/OSByteOrder.h>
++
++#	define htobe16(x) OSSwapHostToBigInt16(x)
++#	define htole16(x) OSSwapHostToLittleInt16(x)
++#	define be16toh(x) OSSwapBigToHostInt16(x)
++#	define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#	define htobe32(x) OSSwapHostToBigInt32(x)
++#	define htole32(x) OSSwapHostToLittleInt32(x)
++#	define be32toh(x) OSSwapBigToHostInt32(x)
++#	define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#	define htobe64(x) OSSwapHostToBigInt64(x)
++#	define htole64(x) OSSwapHostToLittleInt64(x)
++#	define be64toh(x) OSSwapBigToHostInt64(x)
++#	define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#	define __BYTE_ORDER    BYTE_ORDER
++#	define __BIG_ENDIAN    BIG_ENDIAN
++#	define __LITTLE_ENDIAN LITTLE_ENDIAN
++#	define __PDP_ENDIAN    PDP_ENDIAN
++
++#elif defined(__OpenBSD__)
++
++#	include <sys/endian.h>
++
++#elif defined(__NetBSD__) || defined(__FreeBSD__) || defined(__DragonFly__)
++
++#	include <sys/endian.h>
++
++#	define be16toh(x) betoh16(x)
++#	define le16toh(x) letoh16(x)
++
++#	define be32toh(x) betoh32(x)
++#	define le32toh(x) letoh32(x)
++
++#	define be64toh(x) betoh64(x)
++#	define le64toh(x) letoh64(x)
++
++#elif defined(__WINDOWS__)
++
++#	include <winsock2.h>
++#	include <sys/param.h>
++
++#	if BYTE_ORDER == LITTLE_ENDIAN
++
++#		define htobe16(x) htons(x)
++#		define htole16(x) (x)
++#		define be16toh(x) ntohs(x)
++#		define le16toh(x) (x)
++
++#		define htobe32(x) htonl(x)
++#		define htole32(x) (x)
++#		define be32toh(x) ntohl(x)
++#		define le32toh(x) (x)
++
++#		define htobe64(x) htonll(x)
++#		define htole64(x) (x)
++#		define be64toh(x) ntohll(x)
++#		define le64toh(x) (x)
++
++#	elif BYTE_ORDER == BIG_ENDIAN
++
++		/* that would be xbox 360 */
++#		define htobe16(x) (x)
++#		define htole16(x) __builtin_bswap16(x)
++#		define be16toh(x) (x)
++#		define le16toh(x) __builtin_bswap16(x)
++
++#		define htobe32(x) (x)
++#		define htole32(x) __builtin_bswap32(x)
++#		define be32toh(x) (x)
++#		define le32toh(x) __builtin_bswap32(x)
++
++#		define htobe64(x) (x)
++#		define htole64(x) __builtin_bswap64(x)
++#		define be64toh(x) (x)
++#		define le64toh(x) __builtin_bswap64(x)
++
++#	else
++
++#		error byte order not supported
++
++#	endif
++
++#	define __BYTE_ORDER    BYTE_ORDER
++#	define __BIG_ENDIAN    BIG_ENDIAN
++#	define __LITTLE_ENDIAN LITTLE_ENDIAN
++#	define __PDP_ENDIAN    PDP_ENDIAN
++
++#else
++
++#	error platform not supported
++
++#endif
++
++#endif
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e95db8f..2620abd 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -63,6 +63,9 @@ endif()
+ if(CMAKE_THREAD_LIBS_INIT)
+   target_link_libraries(urcl PUBLIC "${CMAKE_THREAD_LIBS_INIT}")
+ endif()
++if(UNIX AND NOT APPLE)
++  target_link_libraries(urcl PUBLIC "rt")
++endif()
+
+ ##
+ ## Build testing if enabled by option
+@@ -75,7 +78,7 @@ else()
+ endif()
+
+
+-target_link_libraries(urcl INTERFACE ${Boost_Libraries})
++target_link_libraries(urcl INTERFACE ${Boost_LIBRARIES})
+
+ add_subdirectory(examples)
+
+diff --git a/include/ur_client_library/comm/bin_parser.h b/include/ur_client_library/comm/bin_parser.h
+index cad7c63..91af811 100644
+--- a/include/ur_client_library/comm/bin_parser.h
