diff --git a/.ci_support/conda_forge_pinnings.yaml b/.ci_support/conda_forge_pinnings.yaml index 927289f1..70ae8438 100644 --- a/.ci_support/conda_forge_pinnings.yaml +++ b/.ci_support/conda_forge_pinnings.yaml @@ -4,32 +4,44 @@ c_compiler: - vs2019 # [win and x86_64] - vs2022 # [win and arm64] c_compiler_version: # [unix] - - 12 # [linux] - - 16 # [osx] - - 10 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] + - 13 # [linux] + - 17 # [osx] - 11 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] + - 12 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] +c_stdlib: + - sysroot # [linux] + - macosx_deployment_target # [osx] + - vs # [win] +m2w64_c_stdlib: # [win] + - m2w64-toolchain # [win] +c_stdlib_version: # [unix] + - 2.17 # [linux] + - 2.17 # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + - 2.17 # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + - 10.13 # [osx and x86_64] + - 11.0 # [osx and arm64] cxx_compiler: - gxx # [linux] - clangxx # [osx] - vs2019 # [win and x86_64] - vs2022 # [win and arm64] cxx_compiler_version: # [unix] - - 12 # [linux] - - 16 # [osx] - - 10 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] + - 13 # [linux] + - 17 # [osx] - 11 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] + - 12 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] llvm_openmp: # [osx] - - 16 # [osx] + - 17 # [osx] fortran_compiler: # [unix or win64] - gfortran # [linux64 or (osx and x86_64)] - gfortran # [aarch64 or ppc64le or armv7l or s390x] - flang # [win64] fortran_compiler_version: # [unix or win64] - - 12 # [linux] - - 12 # [osx] + - 13 # [linux] + - 13 # [osx] - 5 # [win64] - - 10 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] - 11 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] + - 12 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] m2w64_c_compiler: # [win] - m2w64-toolchain # [win] m2w64_cxx_compiler: # [win] @@ -40,14 +52,13 @@ m2w64_fortran_compiler: # [win] cuda_compiler: - None - nvcc # [(linux or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - - nvcc # [(linux or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + - cuda-nvcc # [(linux or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] cuda_compiler_version: - None - - 11.2 # [(linux or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - 11.8 # [(linux or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + - 12.0 # [(linux or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] cuda_compiler_version_min: - None # [osx] - - 11.2 # [linux or win64] - 11.8 # [linux or win64] arm_variant_type: # [aarch64] @@ -93,32 +104,29 @@ target_gobin: rust_compiler: - rust +# the numbers here are the Darwin Kernel version for macOS 10.9 & 11.0; +# this is used to form our target triple on osx, and nothing else. After +# we bumped the minimum macOS version to 10.13, this was left unchanged, +# since it is not essential, and long-term we'd like to remove the version. macos_machine: # [osx] - x86_64-apple-darwin13.4.0 # [osx and x86_64] - arm64-apple-darwin20.0.0 # [osx and arm64] MACOSX_DEPLOYMENT_TARGET: # [osx] - 11.0 # [osx and arm64] - - 10.9 # [osx and x86_64] + - 10.13 # [osx and x86_64] VERBOSE_AT: - V=1 VERBOSE_CM: - VERBOSE=1 -# dual build configuration channel_sources: - - conda-forge # [not s390x] - - https://conda-web.anaconda.org/conda-forge # [s390x] + - conda-forge channel_targets: - conda-forge main cdt_name: # [linux] - - cos6 # [linux64 and os.environ.get("DEFAULT_LINUX_VERSION", "cos6") == "cos6"] - - cos7 # [linux64 and os.environ.get("DEFAULT_LINUX_VERSION", "cos6") == "cos7"] - - cos7 # [linux and aarch64] - - cos7 # [linux and ppc64le] - - cos7 # [linux and armv7l] - - cos7 # [linux and s390x] + - cos7 # [linux] - cos7 # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - cos7 # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] @@ -130,15 +138,6 @@ docker_image: # [os.environ.get("BUILD_PLATFOR - quay.io/condaforge/linux-anvil-ppc64le # [os.environ.get("BUILD_PLATFORM") == "linux-ppc64le"] - quay.io/condaforge/linux-anvil-armv7l # [os.environ.get("BUILD_PLATFORM") == "linux-armv7l"] - # CUDA 11.2 - - quay.io/condaforge/linux-anvil-cuda:11.2 # [linux64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] - # CUDA 11.2 arch: native compilation (build == target) - - quay.io/condaforge/linux-anvil-ppc64le-cuda:11.2 # [ppc64le and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-ppc64le"] - - quay.io/condaforge/linux-anvil-aarch64-cuda:11.2 # [aarch64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-aarch64"] - # CUDA 11.2 arch: cross-compilation (build != target) - - quay.io/condaforge/linux-anvil-cuda:11.2 # [ppc64le and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] - - quay.io/condaforge/linux-anvil-cuda:11.2 # [aarch64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] - # CUDA 11.8 - quay.io/condaforge/linux-anvil-cuda:11.8 # [linux64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] # CUDA 11.8 arch: native compilation (build == target) @@ -148,14 +147,28 @@ docker_image: # [os.environ.get("BUILD_PLATFOR - quay.io/condaforge/linux-anvil-cuda:11.8 # [ppc64le and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] - quay.io/condaforge/linux-anvil-cuda:11.8 # [aarch64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] + # CUDA 12 + - quay.io/condaforge/linux-anvil-cos7-x86_64 # [linux64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] + # case: native compilation (build == target) + - quay.io/condaforge/linux-anvil-ppc64le # [ppc64le and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-ppc64le"] + - quay.io/condaforge/linux-anvil-aarch64 # [aarch64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-aarch64"] + # case: cross-compilation (build != target) + - quay.io/condaforge/linux-anvil-cos7-x86_64 # [ppc64le and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] + - quay.io/condaforge/linux-anvil-cos7-x86_64 # [aarch64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] + zip_keys: + # For CUDA, c_stdlib_version/cdt_name is zipped below with the compilers. + - # [linux and os.environ.get("CF_CUDA_ENABLED", "False") != "True"] + - c_stdlib_version # [linux and os.environ.get("CF_CUDA_ENABLED", "False") != "True"] + - cdt_name # [linux and os.environ.get("CF_CUDA_ENABLED", "False") != "True"] - # [unix] - c_compiler_version # [unix] - cxx_compiler_version # [unix] - fortran_compiler_version # [unix] + - c_stdlib_version # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + - cdt_name # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - cuda_compiler # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - cuda_compiler_version # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - - cdt_name # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - docker_image # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM", "").startswith("linux-")] - # [win64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - cuda_compiler # [win64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] @@ -164,17 +177,9 @@ zip_keys: - python - numpy - python_impl - # transition until arrow_cpp can be dropped for arrow 13.x - - - arrow_cpp - libarrow - libarrow_all - # as of 4.23.x, libprotobuf requires patch-level run-exports; - # we couple it with grpc (which very roughly releases in sync) - # to reduce the migration pain for these two libs a bit. - - - - libgrpc - - libprotobuf # aarch64 specifics because conda-build sets many things to centos 6 @@ -190,22 +195,8 @@ cdt_arch: armv7l # [armv7l] BUILD: armv7-conda_cos7-linux-gnueabihf # [armv7l] pin_run_as_build: - # TODO: add run_exports to the following feedstocks - flann: - max_pin: x.x.x - graphviz: - max_pin: x - libsvm: - max_pin: x netcdf-cxx4: max_pin: x.x - occt: - max_pin: x.x - poppler: - max_pin: x.x - r-base: - max_pin: x.x - min_pin: x.x vlfeat: max_pin: x.x.x @@ -228,70 +219,82 @@ blas_impl: # this output was dropped as of libabseil 20230125 abseil_cpp: - '20220623.0' +ace: + - '8.0.1' alsa_lib: - - 1.2.10 + - '1.2' antic: - 0.2 aom: - - '3.7' + - '3.9' arb: - '2.23' arpack: - - '3.8' -# keep in sync with libarrow -arrow_cpp: - - 14 # does not exist; switch to libarrow - - 13 - - 12 - - 11.0.0 + - '3.9' assimp: - - 5.3.1 + - 5.4.2 attr: - 2.5 aws_c_auth: - - 0.7.11 + - 0.7.31 aws_c_cal: - - 0.6.9 + - 0.7.4 aws_c_common: - - 0.9.12 + - 0.9.28 aws_c_compression: - - 0.2.17 + - 0.2.19 # coupled to aws_c_common version bump, see # https://github.com/conda-forge/aws-c-http-feedstock/pull/109 aws_c_event_stream: - - 0.4.1 + - 0.4.3 aws_c_http: - - 0.8.0 + - 0.8.10 # the builds got coupled because 0.2.4 landed before the this migrator finished aws_c_io: - - 0.14.1 + - 0.14.18 # the builds got coupled because 0.2.4 landed before the io migrator aws_c_mqtt: - - 0.10.1 + - 0.10.7 aws_c_s3: - - 0.4.9 + - 0.6.6 aws_c_sdkutils: - - 0.1.13 + - 0.1.19 aws_checksums: - - 0.1.17 + - 0.1.20 aws_crt_cpp: - - 0.26.0 + - 0.28.3 aws_sdk_cpp: - - 1.11.210 + - 1.11.407 +azure_core_cpp: + - 1.13.0 +azure_identity_cpp: + - 1.9.0 +azure_storage_blobs_cpp: + - 12.13.0 +azure_storage_common_cpp: + - 12.8.0 +azure_storage_files_datalake_cpp: + - 12.12.0 +azure_storage_files_shares_cpp: + - 12.11.0 +azure_storage_queues_cpp: + - 12.4.0 bullet_cpp: - 3.25 bzip2: - 1 c_ares: - 1 +c_blosc2: + - '2.15' cairo: - 1 capnproto: - - 0.10.2 + - 1.0.2 ccr: - 1.3 cfitsio: - - 4.3.0 + - 4.3.1 coin_or_cbc: - 2.10 coincbc: @@ -309,7 +312,7 @@ console_bridge: cudnn: - 8 cutensor: - - 1 + - 2 curl: - 8 dav1d: @@ -323,9 +326,9 @@ dcap: eclib: - '20231211' elfutils: - - 0.189 + - '0.191' exiv2: - - 0.27 + - '0.28' expat: - 2 ffmpeg: @@ -335,7 +338,7 @@ fftw: flann: - 1.9.2 flatbuffers: - - 23.5.26 + - 24.3.25 fmt: - '10' fontconfig: @@ -343,31 +346,35 @@ fontconfig: freetype: - 2 gct: - - 6.2.1629922860 + - 6.2.1705709074 gf2x: - '1.3' gdk_pixbuf: - 2 gnuradio_core: - - 3.10.9 + - 3.10.11 gnutls: - - 3.7 + - '3.8' gsl: - 2.7 gsoap: - 2.8.123 gstreamer: - - '1.22' + - '1.24' gst_plugins_base: - - '1.22' + - '1.24' gdal: - - '3.8' + - '3.9' +libgdal: + - '3.9' +libgdal_core: + - '3.9' geos: - - 3.12.1 + - 3.12.2 geotiff: - - 1.7.1 + - 1.7.3 gfal2: - - '2.21' + - '2.23' gflags: - 2.2 giflib: @@ -377,43 +384,45 @@ glew: glib: - '2' glog: - - '0.6' + - '0.7' glpk: - '5.0' gmp: - 6 -# keep google_cloud_cpp in sync with libgoogle_cloud +# keep google_cloud_cpp in sync with libgoogle_cloud_* google_cloud_cpp: - - '2.12' + - '2.29' google_cloud_cpp_common: - 0.25.0 googleapis_cpp: - '0.10' graphviz: - - '9' + - '12' # this has been renamed to libgrpc as of 1.49; dropped as of 1.52. # IOW, this version is unavailable; makes the renaming more obvious grpc_cpp: - '1.52' harfbuzz: - - '8' + - '9' hdf4: - 4.2.15 hdf5: - 1.14.3 icu: - '73' +idyntree: + - '13' imath: - - 3.1.9 + - 3.1.12 ipopt: - - 3.14.13 + - 3.14.16 isl: - '0.26' jasper: - 4 jpeg: - 9 -lcms: +lcms2: - 2 lerc: - '4' @@ -422,46 +431,45 @@ libjpeg_turbo: libev: - 4.33 json_c: - - '0.17' + - '0.18' jsoncpp: - 1.9.5 kealib: - '1.5' krb5: - - '1.20' + - '1.21' ldas_tools_framecpp: - '2.9' libabseil: - - '20230802' + - '20240116' libabseil_static: - '20220623.0' libaec: - '1' libarchive: - '3.7' -# keep in sync with arrow_cpp (libarrow exists only from 10.x, -# but make sure we have same length for zip as arrow_cpp) libarrow: + - '17.0' + - '16.1' + - 15 - 14 - - 13 - - 12 - - 11.0.0 -# only exists as of arrow v14, but needs to have same length as libarrow libarrow_all: + - '17.0' + - '16.1' + - 15 - 14 - - 13 - - 12 - - 11.0.0 libavif: - - '1.0.1' + - 1 libblitz: - 1.0.2 libboost_devel: - - '1.82' + - '1.84' +libboost_headers: + - '1.84' libboost_python_devel: - - '1.82' + - '1.84' libcint: - - '5.5' + - '6.1' libcurl: - 8 libcrc32c: @@ -469,11 +477,11 @@ libcrc32c: libdap4: - 3.20.6 libdeflate: - - '1.19' + - '1.21' libduckdb_devel: - - '0.9.2' + - '1' libeantic: - - 1 + - '2' libevent: - 2.1.12 libexactreal: @@ -483,121 +491,174 @@ libffi: libflatsurf: - 3 libflint: - - '2.9' + - '3.0' libframel: - '8.41' -libgdal: - - '3.8' libgit2: - - '1.7' + - '1.8' # Keep in sync with google_cloud_cpp libgoogle_cloud: - - '2.12' + - '2.29' +libgoogle_cloud_devel: + - '2.29' +libgoogle_cloud_all_devel: + - '2.29' +libgoogle_cloud_aiplatform_devel: + - '2.29' +libgoogle_cloud_automl_devel: + - '2.29' +libgoogle_cloud_bigquery_devel: + - '2.29' +libgoogle_cloud_bigtable_devel: + - '2.29' +libgoogle_cloud_compute_devel: + - '2.29' +libgoogle_cloud_dialogflow_cx_devel: + - '2.29' +libgoogle_cloud_dialogflow_es_devel: + - '2.29' +libgoogle_cloud_discoveryengine_devel: + - '2.29' +libgoogle_cloud_dlp_devel: + - '2.29' +libgoogle_cloud_iam_devel: + - '2.29' +libgoogle_cloud_oauth2_devel: + - '2.29' +libgoogle_cloud_policytroubleshooter_devel: + - '2.29' +libgoogle_cloud_pubsub_devel: + - '2.29' +libgoogle_cloud_spanner_devel: + - '2.29' +libgoogle_cloud_speech_devel: + - '2.29' +libgoogle_cloud_storage_devel: + - '2.29' libgrpc: - - '1.59' + - "1.62" libhugetlbfs: - 2 +libhwloc: + - 2.11.1 libhwy: - - '1.0' + - '1.1' libiconv: - 1 libidn2: - 2 libintervalxt: - 3 +libitk_devel: + - 5.4 libkml: - 1.3 +libkml_devel: + - 1.3 libiio: - 0 +libitk_devel: + - 5.4 libmed: - '4.1' libmatio: - - 1.5.26 + - 1.5.27 libmatio_cpp: - - 0.2.3 + - 0.2.5 libmicrohttpd: - - 0.9 + - '1.0' libnetcdf: - 4.9.2 +libode: + - 0.16.2 libopencv: - - 4.9.0 + - 4.10.0 libopentelemetry_cpp: - - '1.13' + - '1.16' libosqp: - 0.6.3 libopenvino_dev: - - 2023.2.0 + - 2024.4.0 libpcap: - '1.10' libpng: - 1.6 libprotobuf: - - 4.24.4 + - 4.25.3 libpq: - '16' libraw: - '0.21' librdkafka: - - '2.2' + - '2.5' librsvg: - 2 libsecret: - 0.18 libsentencepiece: - - '0.1.99' + - 0.2.0 libsndfile: - '1.2' libsoup: - 3 libspatialindex: - - 1.9.3 + - 2.0.0 libssh: - 0.10 libssh2: - 1 libsvm: - - '332' + - '335' # keep libsqlite in sync with sqlite libsqlite: - 3 libtensorflow: - - 2.14 + - "2.16" libtensorflow_cc: - - 2.14 + - "2.16" libthrift: - - 0.18.1 + - 0.21.0 libtiff: - - '4.6' + - '4.7' +# keep in synch with pytorch +libtorch: + - '2.4' libunwind: - '1.6' libv8: - 8.9.83 +libvigra: + - '1.12' libvips: - 8 libwebp: - 1 libwebp_base: - 1 +libxcb: + - '1' libxml2: - 2 libxsmm: - 1 libuuid: - 2 +libyarp: + - 3.9.0 libzip: - 1 lmdb: - 0.9.29 log4cxx: - - 1.1.0 + - 1.2.0 lz4_c: - '1.9.3' lzo: - 2 metis: - - 5.1 + - 5.1.0 mimalloc: - - 2.1.2 + - 2.1.7 mkl: - '2023' mkl_devel: @@ -613,9 +674,9 @@ msgpack_c: msgpack_cxx: - 6 mumps_mpi: - - 5.2.1 + - 5.7.3 mumps_seq: - - 5.2.1 + - 5.7.3 nccl: - 2 ncurses: @@ -634,7 +695,7 @@ nss: nspr: - 4 nlopt: - - '2.7' + - '2.8' ntl: - '11.4.3' # we build for the oldest version possible of numpy for forward compatibility @@ -643,8 +704,8 @@ numpy: # part of a zip_keys: python, python_impl, numpy - 1.22 - 1.22 - - 1.22 - 1.23 + - 1.26 occt: - 7.7.2 openblas: @@ -652,105 +713,120 @@ openblas: openexr: - '3.2' openh264: - - 2.4.0 + - 2.4.1 openjpeg: - '2' openmpi: - 4 +openslide: + - 4 openssl: - '3' orc: - - 1.9.2 + - 2.0.2 pango: - - 1.50 + - '1' pari: - 2.15.* *_pthread pcl: - - 1.13.1 + - 1.14.1 perl: - 5.32.1 petsc: - - '3.20' + - '3.21' petsc4py: - - '3.20' + - '3.21' pugixml: - '1.14' slepc: - - '3.20' + - '3.21' slepc4py: - - '3.20' + - '3.21' svt_av1: - - 1.8.0 + - 2.2.1 p11_kit: - '0.24' pcre: - '8' pcre2: - - '10.42' + - '10.44' +pdal: + - 2.8.0 +libpdal: + - 2.8.0 +libpdal_core: + - 2.8.0 pixman: - 0 poco: - - 1.12.4 + - 1.13.3 poppler: - - '23.07' + - '24.08' postgresql: - '16' postgresql_plpython: - '16' proj: - - 9.3.1 + - '9.5' pulseaudio: - - '16.1' + - '17.0' pulseaudio_client: - - '16.1' + - '17.0' pulseaudio_daemon: - - '16.1' + - '17.0' pybind11_abi: - 4 python: # part of a zip_keys: python, python_impl, numpy - - 3.8.* *_cpython - 3.9.* *_cpython - 3.10.* *_cpython - 3.11.* *_cpython + - 3.12.* *_cpython python_impl: # part of a zip_keys: python, python_impl, numpy - cpython - cpython - cpython - cpython +is_freethreading: + - false +# Keep in sync with libtorch pytorch: - - '2.0' + - '2.4' pyqt: - 5.15 pyqtwebengine: - 5.15 pyqtchart: - 5.15 +qhull: + - 2020.2 +qpdf: + - 11 qt: - 5.15 qt_main: - 5.15 qt6_main: - - '6.6' + - '6.7' qtkeychain: - '0.14' rdma_core: - - '49' + - '53' re2: - - 2023.06.02 + - 2023.09.01 readline: - "8" rocksdb: - - '8.0' + - '9.1' root_base: - - 6.28.10 + - 6.30.4 + - 6.32.0 ruby: - 2.5 - 2.6 r_base: - 4.1 # [win] - - 4.2 # [not win] - 4.3 # [not win] libscotch: - 7.0.4 @@ -760,8 +836,12 @@ scotch: - 7.0.4 ptscotch: - 7.0.4 +s2geography: + - 0.1.2 +s2geometry: + - 0.11.1 s2n: - - 1.4.1 + - 1.5.5 sdl2: - '2' sdl2_image: @@ -773,9 +853,9 @@ sdl2_net: sdl2_ttf: - '2' singular: - - 4.3.2.p8 + - 4.4.0 snappy: - - 1 + - 1.2 soapysdr: - '0.8' sox: @@ -788,39 +868,45 @@ sqlite: srm_ifce: - 1.24.6 starlink_ast: - - '9.2.7' + - 9.2.11 suitesparse: - - 5 + - '7' superlu_dist: - - '8' + - '9' tbb: - '2021' tbb_devel: - '2021' tensorflow: - - '2.14' + - "2.16" thrift_cpp: - - 0.18.1 + - 0.21.0 tinyxml2: - - 10 + - '10' tk: - 8.6 # [not ppc64le] tiledb: - - '2.19' + - '2.26' +ucc: + - 1 ucx: - - '1.15.0' + - '1.17' uhd: - - 4.6.0 + - 4.7.0 urdfdom: - - 4 + - '4.0' vc: # [win] - 14 # [win] +vigra: + - '1.12' vlfeat: - 0.9.21 volk: - '3.1' vtk: - - 9.2.6 + - 9.3.0 +vtk_base: + - 9.3.0 wcslib: - '8' wxwidgets: @@ -840,8 +926,8 @@ zeromq: zfp: - 1.0 zlib: - - 1.2 + - 1 zlib_ng: - - 2.0 + - '2.2' zstd: - '1.5' diff --git a/.github/testpr_environment.yml b/.github/testpr_environment.yml deleted file mode 100644 index 9e2cf9b8..00000000 --- a/.github/testpr_environment.yml +++ /dev/null @@ -1,15 +0,0 @@ -name: testpr_env -channels: - - robostack-staging - - conda-forge -dependencies: - - python 3.11.* - - pip - - boa - - conda-build <3.28 - - rospkg - - catkin_pkg >=0.4.16 - - ruamel.yaml >=0.16.6,<0.18 - - rosdistro >=0.8.0 - - empy >=3.3.4 - - networkx diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index a2d76c5e..053877ad 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -20,7 +20,7 @@ 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 + pip install git+https://github.com/RoboStack/vinca.git@rattler-build-humble - name: Generate recipes for linux-64 run: | diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 49906636..dacf0321 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -14,6 +14,7 @@ jobs: matrix: os: [ubuntu-latest, macos-latest, macos-14, windows-2019] platform: [linux-64, linux-aarch64, osx-64, win-64, osx-arm64] + environment: [beta] exclude: - os: ubuntu-latest platform: win-64 @@ -46,25 +47,25 @@ jobs: - os: windows-2019 platform: osx-arm64 steps: + - uses: actions/checkout@v4 + with: + persist-credentials: false # otherwise, the token used is the GITHUB_TOKEN, instead of your personal token + fetch-depth: 0 # otherwise, you will failed to push refs to dest repo + + - uses: prefix-dev/setup-pixi@v0.8.1 + with: + environments: ${{ matrix.environment }} + frozen: true + # Workaround for https://github.com/RoboStack/ros-humble/pull/141#issuecomment-1941919816 - name: Clean up PATH if: contains(matrix.os, 'windows') uses: egor-tensin/cleanup-path@v4 with: # cygpath in C:\Program Files\Git\usr\bin is used by install micromamba - # git in C:\Program Files\Git\bin is used by pip install git+ + # git in C:\Program Files\Git\bin is used by pip install git+ dirs: 'C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program Files\Git\mingw64\bin' - - uses: actions/checkout@master - - name: install micromamba - uses: mamba-org/setup-micromamba@main - with: - environment-file: .github/testpr_environment.yml - condarc: | - channels: - - robostack-staging - - conda-forge - - shell: bash -l {0} if: matrix.platform == 'linux-aarch64' run: | @@ -81,24 +82,15 @@ jobs: sudo apt-get update sudo apt-get install -y libgl1-mesa-dev libglu1-mesa-dev libx11-dev libxi-dev libxmu-dev - - shell: bash -l {0} - run: | - conda config --show channels | grep defaults && conda config --remove channels defaults - conda info - conda config --show - micromamba install -y pip rospkg networkx "catkin_pkg>=0.4.16" "ruamel.yaml>=0.16.6" "rosdistro>=0.8.0" "empy>=3.3.4" boa - - name: install vinca - shell: bash -l {0} - run: | - # use no-deps for now, otherwise problems with ruamel. - pip install git+https://github.com/RoboStack/vinca.git --no-deps # For some reason, the Strawberry perl's pkg-config is found # instead of the conda's one, so let's delete the /c/Strawberry directory + # Furthermore, we also need to remove an older SDK that is used and can result in compilation problems - name: Debug pkg-config problem if: contains(matrix.os, 'windows') shell: bash -l {0} run: | rm -rf /c/Strawberry + rm -rf "/c/Program Files (x86)/Windows Kits/10/Include/10.0.17763.0/" - name: Check what files have changed id: filecheck @@ -121,82 +113,80 @@ jobs: shell: bash -l {0} if: steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-64' run: | - git clean -fdx cp vinca_linux_64.yaml vinca.yaml - vinca --platform linux-64 - ls - cat recipe.yaml + mkdir -p recipes + $HOME/.pixi/bin/pixi run -e beta -v vinca --platform linux-64 -m -n + ls -la recipes - name: Generate recipes for linux-aarch64 shell: bash -l {0} if: steps.filecheck.outputs.LINUX_AARCH_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-aarch64' run: | - git clean -fdx cp vinca_linux_aarch64.yaml vinca.yaml - vinca --platform linux-aarch64 - ls - cat recipe.yaml + mkdir -p recipes + $HOME/.pixi/bin/pixi run -e beta -v vinca --platform linux-aarch64 -m -n + ls -la recipes - name: Generate recipes for osx-64 shell: bash -l {0} if: steps.filecheck.outputs.OSX_YAML_CHANGED == 1 && matrix.os == 'macos-latest' && matrix.platform == 'osx-64' run: | - git clean -fdx cp vinca_osx.yaml vinca.yaml - vinca --platform osx-64 - ls - cat recipe.yaml + mkdir -p recipes + $HOME/.pixi/bin/pixi run -e beta -v vinca --platform osx-64 -m -n + ls -la recipes - name: Generate recipes for osx-arm64 shell: bash -l {0} if: steps.filecheck.outputs.OSX_ARM_YAML_CHANGED == 1 && matrix.os == 'macos-14' && matrix.platform == 'osx-arm64' run: | - git clean -fdx cp vinca_osx_arm64.yaml vinca.yaml - vinca --platform osx-arm64 - ls - cat recipe.yaml + mkdir -p recipes + $HOME/.pixi/bin/pixi run -e beta -v vinca --platform osx-arm64 -m -n + ls -la recipes - name: Generate recipes for win-64 shell: bash -l {0} if: steps.filecheck.outputs.WIN_YAML_CHANGED == 1 && matrix.os == 'windows-2019' && matrix.platform == 'win-64' run: | - git clean -fdx + # Workaround for problem related to long paths + echo "CONDA_BLD_PATH=C:\\bld\\" >> $GITHUB_ENV + mkdir /c/bld cp vinca_win.yaml vinca.yaml - vinca --platform win-64 - ls - cat recipe.yaml + mkdir -p recipes + $HOME/.pixi/bin/pixi run -e beta -v vinca --platform win-64 -m -n + ls -la recipes - name: Check if there are packages to be built id: newrecipecheck shell: bash -l {0} run: | # continue on error set +e - grep -q "outputs: \[\]" recipe.yaml > /dev/null + test ! -d recipes echo "::set-output name=RECIPE_CREATED::${?