++++ b/include/ur_client_library/comm/bin_parser.h
+@@ -21,7 +21,6 @@
+ #pragma once
+
+ #include <assert.h>
+-#include <endian.h>
+ #include <inttypes.h>
+ #include <array>
+ #include <bitset>
+@@ -29,6 +28,7 @@
+ #include <cstring>
+ #include <string>
+ #include <memory>
++#include "ur_client_library/portable_endian.h"
+ #include "ur_client_library/log.h"
+ #include "ur_client_library/types.h"
+ #include "ur_client_library/exceptions.h"
+diff --git a/include/ur_client_library/comm/package_serializer.h b/include/ur_client_library/comm/package_serializer.h
+index 7745da9..ded500a 100644
+--- a/include/ur_client_library/comm/package_serializer.h
++++ b/include/ur_client_library/comm/package_serializer.h
+@@ -29,8 +29,8 @@
+ #ifndef UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
+ #define UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
+
+-#include <endian.h>
+ #include <cstring>
++#include "ur_client_library/portable_endian.h"
+
+ namespace urcl
+ {
+diff --git a/include/ur_client_library/control/reverse_interface.h b/include/ur_client_library/control/reverse_interface.h
+index d1e5707..e06e723 100644
+--- a/include/ur_client_library/control/reverse_interface.h
++++ b/include/ur_client_library/control/reverse_interface.h
+@@ -34,8 +34,8 @@
+ #include "ur_client_library/types.h"
+ #include "ur_client_library/log.h"
+ #include <cstring>
+-#include <endian.h>
+ #include <condition_variable>
++#include "ur_client_library/portable_endian.h"
+
+ namespace urcl
+ {
+diff --git a/include/ur_client_library/primary/package_header.h b/include/ur_client_library/primary/package_header.h
+index cd64bda..440b2e4 100644
+--- a/include/ur_client_library/primary/package_header.h
++++ b/include/ur_client_library/primary/package_header.h
+@@ -32,7 +32,7 @@
+
+ #include <inttypes.h>
+ #include <cstddef>
+-#include <endian.h>
++#include "ur_client_library/portable_endian.h"
+ #include "ur_client_library/types.h"
+
+ namespace urcl
+diff --git a/include/ur_client_library/rtde/package_header.h b/include/ur_client_library/rtde/package_header.h
+index f910a08..eb509ea 100644
+--- a/include/ur_client_library/rtde/package_header.h
++++ b/include/ur_client_library/rtde/package_header.h
+@@ -31,7 +31,7 @@
+ #define UR_CLIENT_LIBRARY_RTDE__HEADER_H_INCLUDED
+
+ #include <cstddef>
+-#include <endian.h>
++#include "ur_client_library/portable_endian.h"
+ #include "ur_client_library/types.h"
+ #include "ur_client_library/comm/package_serializer.h"
+
+diff --git a/src/comm/tcp_socket.cpp b/src/comm/tcp_socket.cpp
+index 586cb72..cee3961 100644
+--- a/src/comm/tcp_socket.cpp
++++ b/src/comm/tcp_socket.cpp
+@@ -21,11 +21,11 @@
+  */
+
+ #include <arpa/inet.h>
+-#include <endian.h>
+ #include <netinet/tcp.h>
+ #include <unistd.h>
+ #include <cstring>
+
++#include "ur_client_library/portable_endian.h"
+ #include "ur_client_library/log.h"
+ #include "ur_client_library/comm/tcp_socket.h"
+
+@@ -45,7 +45,9 @@ void TCPSocket::setOptions(int socket_fd)
+ {
+   int flag = 1;
+   setsockopt(socket_fd, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(int));
++#ifndef __APPLE__
+   setsockopt(socket_fd, IPPROTO_TCP, TCP_QUICKACK, &flag, sizeof(int));
++#endif
+
+   if (recv_timeout_ != nullptr)
+   {