}" - name: Build recipes for linux-64 shell: bash -l {0} - run: | - boa build additional_recipes/ros2-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml - boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-64' + run: | + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing - name: Build recipes for linux-aarch64 shell: bash -l {0} if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_AARCH_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-aarch64' run: | - boa build additional_recipes/ros2-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml --target-platform=linux-aarch64 - boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml --target-platform=linux-aarch64 + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing - name: Build recipes for osx-64 shell: bash -l {0} if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.OSX_YAML_CHANGED == 1 && matrix.os == 'macos-latest' && matrix.platform == 'osx-64' run: | - boa build additional_recipes/ros2-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml - boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing - name: Build recipes for osx-arm64 shell: bash -l {0} if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.OSX_ARM_YAML_CHANGED == 1 && matrix.os == 'macos-14' && matrix.platform == 'osx-arm64' run: | - boa build additional_recipes/ros2-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml --target-platform=osx-arm64 - boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing - name: Build recipes for win-64 shell: bash -l {0} if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.WIN_YAML_CHANGED == 1 && matrix.os == 'windows-2019' && matrix.platform == 'win-64' run: | - boa build additional_recipes/ros2-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml - boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml + $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing + $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing diff --git a/.gitignore b/.gitignore index 31a45a8c..dc169f00 100644 --- a/.gitignore +++ b/.gitignore @@ -8,3 +8,4 @@ recipes/ # pixi environments .pixi *.egg-info +output/ diff --git a/.scripts/build_linux.sh b/.scripts/build_linux.sh index d5ce6e34..2d8ef6e7 100755 --- a/.scripts/build_linux.sh +++ b/.scripts/build_linux.sh @@ -20,7 +20,7 @@ pwd cd ${FEEDSTOCK_ROOT} for recipe in ${CURRENT_RECIPES[@]}; do - pixi run rattler-build build \ + pixi run -v rattler-build build \ --recipe ${FEEDSTOCK_ROOT}/recipes/${recipe} \ -m ${FEEDSTOCK_ROOT}/conda_build_config.yaml \ -c robostack-jazzy -c conda-forge \ diff --git a/.scripts/build_osx.sh b/.scripts/build_osx.sh index 7840fc42..b852d9e2 100755 --- a/.scripts/build_osx.sh +++ b/.scripts/build_osx.sh @@ -9,8 +9,11 @@ export "CONDA_BLD_PATH=$HOME/conda-bld/" curl -fsSL https://pixi.sh/install.sh | bash export PATH="$HOME/.pixi/bin:$PATH" +# Remove homebrew from $PATH +export PATH=$(echo $PATH | tr ":" "\n" | grep -v 'homebrew' | xargs | tr ' ' ':') + for recipe in ${CURRENT_RECIPES[@]}; do - pixi run rattler-build build \ + pixi run -v rattler-build build \ --recipe ${FEEDSTOCK_ROOT}/recipes/${recipe} \ -m ${FEEDSTOCK_ROOT}/conda_build_config.yaml \ -c robostack-jazzy -c conda-forge \ @@ -19,4 +22,4 @@ for recipe in ${CURRENT_RECIPES[@]}; do # -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml \ done -pixi run upload ${CONDA_BLD_PATH}/osx-*/*.conda --force \ No newline at end of file +pixi run upload ${CONDA_BLD_PATH}/osx-*/*.conda --force diff --git a/.scripts/build_osx_arm64.sh b/.scripts/build_osx_arm64.sh index ae23ee41..b852d9e2 100755 --- a/.scripts/build_osx_arm64.sh +++ b/.scripts/build_osx_arm64.sh @@ -9,15 +9,17 @@ export "CONDA_BLD_PATH=$HOME/conda-bld/" curl -fsSL https://pixi.sh/install.sh | bash export PATH="$HOME/.pixi/bin:$PATH" +# Remove homebrew from $PATH +export PATH=$(echo $PATH | tr ":" "\n" | grep -v 'homebrew' | xargs | tr ' ' ':') + for recipe in ${CURRENT_RECIPES[@]}; do - pixi run rattler-build build \ + pixi run -v rattler-build build \ --recipe ${FEEDSTOCK_ROOT}/recipes/${recipe} \ -m ${FEEDSTOCK_ROOT}/conda_build_config.yaml \ -c robostack-jazzy -c conda-forge \ - --output-dir $CONDA_BLD_PATH \ - --target-platform=osx-arm64 + --output-dir $CONDA_BLD_PATH # -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml \ done -pixi run upload ${CONDA_BLD_PATH}/osx-*/*.conda --force \ No newline at end of file +pixi run upload ${CONDA_BLD_PATH}/osx-*/*.conda --force diff --git a/.scripts/build_win.bat b/.scripts/build_win.bat index 9d3ac248..29b00af5 100644 --- a/.scripts/build_win.bat +++ b/.scripts/build_win.bat @@ -16,7 +16,7 @@ reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t for %%X in (%CURRENT_RECIPES%) do ( echo "BUILDING RECIPE %%X" cd %FEEDSTOCK_ROOT%\recipes\%%X\ - pixi run rattler-build build --recipe %FEEDSTOCK_ROOT%\recipes\%%X\ ^ + pixi run -v rattler-build build --recipe %FEEDSTOCK_ROOT%\recipes\%%X\ ^ -m %FEEDSTOCK_ROOT%\conda_build_config.yaml ^ -c robostack-jazzy -c conda-forge ^ --output-dir %CONDA_BLD_PATH% diff --git a/additional_recipes/ros-humble-octomap/recipe.yaml b/additional_recipes/ros-humble-octomap/recipe.yaml deleted file mode 100644 index 66905928..00000000 --- a/additional_recipes/ros-humble-octomap/recipe.yaml +++ /dev/null @@ -1,21 +0,0 @@ -package: - name: ros-humble-octomap - version: "1.9.8" - -build: - number: 2 - -requirements: - run: - - octomap 1.9.* - - -about: - homepage: https://github.com/conda-forge/octomap-feedstock - license: BSD-3-Clause - summary: | - An Efficient Probabilistic 3D Mapping Framework Based on Octrees - -extra: - recipe-maintainers: - - ros-forge diff --git a/additional_recipes/ros-jazzy-urdfdom-headers/recipe.yaml b/additional_recipes/ros-jazzy-urdfdom-headers/recipe.yaml new file mode 100644 index 00000000..9d803884 --- /dev/null +++ b/additional_recipes/ros-jazzy-urdfdom-headers/recipe.yaml @@ -0,0 +1,20 @@ +package: + name: ros-jazzy-urdfdom-headers + version: "1.1.2" + +build: + number: 0 + +requirements: + run: + - urdfdom_headers ==1.1.2 + - python 3.11.* *_cpython + +about: + homepage: https://github.com/conda-forge/urdfdom_headers-feedstock + license: BSD-3-Clause + summary: | + Headers for URDF parsers +extra: + recipe-maintainers: + - ros-forge diff --git a/additional_recipes/ros-humble-urdfdom-py/recipe.yaml b/additional_recipes/ros-jazzy-urdfdom-py/recipe.yaml similarity index 60% rename from additional_recipes/ros-humble-urdfdom-py/recipe.yaml rename to additional_recipes/ros-jazzy-urdfdom-py/recipe.yaml index 5c88b1f8..fbb6a3ff 100644 --- a/additional_recipes/ros-humble-urdfdom-py/recipe.yaml +++ b/additional_recipes/ros-jazzy-urdfdom-py/recipe.yaml @@ -1,13 +1,14 @@ package: - name: ros-humble-urdfdom-py - version: "1.2.0" + name: ros-jazzy-urdfdom-py + version: "1.2.1" build: - number: 2 + number: 0 requirements: run: - - urdfdom-py 1.2.0 + - urdfdom-py 1.2.1.* + - python 3.11.* *_cpython about: homepage: https://github.com/ros/urdf_parser_py @@ -16,4 +17,4 @@ about: Standalone URDF parser for Python. extra: recipe-maintainers: - - ros-forge + - ros-forge \ No newline at end of file diff --git a/additional_recipes/ros-jazzy-urdfdom/recipe.yaml b/additional_recipes/ros-jazzy-urdfdom/recipe.yaml new file mode 100644 index 00000000..af152596 --- /dev/null +++ b/additional_recipes/ros-jazzy-urdfdom/recipe.yaml @@ -0,0 +1,20 @@ +package: + name: ros-jazzy-urdfdom + version: "4.0.1" + +build: + number: 0 + +requirements: + run: + - urdfdom ==4.0.1 + - python 3.11.* *_cpython + +about: + homepage: https://github.com/conda-forge/urdfdom-feedstock + license: BSD-3-Clause + summary: | + URDF parser +extra: + recipe-maintainers: + - ros-forge diff --git a/additional_recipes/ros2-distro-mutex/recipe.yaml b/additional_recipes/ros2-distro-mutex/recipe.yaml index e3a86b5e..9f35c219 100644 --- a/additional_recipes/ros2-distro-mutex/recipe.yaml +++ b/additional_recipes/ros2-distro-mutex/recipe.yaml @@ -1,10 +1,12 @@ package: name: ros2-distro-mutex - version: 0.5.0 + version: 0.6.0 build: number: 0 - string: jazzy + # Note: keep in sync with build number + # Cannot be done automatically, see https://github.com/mamba-org/boa/issues/278 + string: jazzy_0 requirements: # NOTE: @@ -26,16 +28,17 @@ requirements: # if the upstream package does not have run_exports # please change it in the conda_build_config.yaml! run_constraints: - - libboost 1.84.* - - libboost-devel 1.84.* + - libboost 1.86.* + - libboost-devel 1.86.* - pcl 1.14.1.* - gazebo 11.* - - libpqxx 7.* + - libprotobuf 5.28.2.* run_exports: weak: - ${{ pin_subpackage('ros2-distro-mutex', upper_bound='x.x') }} + about: homepage: https://github.com/robostack/ros-jazzy license: BSD-3-Clause diff --git a/conda_build_config.yaml b/conda_build_config.yaml index 73174494..dc3164ea 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -1,17 +1,17 @@ -gazebo: - - '11' -libpqxx: - - 7 numpy: - 1.26 -ogre: - - 14.2.* +libprotobuf: + - 5.28.2 +protobuf: + - 5.28.2 +spdlog: + - 1.14 cdt_name: - ${{ "cos7" if linux }} python: - - 3.12.* *_cpython + - 3.11.* *_cpython python_impl: - cpython @@ -23,16 +23,3 @@ c_stdlib_version: - ${{ "2.17" if linux }} - ${{ "10.14" if osx and x86_64 }} - ${{ "11.0" if osx and arm64 }} - - -# # Project overrides -# macos_min_version: # [osx and x86_64] -# - 10.14 # [osx and x86_64] -# macos_machine: # [osx] -# - x86_64-apple-darwin13.4.0 # [osx and x86_64] -# - arm64-apple-darwin20.0.0 # [osx and arm64] -# MACOSX_DEPLOYMENT_TARGET: # [osx] -# - 11.0 # [osx and arm64] -# - 10.14 # [osx and x86_64] -# CONDA_BUILD_SYSROOT: -# - /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk # [osx and arm64] \ No newline at end of file diff --git a/env/robostackenv.yaml b/env/robostackenv.yaml index 16b1bbb5..da8a09dc 100644 --- a/env/robostackenv.yaml +++ b/env/robostackenv.yaml @@ -14,4 +14,4 @@ dependencies: - rattler-build - pip - pip: - - git+https://github.com/RoboStack/vinca.git@rattler-build + - git+https://github.com/RoboStack/vinca.git@rattler-build-humble diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 49a8bd14..ca3e3cf7 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -1,9 +1,9 @@ ament_package: add_host: ['importlib_resources'] foxglove_bridge: - add_host: ["ros-humble-ament-cmake"] + add_host: ["ros-jazzy-ament-cmake"] ros_ign_interfaces: - add_host: ["ros-humble-rcl-interfaces"] + add_host: ["ros-jazzy-rcl-interfaces"] cartographer_ros: add_host: ["cartographer 2.*", "libboost-devel"] libyaml_vendor: @@ -33,8 +33,8 @@ libcurl_vendor: intra_process_demo: add_host: ["REQUIRE_OPENGL"] rviz_ogre_vendor: - add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml"] - add_build: ["vcstool"] + add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml", "${{ 'libglu' if linux }}"] + add_build: ["vcstool", "patch"] add_run: ["assimp"] pcl_conversions: add_host: ["REQUIRE_OPENGL", "libboost-devel"] @@ -46,7 +46,7 @@ behaviortree_cpp_v3: add_host: ["libboost-devel", "cppzmq"] add_run: ["libboost"] plotjuggler: - add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros-humble-ros-workspace"] + add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros-jazzy-ros-workspace"] embree_vendor: add_host: ["REQUIRE_OPENGL", "libpng", "libjpeg-turbo", "openimageio", "tbb", "tbb-devel", "embree"] ign_rviz_common: @@ -60,7 +60,7 @@ image_view: nao_lola: add_host: ["libboost-devel"] ros_ign_gazebo: - add_host: ["ros-humble-std-msgs", "ros-humble-rclcpp", "REQUIRE_OPENGL"] + add_host: ["ros-jazzy-std-msgs", "ros-jazzy-rclcpp", "REQUIRE_OPENGL"] ros_ign_gazebo_demos: add_host: ["REQUIRE_OPENGL"] rosbag2_bag_v2_plugins: @@ -74,8 +74,8 @@ libg2o: fmilibrary_vendor: add_host: ["fmilib"] mrpt2: - add_host: ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros-humble-octomap"] - add_run: ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros-humble-octomap"] + add_host: ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros-jazzy-octomap"] + add_run: ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros-jazzy-octomap"] add_build: ["${{ cdt('libxcomposite-devel') if linux }}"] ros1_rosbag_storage_vendor: add_host: ["ros-noetic-roscpp", "ros-noetic-roslz4", "ros-noetic-rostest"] @@ -85,7 +85,7 @@ popf: rtabmap: add_host: ["REQUIRE_OPENGL", "ceres-solver", "libdc1394", "libusb", "vtk"] backward_ros: - add_host: ["${{ 'binutils' if linux or (osx and x86_64) }}", "${{ 'elfutils' if linux }}"] + add_host: ["${{ 'binutils' if linux or (osx and x86_64) }}", "${{ 'elfutils' if linux }}", "ros-jazzy-ament-cmake-libraries"] nav2_smac_planner: add_build: ["${{ 'llvm-openmp' if osx }}"] add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode"] @@ -93,6 +93,8 @@ nav2_util: add_host: ["libboost-devel"] nav2_constrained_smoother: add_host: ["${{ 'openblas' if win }}"] +nav2_mppi_controller: + add_build: ["${{ 'clang <19' if osx }}"] ompl: add_host: ["ompl"] pybind11_vendor: @@ -103,13 +105,13 @@ python_qt_binding: add_run: ["pyqt-builder"] qt_gui_cpp: add_build: ["${{ 'pyqt' if (build_platform != target_platform) }}", "${{ 'qt-main' if (build_platform != target_platform) }}"] - add_host: ["REQUIRE_OPENGL", "pyqt-builder", "pep517"] + add_host: ["REQUIRE_OPENGL", "pyqt-builder", "pep517", "pyside2"] add_run: ["pyqt-builder", "pep517"] rqt_gui_cpp: add_host: ["REQUIRE_OPENGL"] ur_moveit_config: - add_host: ["ros-humble-rclpy"] - add_run: ["ros-humble-rclpy"] + add_host: ["ros-jazzy-rclpy"] + add_run: ["ros-jazzy-rclpy"] gscam: add_host: ["glib"] dolly_ignition: @@ -167,8 +169,61 @@ uncrustify_vendor: mimick_vendor: add_build: ["vcstool"] gz_cmake_vendor: - add_build: ["vcstool"] + # https://github.com/gazebo-release/gz_cmake_vendor/blob/jazzy/CMakeLists.txt#L6 for select the right major version + # (this is true for all gz-* vendor packages) or https://github.com/gazebo-tooling/gazebodistro/blob/master/collection-harmonic.yaml + # See https://gazebosim.org/docs/latest/ros_installation/#summary-of-compatible-ros-and-gazebo-combinations for mapping between ROS2 and Gazebo distros + add_host: ["gz-cmake3"] + add_run: ["gz-cmake3"] +gz_common_vendor: + add_host: ["gz-common5"] + add_run: ["gz-common5"] +gz_fuel_tools_vendor: + add_host: ["gz-fuel-tools9"] + add_run: ["gz-fuel-tools9"] +gz_sim_vendor: + add_host: ["gz-sim8"] + add_run: ["gz-sim8"] +gz_gui_vendor: + add_host: ["gz-gui8"] + add_run: ["gz-gui8"] +gz_launch_vendor: + add_host: ["gz-launch7"] + add_run: ["gz-launch7"] gz_math_vendor: - add_build: ["vcstool"] + add_host: ["gz-math7"] + add_run: ["gz-math7"] +gz_msgs_vendor: + add_host: ["gz-msgs10"] + add_run: ["gz-msgs10"] +gz_physics_vendor: + add_host: ["gz-physics7"] + add_run: ["gz-physics7"] +gz_plugin_vendor: + add_host: ["gz-plugin2"] + add_run: ["gz-plugin2"] +gz_rendering_vendor: + add_host: ["gz-rendering8", "swig"] + add_run: ["gz-rendering8", "swig"] +gz_sensors_vendor: + add_host: ["gz-sensors8"] + add_run: ["gz-sensors8"] +gz_tools_vendor: + add_host: ["gz-tools2"] + add_run: ["gz-tools2"] +gz_transport_vendor: + add_host: ["gz-transport13"] + add_run: ["gz-transport13"] gz_utils_vendor: - add_build: ["vcstool"] + add_host: ["gz-utils2"] + add_run: ["gz-utils2"] +sdformat_vendor: + add_host: ["sdformat14"] + add_run: ["sdformat14"] +gz_dartsim_vendor: + add_host: ["dartsim-cpp"] + add_run: ["dartsim-cpp"] +gz_ogre_next_vendor: + add_host: ["ogre-next"] + add_run: ["ogre-next"] +rosx_introspection: + add_host: ["rapidjson"] diff --git a/patch/ros-jazzy-ament-cmake-vendor-package.patch b/patch/ros-jazzy-ament-cmake-vendor-package.patch new file mode 100644 index 00000000..4a02afd0 --- /dev/null +++ b/patch/ros-jazzy-ament-cmake-vendor-package.patch @@ -0,0 +1,64 @@ +diff --git a/cmake/ament_vendor.cmake b/cmake/ament_vendor.cmake +index c9b963cd0..d23ff2aa2 100644 +--- a/cmake/ament_vendor.cmake ++++ b/cmake/ament_vendor.cmake +@@ -49,6 +49,14 @@ + # projects. + # :type GLOBAL_HOOK: option + # ++# Beside CMake macro options, the macro is also influenced by the following two ++# CMake options, that can be set at the CMake invocation for the project that ++# uses ament_vendor() macro: ++# * `FORCE_BUILD_VENDOR_PKG`: If ON build vendor packages from source, even if ++# system-installed packages are available ++# * `AMENT_VENDOR_NEVER_VENDOR`: If ON, raise an error if SATISFIED argument is ++# not true instead of building the vendored package ++# + # @public + # + macro(ament_vendor TARGET_NAME) +@@ -97,6 +105,18 @@ macro(ament_vendor TARGET_NAME) + "Build vendor packages from source, even if system-installed packages are available" + OFF) + ++ option(AMENT_VENDOR_NEVER_VENDOR ++ "If ON, raise an error if SATISFIED argument is not true instead of building the vendored package" ++ OFF) ++ ++ if(FORCE_BUILD_VENDOR_PKG AND AMENT_VENDOR_NEVER_VENDOR) ++ message(FATAL_ERROR "ament_vendor() cannot have both FORCE_BUILD_VENDOR_PKG and AMENT_VENDOR_NEVER_VENDOR options enabled") ++ endif() ++ ++ if(NOT _ARG_SATISFIED AND AMENT_VENDOR_NEVER_VENDOR) ++ message(FATAL_ERROR "ament_vendor() SATISFIED option is OFF and AMENT_VENDOR_NEVER_VENDOR is ON") ++ endif() ++ + if(NOT _ARG_SATISFIED OR FORCE_BUILD_VENDOR_PKG) + if(_ARG_SATISFIED) + message(STATUS "Forcing vendor package build for '${TARGET_NAME}', which is already satisfied") +@@ -245,6 +245,10 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR + set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_MODULE_PATH [=[${CMAKE_MODULE_PATH}]=] CACHE INTERNAL \"\")") + endif() + ++ if(DEFINED CMAKE_IGNORE_PREFIX_PATH) ++ set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_IGNORE_PREFIX_PATH [=[${CMAKE_IGNORE_PREFIX_PATH}]=] CACHE INTERNAL \"\")") ++ endif() ++ + list(PREPEND CMAKE_PREFIX_PATH ${_AMENT_CMAKE_VENDOR_PACKAGE_PREFIX_PATH}) + set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_PREFIX_PATH [=[${CMAKE_PREFIX_PATH}]=] CACHE INTERNAL \"\")") + +@@ -256,6 +260,14 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR + set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(BUILD_SHARED_LIBS ON CACHE BOOL \"\")") + endif() + ++ if(DEFINED Python_EXECUTABLE) ++ set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(Python_EXECUTABLE [=[${Python_EXECUTABLE}]=] CACHE INTERNAL \"\")") ++ endif() ++ ++ if(DEFINED Python3_EXECUTABLE) ++ set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(Python3_EXECUTABLE [=[${Python3_EXECUTABLE}]=] CACHE INTERNAL \"\")") ++ endif() ++ + file(GENERATE OUTPUT "${CMAKE_ARGS_FILE}" CONTENT "${CMAKE_ARGS_CONTENT}") + list(PREPEND CMAKE_ARGS "-C${CMAKE_ARGS_FILE}") + diff --git a/patch/ros-jazzy-apriltag-ros.patch b/patch/ros-jazzy-apriltag-ros.patch new file mode 100644 index 00000000..35aac4ce --- /dev/null +++ b/patch/ros-jazzy-apriltag-ros.patch @@ -0,0 +1,17 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index c906851..b48600f 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -5,8 +5,10 @@ project(apriltag_ros) + set(CMAKE_CXX_STANDARD 14) + + if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +- add_compile_options(-Werror -Wall -Wextra -Wpedantic) +- add_link_options("-Wl,-z,relro,-z,now,-z,defs") ++ if(NOT APPLE) ++ add_compile_options(-Werror -Wall -Wextra -Wpedantic) ++ add_link_options("-Wl,-z,relro,-z,now,-z,defs") ++ endif() + endif() + + option(ASAN "use AddressSanitizer to detect memory issues" OFF) diff --git a/patch/ros-jazzy-backward-ros.patch b/patch/ros-jazzy-backward-ros.patch new file mode 100644 index 00000000..91186cdd --- /dev/null +++ b/patch/ros-jazzy-backward-ros.patch @@ -0,0 +1,82 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 64af86c..9be355d 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -27,6 +27,7 @@ include(cmake/BackwardConfig.cmake) + + set(CMAKE_CXX_STANDARD_REQUIRED True) + set(CMAKE_CXX_STANDARD 14) ++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) + + ############################################################################### + # COMPILER FLAGS +diff --git a/cmake/BackwardConfig.cmake b/cmake/BackwardConfig.cmake +index 77d22d2..8e95287 100644 +--- a/cmake/BackwardConfig.cmake ++++ b/cmake/BackwardConfig.cmake +@@ -125,11 +125,14 @@ endforeach() + + set(BACKWARD_INCLUDE_DIR "${CMAKE_CURRENT_LIST_DIR}") + ++set(FIND_PACKAGE_REQUIRED_VARS BACKWARD_INCLUDE_DIR) ++if(DEFINED BACKWARD_LIBRARIES) ++ list(APPEND FIND_PACKAGE_REQUIRED_VARS BACKWARD_LIBRARIES) ++endif() ++ + include(FindPackageHandleStandardArgs) + find_package_handle_standard_args(Backward +- REQUIRED_VARS +- BACKWARD_INCLUDE_DIR +- BACKWARD_LIBRARIES ++ REQUIRED_VARS ${FIND_PACKAGE_REQUIRED_VARS} + ) + list(APPEND _BACKWARD_INCLUDE_DIRS ${BACKWARD_INCLUDE_DIR}) + +diff --git a/cmake/BackwardConfigAment.cmake b/cmake/BackwardConfigAment.cmake +index 273a51a..d981cbb 100644 +--- a/cmake/BackwardConfigAment.cmake ++++ b/cmake/BackwardConfigAment.cmake +@@ -24,5 +24,13 @@ foreach(lib ${backward_ros_forced_LIBRARIES}) + set(backward_ros_full_path_LIBRARIES "${backward_ros_full_path_LIBRARIES} ${lib}") + endif() + endforeach() +-SET(CMAKE_EXE_LINKER_FLAGS "-Wl,--no-as-needed ${backward_ros_full_path_LIBRARIES} -Wl,--as-needed ${CMAKE_EXE_LINKER_FLAGS}") ++set(no_as_needed) ++set(as_needed) + ++if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") ++ set(no_as_needed "-Wl,--no-as-needed") ++ set(as_needed "-Wl,--as-needed") ++endif() ++ ++SET(CMAKE_EXE_LINKER_FLAGS "${no_as_needed} ${backward_ros_full_path_LIBRARIES} ${as_needed} ${CMAKE_EXE_LINKER_FLAGS}") ++ +diff --git a/backward_rosConfig.cmake.in b/backward_rosConfig.cmake.in +index 6713e91..282e194 100644 +--- a/backward_rosConfig.cmake.in ++++ b/backward_rosConfig.cmake.in +@@ -2,8 +2,10 @@ + set_and_check(backward_ros_INCLUDE_DIRS "@BACKWARD_ROS_INSTALL_PREFIX@/include") + if(WIN32) + set_and_check(backward_ros_LIBRARIES "@BACKWARD_ROS_INSTALL_PREFIX@/lib/backward.lib") ++elseif(APPLE) ++set_and_check(backward_ros_LIBRARIES "@BACKWARD_ROS_INSTALL_PREFIX@/lib/libbackward.dylib") + else() + set_and_check(backward_ros_LIBRARIES "@BACKWARD_ROS_INSTALL_PREFIX@/lib/libbackward.so") + endif() + check_required_components(backward_ros) +-include(@BACKWARD_ROS_INSTALL_PREFIX@/share/@PROJECT_NAME@/cmake/BackwardConfigAment.cmake) +\ No newline at end of file ++include(@BACKWARD_ROS_INSTALL_PREFIX@/share/@PROJECT_NAME@/cmake/BackwardConfigAment.cmake) +diff --git a/package.xml b/package.xml +index e8bc10a..d39e613 100644 +--- a/package.xml ++++ b/package.xml +@@ -11,6 +11,7 @@ + https://github.com/pal-robotics/backward_ros + + cmake ++ ament_cmake_libraries + + libdw-dev + diff --git a/patch/ros-jazzy-behaviortree-cpp.patch b/patch/ros-jazzy-behaviortree-cpp.patch new file mode 100644 index 00000000..88c876b6 --- /dev/null +++ b/patch/ros-jazzy-behaviortree-cpp.patch @@ -0,0 +1,13 @@ +diff --git a/3rdparty/lexy/include/lexy/input_location.hpp b/3rdparty/lexy/include/lexy/input_location.hpp +index e6c14cf..654cdaa 100644 +--- a/3rdparty/lexy/include/lexy/input_location.hpp ++++ b/3rdparty/lexy/include/lexy/input_location.hpp +@@ -162,7 +162,7 @@ public: + { + if (lhs._line_nr != rhs._line_nr) + return lhs._line_nr < rhs._line_nr; +- return lhs._column_nr < rhs._colum_nr; ++ return lhs._column_nr < rhs._column_nr; + } + friend constexpr bool operator<=(const input_location& lhs, const input_location& rhs) + { diff --git a/patch/ros-jazzy-controller-interface.patch b/patch/ros-jazzy-controller-interface.patch new file mode 100644 index 00000000..c03f977c --- /dev/null +++ b/patch/ros-jazzy-controller-interface.patch @@ -0,0 +1,16 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 60b213cd5..3cb708ef9 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,11 +1,6 @@ + cmake_minimum_required(VERSION 3.16) + project(controller_interface LANGUAGES CXX) + +-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") +- add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow +- -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) diff --git a/patch/ros-jazzy-geometric-shapes.patch b/patch/ros-jazzy-geometric-shapes.patch new file mode 100644 index 00000000..d9887372 --- /dev/null +++ b/patch/ros-jazzy-geometric-shapes.patch @@ -0,0 +1,22 @@ +From d236b8e9172705076e1c0aba34940307a925d3e2 Mon Sep 17 00:00:00 2001 +From: Silvio Traversaro +Date: Wed, 18 Dec 2024 13:50:38 +0100 +Subject: [PATCH] Drop apt-specific workaround on the octomap version + +--- + CMakeLists.txt | 2 +- + 1 file changed, 1 insertion(+), 1 deletion(-) + +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 8c46189..277356c 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -45,7 +45,7 @@ find_package(eigen_stl_containers REQUIRED) + find_package(geometry_msgs REQUIRED) + # Enforce the system package version on Ubuntu jammy and noble which is also used by libfcl-dev + # The version is fixed to prevent ABI conflicts with ros-octomap +-find_package(octomap 1.9.7...<1.10.0 REQUIRED) ++find_package(octomap REQUIRED) + find_package(QHULL REQUIRED) + find_package(random_numbers REQUIRED) + find_package(rclcpp REQUIRED) diff --git a/patch/ros-jazzy-gz-cmake-vendor.patch b/patch/ros-jazzy-gz-cmake-vendor.patch new file mode 100644 index 00000000..30b3d86b --- /dev/null +++ b/patch/ros-jazzy-gz-cmake-vendor.patch @@ -0,0 +1,8 @@ +diff --git a/gz_cmake_vendor-extras.cmake.in b/gz_cmake_vendor-extras.cmake.in +index d490202..7dc00ea 100644 +--- a/gz_cmake_vendor-extras.cmake.in ++++ b/gz_cmake_vendor-extras.cmake.in +@@ -1 +1,3 @@ ++set(ENV{GZ_RELAX_VERSION_MATCH} "True") ++set(AMENT_VENDOR_NEVER_VENDOR ON) + list(PREPEND CMAKE_PREFIX_PATH "@CMAKE_INSTALL_PREFIX@/opt/@PROJECT_NAME@/extra_cmake") diff --git a/patch/ros-jazzy-gz-common-vendor.patch b/patch/ros-jazzy-gz-common-vendor.patch new file mode 100644 index 00000000..27ebba91 --- /dev/null +++ b/patch/ros-jazzy-gz-common-vendor.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 34a9d3c..b9af25c 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -37,7 +37,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "") + set(VERSION_MATCH "") + endif() + +-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET) ++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET) + + ament_vendor(${LIB_NAME_UNDERSCORE}_vendor + SATISFIED ${${LIB_NAME_FULL}_FOUND} diff --git a/patch/ros-jazzy-gz-dartsim-vendor.patch b/patch/ros-jazzy-gz-dartsim-vendor.patch new file mode 100644 index 00000000..7e1f8c69 --- /dev/null +++ b/patch/ros-jazzy-gz-dartsim-vendor.patch @@ -0,0 +1,23 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 77ca936..5decd53 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -25,7 +25,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "") + set(VERSION_MATCH "") + endif() + +-find_package(DART ${VERSION_MATCH} ${LIB_VER_MAJOR}.${LIB_VER_MINOR} ++find_package(DART + CONFIG + COMPONENTS + collision-bullet +@@ -35,6 +35,9 @@ find_package(DART ${VERSION_MATCH} ${LIB_VER_MAJOR}.${LIB_VER_MINOR} + QUIET + ) + ++# Hack ++set(DART_FOUND TRUE) ++ + ament_vendor(${PROJECT_NAME} + SATISFIED ${DART_FOUND} + VCS_URL https://github.com/dartsim/dart.git diff --git a/patch/ros-jazzy-gz-fuel-tools-vendor.patch b/patch/ros-jazzy-gz-fuel-tools-vendor.patch new file mode 100644 index 00000000..ed6266f1 --- /dev/null +++ b/patch/ros-jazzy-gz-fuel-tools-vendor.patch @@ -0,0 +1,15 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index b084b2c..b2fc80d 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -4,8 +4,8 @@ project(gz_fuel_tools_vendor) + + # Project-specific settings + set(LIB_VER_MAJOR 9) +-set(LIB_VER_MINOR 1) +-set(LIB_VER_PATCH 0) ++set(LIB_VER_MINOR 0) ++set(LIB_VER_PATCH 3) + + # Derived variables + set(LIB_NAME gz-fuel_tools) diff --git a/patch/ros-jazzy-gz-gui-vendor.patch b/patch/ros-jazzy-gz-gui-vendor.patch new file mode 100644 index 00000000..d9ebdd68 --- /dev/null +++ b/patch/ros-jazzy-gz-gui-vendor.patch @@ -0,0 +1,15 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index a58d9a4..e6ea27e 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -4,8 +4,8 @@ project(gz_gui_vendor) + + # Project-specific settings + set(LIB_VER_MAJOR 8) +-set(LIB_VER_MINOR 3) +-set(LIB_VER_PATCH 0) ++set(LIB_VER_MINOR 1) ++set(LIB_VER_PATCH 1) + + # Derived variables + set(LIB_NAME gz-gui) diff --git a/patch/ros-jazzy-gz-math-vendor.patch b/patch/ros-jazzy-gz-math-vendor.patch new file mode 100644 index 00000000..e5a1c5d6 --- /dev/null +++ b/patch/ros-jazzy-gz-math-vendor.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index bacf717..69ead8b 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -36,7 +36,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "") + set(VERSION_MATCH "") + endif() + +-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET) ++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET) + + ament_vendor(${LIB_NAME_UNDERSCORE}_vendor + SATISFIED ${${LIB_NAME_FULL}_FOUND} diff --git a/patch/ros-jazzy-gz-msgs-vendor.patch b/patch/ros-jazzy-gz-msgs-vendor.patch new file mode 100644 index 00000000..7b6340ff --- /dev/null +++ b/patch/ros-jazzy-gz-msgs-vendor.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index a234d6c..1bc36ea 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -37,7 +37,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "") + set(VERSION_MATCH "") + endif() + +-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET) ++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET) + + ament_vendor(${LIB_NAME_UNDERSCORE}_vendor + SATISFIED ${${LIB_NAME_FULL}_FOUND} diff --git a/patch/ros-jazzy-gz-ogre-next-vendor.patch b/patch/ros-jazzy-gz-ogre-next-vendor.patch new file mode 100644 index 00000000..124d088f --- /dev/null +++ b/patch/ros-jazzy-gz-ogre-next-vendor.patch @@ -0,0 +1,233 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index a904707..e6b84cd 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,9 +1,21 @@ + cmake_minimum_required(VERSION 3.10) + project(gz_ogre_next_vendor) + ++# Project-specific settings ++set(LIB_VER_MAJOR 2) ++set(LIB_VER_MINOR 3) ++set(LIB_VER_PATCH 3) ++set(LIB_VER ${LIB_VER_MAJOR}.${LIB_VER_MINOR}.${LIB_VER_PATCH}) ++ + find_package(ament_cmake REQUIRED) + find_package(ament_cmake_vendor_package REQUIRED) + ++find_package(OGRE ${LIB_VER}) ++message(NOTICE "OGRE_FOUND" = ${OGRE}) ++ ++# Hack ++set(OGRE_FOUND TRUE) ++ + set(EXTRA_CMAKE_FLAGS) + if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*|arm64.*|ARM64.*|arm.*|ARM.*)") + # Flags for non SIMD architectures +@@ -12,6 +24,7 @@ if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*|arm64.*|ARM64.*|arm.*|A + endif() + + ament_vendor(${PROJECT_NAME} ++ SATISFIED ${OGRE_FOUND} + VCS_URL https://github.com/OGRECave/ogre-next.git + VCS_VERSION v2.3.3 + CMAKE_ARGS +@@ -33,8 +46,7 @@ ament_vendor(${PROJECT_NAME} + -DOGRE_VULKAN_WINDOW_XCB:BOOL=ON + ${EXTRA_CMAKE_FLAGS} + GLOBAL_HOOK +- PATCHES +- patches/0001-Fix-incomplete-vulkan-linkage.patch ++ PATCHES patches + ) + + if(BUILD_TESTING) +diff --git a/patches/0002-correct-cmake-vars.patch b/patches/0002-correct-cmake-vars.patch +new file mode 100644 +index 0000000..357ee82 +--- /dev/null ++++ b/patches/0002-correct-cmake-vars.patch +@@ -0,0 +1,160 @@ ++diff --git a/CMake/Utils/AndroidMacros.cmake b/CMake/Utils/AndroidMacros.cmake ++index d1a3880..e3616fc 100644 ++--- a/CMake/Utils/AndroidMacros.cmake +++++ b/CMake/Utils/AndroidMacros.cmake ++@@ -10,7 +10,7 @@ ++ ++ macro(add_static_libs LIB_DIR) ++ foreach(LIB_NAME ${ARGN}) ++- SET(HEADERS "${HEADERS}# ${LIB_NAME}\n\tinclude $(CLEAR_VARS)\n\tLOCAL_MODULE := ${LIB_NAME}\n\tLOCAL_SRC_FILES := ${LIB_DIR}/lib${LIB_NAME}.a\n\tinclude $(PREBUILT_STATIC_LIBRARY)\n\n") +++ SET(HEADERS "${HEADERS}# ${LIB_NAME}\n\tinclude ${CLEAR_VARS}\n\tLOCAL_MODULE := ${LIB_NAME}\n\tLOCAL_SRC_FILES := ${LIB_DIR}/lib${LIB_NAME}.a\n\tinclude ${PREBUILT_STATIC_LIBRARY}\n\n") ++ SET(SAMPLE_LDLIBS "${SAMPLE_LDLIBS} ${LIB_NAME}") ++ endforeach(LIB_NAME ${ARGN}) ++ SET(SAMPLE_LDLIBS "${SAMPLE_LDLIBS}\n LOCAL_STATIC_LIBRARIES\t+= ") ++@@ -21,7 +21,7 @@ macro(add_static_libs_from_paths) ++ get_filename_component(LIB_NAME ${LIB} NAME_WE) ++ string(SUBSTRING ${LIB_NAME} 3 -1 LIB_NAME) # strip lib prefix ++ ++- set(HEADERS "${HEADERS}# ${LIB_NAME}\n\tinclude $(CLEAR_VARS)\n\tLOCAL_MODULE := ${LIB_NAME}\n\tLOCAL_SRC_FILES := ${LIB}\n\tinclude $(PREBUILT_STATIC_LIBRARY)\n\n") +++ set(HEADERS "${HEADERS}# ${LIB_NAME}\n\tinclude ${CLEAR_VARS}\n\tLOCAL_MODULE := ${LIB_NAME}\n\tLOCAL_SRC_FILES := ${LIB}\n\tinclude ${PREBUILT_STATIC_LIBRARY}\n\n") ++ set(SAMPLE_LDLIBS "${SAMPLE_LDLIBS} ${LIB_NAME}") ++ endforeach() ++ set(SAMPLE_LDLIBS "${SAMPLE_LDLIBS}\n LOCAL_STATIC_LIBRARIES\t+= ") ++@@ -135,4 +135,3 @@ macro(create_android_proj ANDROID_PROJECT_TARGET) ++ WORKING_DIRECTORY ${NDKOUT} ++ ) ++ endmacro(create_android_proj) ++- ++diff --git a/CMake/Utils/OgreConfigTargets.cmake b/CMake/Utils/OgreConfigTargets.cmake ++index d8e0208..28acb8c 100644 ++--- a/CMake/Utils/OgreConfigTargets.cmake +++++ b/CMake/Utils/OgreConfigTargets.cmake ++@@ -18,7 +18,7 @@ if(APPLE) ++ if(NOT OGRE_BUILD_PLATFORM_ANDROID AND NOT OGRE_BUILD_PLATFORM_APPLE_IOS) ++ set(PLATFORM_NAME "macosx") ++ elseif(OGRE_BUILD_PLATFORM_APPLE_IOS) ++- set(PLATFORM_NAME "$(PLATFORM_NAME)") +++ set(PLATFORM_NAME "${PLATFORM_NAME}") ++ endif() ++ endif() ++ ++diff --git a/CMakeLists.txt b/CMakeLists.txt ++index 2786e35..9c6de22 100755 ++--- a/CMakeLists.txt +++++ b/CMakeLists.txt ++@@ -316,7 +316,7 @@ if (OGRE_BUILD_PLATFORM_APPLE_IOS) ++ set(MACOSX_BUNDLE_GUI_IDENTIFIER "com.yourcompany.\${PRODUCT_NAME:rfc1034identifier}") ++ set( CMAKE_XCODE_ATTRIBUTE_TARGETED_DEVICE_FAMILY "1,2" ) ++ ++- set(CMAKE_OSX_ARCHITECTURES "$(ARCHS_STANDARD_INCLUDING_64_BIT)") +++ set(CMAKE_OSX_ARCHITECTURES "${ARCHS_STANDARD_INCLUDING_64_BIT}") ++ string (REPLACE "-msse2" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") ++ string (REPLACE "-msse" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") ++ elseif (ANDROID) ++@@ -363,8 +363,6 @@ elseif (APPLE AND NOT OGRE_BUILD_PLATFORM_APPLE_IOS) ++ if(CMAKE_GENERATOR STREQUAL "Unix Makefiles") ++ execute_process(COMMAND xcodebuild -version -sdk "${XCODE_ATTRIBUTE_SDKROOT}" Path | head -n 1 OUTPUT_VARIABLE CMAKE_OSX_SYSROOT) ++ string(REGEX REPLACE "(\r?\n)+$" "" CMAKE_OSX_SYSROOT "${CMAKE_OSX_SYSROOT}") ++- else() ++- set(CMAKE_OSX_SYSROOT macosx) ++ endif() ++ ++ set( CMAKE_XCODE_ATTRIBUTE_CLANG_ENABLE_OBJC_ARC YES ) ++@@ -697,4 +695,3 @@ include(Packaging) ++ ++ # Show feature summary ++ include(FeatureSummary) ++- ++diff --git a/OgreMain/CMakeLists.txt b/OgreMain/CMakeLists.txt ++index b698b84..bd3b21e 100644 ++--- a/OgreMain/CMakeLists.txt +++++ b/OgreMain/CMakeLists.txt ++@@ -439,7 +439,7 @@ if (APPLE) ++ LINK_FLAGS "-framework IOKit -framework Cocoa -framework Carbon -framework OpenGL -framework CoreVideo" ++ ) ++ ++- set(OGRE_OSX_BUILD_CONFIGURATION "$(PLATFORM_NAME)/$(CONFIGURATION)") +++ set(OGRE_OSX_BUILD_CONFIGURATION "${PLATFORM_NAME}/${CONFIGURATION}") ++ ++ add_custom_command(TARGET ${OGRE_NEXT}Main POST_BUILD ++ COMMAND mkdir ARGS -p ${OGRE_BINARY_DIR}/lib/${OGRE_OSX_BUILD_CONFIGURATION}/Ogre.framework/Headers/Threading ++diff --git a/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake b/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake ++index 23596b5..b57c2a9 100644 ++--- a/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake +++++ b/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake ++@@ -222,10 +222,10 @@ set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/Dependencies/Ogre/CMake/Pack ++ set( OGRE_SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/Dependencies/Ogre" CACHE STRING "Path to OGRE source code (see http://www.ogre3d.org/tikiwiki/tiki-index.php?page=CMake+Quick+Start+Guide)" ) ++ if( WIN32 ) ++ set( OGRE_BINARIES "${OGRE_SOURCE}/build" CACHE STRING "Path to OGRE's build folder generated by CMake" ) ++- link_directories( "${OGRE_BINARIES}/lib/$(ConfigurationName)" ) +++ link_directories( "${OGRE_BINARIES}/lib/${ConfigurationName}" ) ++ elseif( APPLE ) ++ set( OGRE_BINARIES "${OGRE_SOURCE}/build" CACHE STRING "Path to OGRE's build folder generated by CMake" ) ++- link_directories( "${OGRE_BINARIES}/lib/$(PLATFORM_NAME)/$(CONFIGURATION)" ) +++ link_directories( "${OGRE_BINARIES}/lib/${PLATFORM_NAME}/${CONFIGURATION}" ) ++ elseif( ANDROID ) ++ set( OGRE_BINARIES "${OGRE_SOURCE}/build/Android/${CMAKE_BUILD_TYPE}" CACHE STRING "Path to OGRE's build folder generated by CMake" ) ++ link_directories( "${OGRE_BINARIES}/lib" ) ++@@ -406,10 +406,10 @@ macro( addStaticDependencies OGRE_SOURCE, OGRE_BINARIES, OGRE_BUILD_SETTINGS_STR ++ endif() ++ ++ if( WIN32 ) ++- set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/Dependencies/lib/$(ConfigurationName)" CACHE STRING +++ set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/Dependencies/lib/${ConfigurationName}" CACHE STRING ++ "Path to OGRE's dependencies folder. Only used in Static Builds" ) ++ elseif( IOS ) ++- set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/iOSDependencies/lib/$(CONFIGURATION)" CACHE STRING +++ set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/iOSDependencies/lib/${CONFIGURATION}" CACHE STRING ++ "Path to OGRE's dependencies folder. Only used in Static Builds" ) ++ elseif( ANDROID ) ++ set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/DependenciesAndroid/lib" CACHE STRING ++diff --git a/Tests/CMakeLists.txt b/Tests/CMakeLists.txt ++index 5167104..bf8fe80 100644 ++--- a/Tests/CMakeLists.txt +++++ b/Tests/CMakeLists.txt ++@@ -151,8 +151,8 @@ if (OGRE_BUILD_TESTS) ++ ogre_config_sample_exe(Test_Ogre) ++ target_link_libraries(Test_Ogre ${OGRE_LIBRARIES} ${CppUnit_LIBRARIES}) ++ if(APPLE AND NOT OGRE_BUILD_PLATFORM_APPLE_IOS) ++- set(OGRE_BUILT_FRAMEWORK "$(PLATFORM_NAME)/$(CONFIGURATION)") ++- set(OGRE_TEST_CONTENTS_PATH ${OGRE_BINARY_DIR}/bin/$(CONFIGURATION)/Test_Ogre.app/Contents) +++ set(OGRE_BUILT_FRAMEWORK "${PLATFORM_NAME}/${CONFIGURATION}") +++ set(OGRE_TEST_CONTENTS_PATH ${OGRE_BINARY_DIR}/bin/${CONFIGURATION}/Test_Ogre.app/Contents) ++ set_target_properties(Test_Ogre PROPERTIES ++ LINK_FLAGS "-framework Carbon -framework Cocoa") ++ add_custom_command(TARGET Test_Ogre POST_BUILD ++diff --git a/Tests/VisualTests/Context/CMakeLists.txt b/Tests/VisualTests/Context/CMakeLists.txt ++index 551a8e7..6e0e49b 100644 ++--- a/Tests/VisualTests/Context/CMakeLists.txt +++++ b/Tests/VisualTests/Context/CMakeLists.txt ++@@ -86,18 +86,18 @@ if (APPLE) ++ set_target_properties(TestContext PROPERTIES XCODE_ATTRIBUTE_ONLY_ACTIVE_ARCH "NO") ++ set_target_properties(TestContext PROPERTIES XCODE_ATTRIBUTE_TARGETED_DEVICE_FAMILY "1,2") ++ set (OGRE_TESTCONTEXT_CONTENTS_PATH ++- ${OGRE_BINARY_DIR}/bin/$(CONFIGURATION)/TestContext.app) +++ ${OGRE_BINARY_DIR}/bin/${CONFIGURATION}/TestContext.app) ++ add_custom_command(TARGET TestContext POST_BUILD ++ COMMAND ditto ${OGRE_SOURCE_DIR}/Samples/Common/misc/*.png ${OGRE_TESTCONTEXT_CONTENTS_PATH}/ ++ COMMAND ditto ${OGRE_BINARY_DIR}/bin/*.cfg ${OGRE_TESTCONTEXT_CONTENTS_PATH}/ ++ ) ++ add_custom_command(TARGET TestContext POST_BUILD ++- COMMAND mkdir ARGS -p ${OGRE_BINARY_DIR}/lib/$(CONFIGURATION)/ +++ COMMAND mkdir ARGS -p ${OGRE_BINARY_DIR}/lib/${CONFIGURATION}/ ++ COMMAND ditto ${OGRE_SOURCE_DIR}/Samples/Media ${OGRE_TESTCONTEXT_CONTENTS_PATH}/Media ++ COMMAND ditto ${OGRE_SOURCE_DIR}/Tests/Media ${OGRE_TESTCONTEXT_CONTENTS_PATH}/Media ++ ) ++ else() ++- set(OGRE_OSX_BUILD_CONFIGURATION "$(PLATFORM_NAME)/$(CONFIGURATION)") +++ set(OGRE_OSX_BUILD_CONFIGURATION "${PLATFORM_NAME}/${CONFIGURATION}") ++ set_property(TARGET TestContext PROPERTY MACOSX_BUNDLE TRUE) ++ set_property(TARGET TestContext PROPERTY MACOSX_BUNDLE_ICON_FILE SampleBrowser_OSX.icns) ++ set_property(TARGET TestContext PROPERTY MACOSX_BUNDLE_INFO_PLIST ${OGRE_SOURCE_DIR}/Tests/VisualTests/Context/misc/Info.plist) ++@@ -106,7 +106,7 @@ if (APPLE) ++ set_target_properties(TestContext PROPERTIES ++ LINK_FLAGS "-framework IOKit -framework Cocoa -framework Carbon -framework OpenGL -framework CoreVideo") ++ set (OGRE_TESTCONTEXT_CONTENTS_PATH ++- ${OGRE_BINARY_DIR}/bin/$(CONFIGURATION)/TestContext.app/Contents) +++ ${OGRE_BINARY_DIR}/bin/${CONFIGURATION}/TestContext.app/Contents) ++ add_custom_command(TARGET TestContext POST_BUILD ++ COMMAND mkdir ARGS -p ${OGRE_TESTCONTEXT_CONTENTS_PATH}/Frameworks ++ COMMAND ln ARGS -s -f ${OGRE_BINARY_DIR}/lib/${OGRE_OSX_BUILD_CONFIGURATION}/Ogre.framework +diff --git a/patches/0003-fix-string.patch b/patches/0003-fix-string.patch +new file mode 100644 +index 0000000..82f5dbf +--- /dev/null ++++ b/patches/0003-fix-string.patch +@@ -0,0 +1,17 @@ ++diff --git a/OgreMain/include/OgreUTFString.h b/OgreMain/include/OgreUTFString.h ++index 0aeab6a..a3be244 100644 ++--- a/OgreMain/include/OgreUTFString.h +++++ b/OgreMain/include/OgreUTFString.h ++@@ -189,10 +189,10 @@ namespace Ogre { ++ static const size_type npos = static_cast(~0); ++ ++ //! a single 32-bit Unicode character ++- typedef uint32 unicode_char; +++ typedef char32_t unicode_char; ++ ++ //! a single UTF-16 code point ++- typedef uint16 code_point; +++ typedef char16_t code_point; ++ ++ //! value type typedef for use in iterators ++ typedef code_point value_type; diff --git a/patch/ros-jazzy-gz-physics-vendor.patch b/patch/ros-jazzy-gz-physics-vendor.patch new file mode 100644 index 00000000..d6352aa3 --- /dev/null +++ b/patch/ros-jazzy-gz-physics-vendor.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 3b0b5e4..fa007d8 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -41,7 +41,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "") + set(VERSION_MATCH "") + endif() + +-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET) ++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET) + + ament_vendor(${LIB_NAME_UNDERSCORE}_vendor + SATISFIED ${${LIB_NAME_FULL}_FOUND} diff --git a/patch/ros-jazzy-gz-plugin-vendor.patch b/patch/ros-jazzy-gz-plugin-vendor.patch new file mode 100644 index 00000000..bd4b6df7 --- /dev/null +++ b/patch/ros-jazzy-gz-plugin-vendor.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index ed2578e..cb5c72a 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -36,7 +36,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "") + set(VERSION_MATCH "") + endif() + +-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET) ++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET) + + ament_vendor(${LIB_NAME_UNDERSCORE}_vendor + SATISFIED ${${LIB_NAME_FULL}_FOUND} diff --git a/patch/ros-jazzy-gz-rendering-vendor.patch b/patch/ros-jazzy-gz-rendering-vendor.patch new file mode 100644 index 00000000..881281a2 --- /dev/null +++ b/patch/ros-jazzy-gz-rendering-vendor.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index f7decac..c7c068e 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -40,7 +40,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "") + set(VERSION_MATCH "") + endif() + +-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET) ++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET) + + ament_vendor(${LIB_NAME_UNDERSCORE}_vendor + SATISFIED ${${LIB_NAME_FULL}_FOUND} diff --git a/patch/ros-jazzy-gz-sensors-vendor.patch b/patch/ros-jazzy-gz-sensors-vendor.patch new file mode 100644 index 00000000..9aa287b6 --- /dev/null +++ b/patch/ros-jazzy-gz-sensors-vendor.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 1fba7c8..c82aaa5 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -42,7 +42,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "") + set(VERSION_MATCH "") + endif() + +-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET) ++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET) + + ament_vendor(${LIB_NAME_UNDERSCORE}_vendor + SATISFIED ${${LIB_NAME_FULL}_FOUND} diff --git a/patch/ros-jazzy-gz-sim-vendor.patch b/patch/ros-jazzy-gz-sim-vendor.patch new file mode 100644 index 00000000..482109fd --- /dev/null +++ b/patch/ros-jazzy-gz-sim-vendor.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index db289b6..e1f3327 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -48,7 +48,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "") + set(VERSION_MATCH "") + endif() + +-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET) ++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET) + + ament_vendor(${LIB_NAME_UNDERSCORE}_vendor + SATISFIED ${${LIB_NAME_FULL}_FOUND} diff --git a/patch/ros-jazzy-gz-transport-vendor.patch b/patch/ros-jazzy-gz-transport-vendor.patch new file mode 100644 index 00000000..01ccc875 --- /dev/null +++ b/patch/ros-jazzy-gz-transport-vendor.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index d0d7a23..77f334f 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -38,7 +38,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "") + set(VERSION_MATCH "") + endif() + +-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET) ++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET) + + ament_vendor(${LIB_NAME_UNDERSCORE}_vendor + SATISFIED ${${LIB_NAME_FULL}_FOUND} diff --git a/patch/ros-jazzy-gz-utils-vendor.patch b/patch/ros-jazzy-gz-utils-vendor.patch new file mode 100644 index 00000000..fdaa4012 --- /dev/null +++ b/patch/ros-jazzy-gz-utils-vendor.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 264ab97..acc88cd 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -34,7 +34,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "") + set(VERSION_MATCH "") + endif() + +-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET) ++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET) + + ament_vendor(${LIB_NAME_UNDERSCORE}_vendor + SATISFIED ${${LIB_NAME_FULL}_FOUND} diff --git a/patch/ros-jazzy-hardware-interface.patch b/patch/ros-jazzy-hardware-interface.patch new file mode 100644 index 00000000..aa88149f --- /dev/null +++ b/patch/ros-jazzy-hardware-interface.patch @@ -0,0 +1,50 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index b4e0f6cab..896175fad 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,11 +1,6 @@ + cmake_minimum_required(VERSION 3.16) + project(hardware_interface LANGUAGES CXX) + +-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") +- add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow +- -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) +@@ -54,6 +49,7 @@ target_include_directories(mock_components PUBLIC + $ + $ + ) ++target_link_libraries(mock_components PUBLIC hardware_interface) + ament_target_dependencies(mock_components PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + + pluginlib_export_plugin_description_file( +diff --git a/include/hardware_interface/async_components.hpp b/include/hardware_interface/async_components.hpp +index 052c4ba92..85efed01f 100644 +--- a/include/hardware_interface/async_components.hpp ++++ b/include/hardware_interface/async_components.hpp +@@ -82,7 +82,11 @@ public: + { + auto const period = std::chrono::nanoseconds(1'000'000'000 / cm_update_rate_); + TimePoint next_iteration_time = +- TimePoint(std::chrono::nanoseconds(clock_interface_->get_clock()->now().nanoseconds())); ++ TimePoint(std::chrono::system_clock::time_point( ++ std::chrono::duration_cast( ++ std::chrono::nanoseconds(clock_interface_->get_clock()->now().nanoseconds()) ++ ) ++ )); + + if ( + component->get_lifecycle_state().id() == +@@ -99,7 +103,7 @@ public: + component->read(clock_interface_->get_clock()->now(), measured_period); + first_iteration = false; + } +- next_iteration_time += period; ++ next_iteration_time += std::chrono::duration_cast(period); + std::this_thread::sleep_until(next_iteration_time); + } + }, diff --git a/patch/ros-jazzy-image-proc.patch b/patch/ros-jazzy-image-proc.patch new file mode 100644 index 00000000..1e0f6721 --- /dev/null +++ b/patch/ros-jazzy-image-proc.patch @@ -0,0 +1,37 @@ +diff --git a/include/image_proc/track_marker.hpp b/include/image_proc/track_marker.hpp +index 6c212913..f6366c35 100644 +--- a/include/image_proc/track_marker.hpp ++++ b/include/image_proc/track_marker.hpp +@@ -61,8 +61,7 @@ private: + std::string image_topic_; + rclcpp::Publisher::SharedPtr pub_; + +- cv::Ptr detector_params_; +- cv::Ptr dictionary_; ++ cv::aruco::Dictionary dictionary_; + + void imageCb( + const sensor_msgs::msg::Image::ConstSharedPtr & image_msg, +diff --git a/src/track_marker.cpp b/src/track_marker.cpp +index 86177438..8fee7a36 100644 +--- a/src/track_marker.cpp ++++ b/src/track_marker.cpp +@@ -66,7 +66,6 @@ TrackMarkerNode::TrackMarkerNode(const rclcpp::NodeOptions & options) + // Default dictionary is cv::aruco::DICT_6X6_250 + int dict_id = this->declare_parameter("dictionary", 10); + +- detector_params_ = cv::aruco::DetectorParameters::create(); + dictionary_ = cv::aruco::getPredefinedDictionary(dict_id); + + // Setup lazy subscriber using publisher connection callback +@@ -108,7 +107,9 @@ void TrackMarkerNode::imageCb( + + std::vector marker_ids; + std::vector> marker_corners; +- cv::aruco::detectMarkers(cv_ptr->image, dictionary_, marker_corners, marker_ids); ++ cv::Ptr dictionaryPtr = cv::makePtr(dictionary_); ++ const cv::Ptr constDictionaryPtr = dictionaryPtr; ++ cv::aruco::detectMarkers(cv_ptr->image, constDictionaryPtr, marker_corners, marker_ids); + + for (size_t i = 0; i < marker_ids.size(); ++i) { + if (marker_ids[i] == marker_id_) { diff --git a/patch/ros-jazzy-moveit-common.win.patch b/patch/ros-jazzy-moveit-common.win.patch new file mode 100644 index 00000000..e099f2d9 --- /dev/null +++ b/patch/ros-jazzy-moveit-common.win.patch @@ -0,0 +1,13 @@ +diff --git a/cmake/moveit_package.cmake b/cmake/moveit_package.cmake +index 1fed492e2d..7d14b5b477 100644 +--- a/cmake/moveit_package.cmake ++++ b/cmake/moveit_package.cmake +@@ -33,7 +33,7 @@ macro(moveit_package) + ament_package_xml() + + # Enable backward_ros on every moveit package +- find_package(backward_ros QUIET) ++ # find_package(backward_ros QUIET) + + if(NOT "${CMAKE_CXX_STANDARD}") + set(CMAKE_CXX_STANDARD 17) diff --git a/patch/ros-jazzy-moveit-core.patch b/patch/ros-jazzy-moveit-core.patch new file mode 100644 index 00000000..0ddb89b4 --- /dev/null +++ b/patch/ros-jazzy-moveit-core.patch @@ -0,0 +1,131 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 608babbeb..a006b45fc 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -20,7 +20,7 @@ find_package(kdl_parser REQUIRED) + find_package(moveit_msgs REQUIRED) + # Enforce system version liboctomap-dev + # https://github.com/moveit/moveit2/issues/2862 +-find_package(octomap 1.9.7...<1.10.0 REQUIRED) ++find_package(octomap REQUIRED) + find_package(octomap_msgs REQUIRED) + find_package(osqp REQUIRED) + find_package(pluginlib REQUIRED) +diff --git a/collision_detection/include/moveit/collision_detection/collision_common.hpp b/collision_detection/include/moveit/collision_detection/collision_common.hpp +index 19777a044..af3a89442 100644 +--- a/collision_detection/include/moveit/collision_detection/collision_common.hpp ++++ b/collision_detection/include/moveit/collision_detection/collision_common.hpp +@@ -141,7 +141,33 @@ struct CostSource + } + }; + +-struct CollisionResult; ++/** \brief Representation of a collision checking result */ ++struct CollisionResult ++{ ++ using ContactMap = std::map, std::vector >; ++ EIGEN_MAKE_ALIGNED_OPERATOR_NEW ++ /** \brief Clear a previously stored result */ ++ void clear() ++ { ++ collision = false; ++ distance = std::numeric_limits::max(); ++ contact_count = 0; ++ contacts.clear(); ++ cost_sources.clear(); ++ } ++ /** \brief Throttled warning printing the first collision pair, if any. All collisions are logged at DEBUG level */ ++ void print() const; ++ /** \brief True if collision was found, false otherwise */ ++ bool collision = false; ++ /** \brief Closest distance between two bodies */ ++ double distance = std::numeric_limits::max(); ++ /** \brief Number of contacts returned */ ++ std::size_t contact_count = 0; ++ /** \brief A map returning the pairs of body ids in contact, plus their contact details */ ++ ContactMap contacts; ++ /** \brief These are the individual cost sources when costs are computed */ ++ std::set cost_sources; ++}; + + /** \brief Representation of a collision checking request */ + struct CollisionRequest +@@ -159,9 +185,6 @@ struct CollisionRequest + /** \brief If true, compute proximity distance */ + bool distance = false; + +- /** \brief If true, return detailed distance information. Distance must be set to true as well */ +- bool detailed_distance = false; +- + /** \brief If true, a collision cost is computed */ + bool cost = false; + +@@ -330,42 +353,4 @@ struct DistanceResult + } + }; + +-/** \brief Representation of a collision checking result */ +-struct CollisionResult +-{ +- EIGEN_MAKE_ALIGNED_OPERATOR_NEW +- +- /** \brief Clear a previously stored result */ +- void clear() +- { +- collision = false; +- distance = std::numeric_limits::max(); +- distance_result.clear(); +- contact_count = 0; +- contacts.clear(); +- cost_sources.clear(); +- } +- +- /** \brief Throttled warning printing the first collision pair, if any. All collisions are logged at DEBUG level */ +- void print() const; +- +- /** \brief True if collision was found, false otherwise */ +- bool collision = false; +- +- /** \brief Closest distance between two bodies */ +- double distance = std::numeric_limits::max(); +- +- /** \brief Distance data for each link */ +- DistanceResult distance_result; +- +- /** \brief Number of contacts returned */ +- std::size_t contact_count = 0; +- +- /** \brief A map returning the pairs of body ids in contact, plus their contact details */ +- using ContactMap = std::map, std::vector >; +- ContactMap contacts; +- +- /** \brief These are the individual cost sources when costs are computed */ +- std::set cost_sources; +-}; + } // namespace collision_detection +diff --git a/collision_detection_fcl/src/collision_env_fcl.cpp b/collision_detection_fcl/src/collision_env_fcl.cpp +index b57e0767e..c655ed069 100644 +--- a/collision_detection_fcl/src/collision_env_fcl.cpp ++++ b/collision_detection_fcl/src/collision_env_fcl.cpp +@@ -290,10 +290,6 @@ void CollisionEnvFCL::checkSelfCollisionHelper(const CollisionRequest& req, Coll + dreq.enableGroup(getRobotModel()); + distanceSelf(dreq, dres, state); + res.distance = dres.minimum_distance.distance; +- if (req.detailed_distance) +- { +- res.distance_result = dres; +- } + } + } + +@@ -347,10 +343,6 @@ void CollisionEnvFCL::checkRobotCollisionHelper(const CollisionRequest& req, Col + dreq.enableGroup(getRobotModel()); + distanceRobot(dreq, dres, state); + res.distance = dres.minimum_distance.distance; +- if (req.detailed_distance) +- { +- res.distance_result = dres; +- } + } + } + diff --git a/patch/ros-jazzy-moveit-core.win.patch b/patch/ros-jazzy-moveit-core.win.patch new file mode 100644 index 00000000..1459699d --- /dev/null +++ b/patch/ros-jazzy-moveit-core.win.patch @@ -0,0 +1,17 @@ +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/patch/ros-jazzy-moveit-kinematics.patch b/patch/ros-jazzy-moveit-kinematics.patch new file mode 100644 index 00000000..6f2e9ac7 --- /dev/null +++ b/patch/ros-jazzy-moveit-kinematics.patch @@ -0,0 +1,26 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 21b03dfb1..5a76c1683 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,6 +1,8 @@ + cmake_minimum_required(VERSION 3.22) + project(moveit_kinematics LANGUAGES CXX) + ++add_definitions(-DNOMINMAX) ++ + # Common cmake code applied to all moveit packages + find_package(moveit_common REQUIRED) + moveit_package() +diff --git a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.hpp b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.hpp +index 173471c7e..47e47e2db 100644 +--- a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.hpp ++++ b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.hpp +@@ -92,7 +92,7 @@ public: + centers.clear(); + centers.reserve(k); + if (static_cast(dists.rows()) < data.size() || static_cast(dists.cols()) < k) +- dists.resize(std::max(2 * static_cast(dists.rows()) + 1, data.size()), k); ++ dists.resize(std::max(2 * ((long unsigned int)dists.rows()) + 1, (long unsigned int)data.size()), k); + // first center is picked randomly + centers.push_back(std::uniform_int_distribution{ 0, data.size() - 1 }(rsl::rng())); + for (unsigned i = 1; i < k; ++i) diff --git a/patch/ros-jazzy-moveit-planners-ompl.patch b/patch/ros-jazzy-moveit-planners-ompl.patch new file mode 100644 index 00000000..bd45f39f --- /dev/null +++ b/patch/ros-jazzy-moveit-planners-ompl.patch @@ -0,0 +1,18 @@ +diff --git a/ompl_interface/CMakeLists.txt b/ompl_interface/CMakeLists.txt +index ff71c07c..0d0aef71 100644 +--- a/ompl_interface/CMakeLists.txt ++++ b/ompl_interface/CMakeLists.txt +@@ -24,7 +24,12 @@ add_library(${MOVEIT_LIB_NAME} SHARED + ) + set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") + +-find_package(OpenMP REQUIRED) ++if(APPLE) ++ find_package(OpenMP) ++ set(OpenMP_CXX_FLAGS "-fopenmp") ++else() ++ find_package(OpenMP REQUIRED) ++endif() + + # Used to link in ODE, an OMPL dependency, on macOS + if(APPLE) diff --git a/patch/ros-jazzy-moveit-ros-occupancy-map-monitor.patch b/patch/ros-jazzy-moveit-ros-occupancy-map-monitor.patch new file mode 100644 index 00000000..d062f1b4 --- /dev/null +++ b/patch/ros-jazzy-moveit-ros-occupancy-map-monitor.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index b8dd549bc..5f9f8ef59 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -15,7 +15,7 @@ find_package(pluginlib REQUIRED) + find_package(Eigen3 REQUIRED) + # Enforce system version liboctomap-dev + # https://github.com/moveit/moveit2/issues/2862 +-find_package(octomap 1.9.7...<1.10.0 REQUIRED) ++find_package(octomap REQUIRED) + find_package(geometric_shapes REQUIRED) + find_package(tf2_ros REQUIRED) + diff --git a/patch/ros-jazzy-moveit-setup-assistant.patch b/patch/ros-jazzy-moveit-setup-assistant.patch new file mode 100644 index 00000000..6b7a2d22 --- /dev/null +++ b/patch/ros-jazzy-moveit-setup-assistant.patch @@ -0,0 +1,35 @@ +diff --git a/src/collisions_updater.cpp b/src/collisions_updater.cpp +index d8963e1be..f99e493ac 100644 +--- a/src/collisions_updater.cpp ++++ b/src/collisions_updater.cpp +@@ -100,7 +100,7 @@ int main(int argc, char* argv[]) + auto package_settings = config_data->get("package_settings"); + try + { +- package_settings->loadExisting(config_pkg_path); ++ package_settings->loadExisting(config_pkg_path.string()); + } + catch (const std::runtime_error& e) + { +@@ -113,7 +113,7 @@ int main(int argc, char* argv[]) + RCLCPP_ERROR_STREAM(node->get_logger(), "Please provide config package or URDF and SRDF path"); + return 1; + } +- else if (rdf_loader::RDFLoader::isXacroFile(srdf_path) && output_path.empty()) ++ else if (rdf_loader::RDFLoader::isXacroFile(srdf_path.string()) && output_path.empty()) + { + RCLCPP_ERROR_STREAM(node->get_logger(), "Please provide a different output file for SRDF xacro input file"); + return 1; +diff --git a/src/setup_assistant_widget.cpp b/src/setup_assistant_widget.cpp +index 2d56b5e40..bab1ec094 100644 +--- a/src/setup_assistant_widget.cpp ++++ b/src/setup_assistant_widget.cpp +@@ -71,7 +71,7 @@ SetupAssistantWidget::SetupAssistantWidget(const rviz_common::ros_integration::R + + // Setting the window icon + auto icon_path = getSharePath("moveit_ros_visualization") / "icons/classes/MotionPlanning.png"; +- setWindowIcon(QIcon(icon_path.c_str())); ++ setWindowIcon(QIcon(icon_path.string().c_str())); + + // Basic widget container ----------------------------------------- + QHBoxLayout* layout = new QHBoxLayout(); diff --git a/patch/ros-jazzy-moveit-setup-core-plugins.patch b/patch/ros-jazzy-moveit-setup-core-plugins.patch new file mode 100644 index 00000000..c742b556 --- /dev/null +++ b/patch/ros-jazzy-moveit-setup-core-plugins.patch @@ -0,0 +1,88 @@ +diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen.cpp b/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen.cpp +index ff6827d6ff..b0550b1e90 100644 +--- a/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen.cpp ++++ b/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen.cpp +@@ -70,7 +70,7 @@ std::filesystem::path StartScreen::getPackagePath() + + void StartScreen::loadExisting(const std::filesystem::path& package_path) + { +- package_settings_->loadExisting(package_path); ++ package_settings_->loadExisting(package_path.string()); + } + + bool StartScreen::isXacroFile() +diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp b/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp +index 70bae9ddc9..82da843d60 100644 +--- a/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp ++++ b/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp +@@ -79,7 +79,7 @@ void StartScreenWidget::onInit() + right_image_label_ = new QLabel(this); + auto image_path = getSharePath("moveit_setup_assistant") / "resources/MoveIt_Setup_Assistant2.png"; + +- if (right_image_->load(image_path.c_str())) ++ if (right_image_->load(image_path.string().c_str())) + { + right_image_label_->setPixmap(QPixmap::fromImage(*right_image_)); + right_image_label_->setMinimumHeight(384); // size of right_image_label_ +@@ -205,7 +205,7 @@ void StartScreenWidget::focusGiven() + std::filesystem::path pkg_path = setup_step_.getPackagePath(); + if (!pkg_path.empty()) + { +- stack_path_->setPath(pkg_path); ++ stack_path_->setPath(pkg_path.string()); + select_mode_->btn_exist_->click(); + return; + } +@@ -213,7 +213,7 @@ void StartScreenWidget::focusGiven() + std::filesystem::path urdf_path = setup_step_.getURDFPath(); + if (!urdf_path.empty()) + { +- urdf_file_->setPath(urdf_path); ++ urdf_file_->setPath(urdf_path.string()); + select_mode_->btn_new_->click(); + } + } +diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/include/moveit_setup_core_plugins/configuration_files.hpp b/moveit_setup_assistant/moveit_setup_core_plugins/include/moveit_setup_core_plugins/configuration_files.hpp +index bfca1e8d62..3d3f3ab386 100644 +--- a/moveit_setup_assistant/moveit_setup_core_plugins/include/moveit_setup_core_plugins/configuration_files.hpp ++++ b/moveit_setup_assistant/moveit_setup_core_plugins/include/moveit_setup_core_plugins/configuration_files.hpp +@@ -80,7 +80,7 @@ class ConfigurationFiles : public SetupStep + + bool shouldGenerate(const GeneratedFilePtr& file) const + { +- std::string rel_path = file->getRelativePath(); ++ std::string rel_path = file->getRelativePath().string(); + auto it = should_generate_.find(rel_path); + if (it == should_generate_.end()) + { +diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files_widget.cpp b/moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files_widget.cpp +index 9c76fc1d52..3e689772e3 100644 +--- a/moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files_widget.cpp ++++ b/moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files_widget.cpp +@@ -294,7 +294,7 @@ void ConfigurationFilesWidget::changeCheckedState(QListWidgetItem* item) + } + + // Enable/disable file +- setup_step_.setShouldGenerate(gen_file->getRelativePath(), generate); ++ setup_step_.setShouldGenerate(gen_file->getRelativePath().string(), generate); + } + + // ****************************************************************************************** +@@ -303,7 +303,7 @@ void ConfigurationFilesWidget::changeCheckedState(QListWidgetItem* item) + void ConfigurationFilesWidget::focusGiven() + { + // Pass the package path from start screen to configuration files screen +- stack_path_->setPath(setup_step_.getPackagePath()); ++ stack_path_->setPath(setup_step_.getPackagePath().string()); + + setup_step_.loadFiles(); + +@@ -350,7 +350,7 @@ void ConfigurationFilesWidget::showGenFiles() + auto gen_file = gen_files[i]; + + // Create a formatted row +- QListWidgetItem* item = new QListWidgetItem(QString(gen_file->getRelativePath().c_str()), action_list_, 0); ++ QListWidgetItem* item = new QListWidgetItem(QString(gen_file->getRelativePath().string().c_str()), action_list_, 0); + + // Checkbox + item->setCheckState(setup_step_.shouldGenerate(gen_file) ? Qt::Checked : Qt::Unchecked); diff --git a/patch/ros-jazzy-moveit-setup-framework.patch b/patch/ros-jazzy-moveit-setup-framework.patch new file mode 100644 index 00000000..2e50fa82 --- /dev/null +++ b/patch/ros-jazzy-moveit-setup-framework.patch @@ -0,0 +1,187 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 3e3d417fb..91c15c6b2 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -12,8 +12,7 @@ find_package(fmt REQUIRED) + find_package(moveit_core REQUIRED) + find_package(moveit_ros_planning REQUIRED) + find_package(moveit_ros_visualization REQUIRED) +-find_package(Qt5Core REQUIRED) +-find_package(Qt5Widgets REQUIRED) ++find_package(Qt5 COMPONENTS Core Widgets REQUIRED) + find_package(pluginlib REQUIRED) + find_package(rclcpp REQUIRED) + find_package(rviz_common REQUIRED) +@@ -43,6 +42,10 @@ add_library( + src/utilities.cpp + src/xml_syntax_highlighter.cpp + ${MOC_FILES}) ++ ++include(GenerateExportHeader) ++generate_export_header(${PROJECT_NAME}) ++ + target_include_directories( + moveit_setup_framework + PUBLIC $ +@@ -54,8 +57,7 @@ ament_target_dependencies( + moveit_ros_planning + moveit_ros_visualization + pluginlib +- Qt5Core +- Qt5Widgets ++ Qt5 + rclcpp + rviz_common + rviz_rendering +@@ -67,6 +69,7 @@ install(FILES moveit_setup_framework_plugins.xml + DESTINATION share/moveit_setup_framework) + + install(DIRECTORY templates DESTINATION share/moveit_setup_framework) ++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_export.h DESTINATION include) + + ament_export_targets(moveit_setup_frameworkTargets HAS_LIBRARY_TARGET) + install( +diff --git a/include/moveit_setup_framework/data/srdf_config.hpp b/include/moveit_setup_framework/data/srdf_config.hpp +index 92508e025..5b7fed77d 100644 +--- a/include/moveit_setup_framework/data/srdf_config.hpp ++++ b/include/moveit_setup_framework/data/srdf_config.hpp +@@ -263,7 +263,7 @@ public: + + bool write(const std::filesystem::path& path) + { +- return srdf_.writeSRDF(path); ++ return srdf_.writeSRDF(path.string()); + } + + std::filesystem::path getPath() const +diff --git a/include/moveit_setup_framework/qt/setup_step_widget.hpp b/include/moveit_setup_framework/qt/setup_step_widget.hpp +index f32e7b5ad..c6f472682 100644 +--- a/include/moveit_setup_framework/qt/setup_step_widget.hpp ++++ b/include/moveit_setup_framework/qt/setup_step_widget.hpp +@@ -40,12 +40,14 @@ + #include + #include + ++#include ++ + namespace moveit_setup + { + /** + * @brief The GUI code for one SetupStep + */ +-class SetupStepWidget : public QWidget ++class MOVEIT_SETUP_FRAMEWORK_EXPORT SetupStepWidget : public QWidget + { + Q_OBJECT + public: +diff --git a/include/moveit_setup_framework/templates.hpp b/include/moveit_setup_framework/templates.hpp +index 1555eee16..b02d52024 100644 +--- a/include/moveit_setup_framework/templates.hpp ++++ b/include/moveit_setup_framework/templates.hpp +@@ -38,6 +38,8 @@ + #include + #include + ++#include ++ + namespace moveit_setup + { + /** +@@ -69,7 +71,7 @@ public: + + bool write() override; + +- static std::vector variables; ++ static MOVEIT_SETUP_FRAMEWORK_EXPORT std::vector variables; + }; + + } // namespace moveit_setup +diff --git a/src/srdf_config.cpp b/src/srdf_config.cpp +index d19bdbfa5..69002a3ec 100644 +--- a/src/srdf_config.cpp ++++ b/src/srdf_config.cpp +@@ -88,7 +88,7 @@ void SRDFConfig::loadSRDFFile(const std::filesystem::path& srdf_file_path, const + loadURDFModel(); + + std::string srdf_string; +- if (!rdf_loader::RDFLoader::loadXmlFileToString(srdf_string, srdf_path_, xacro_args)) ++ if (!rdf_loader::RDFLoader::loadXmlFileToString(srdf_string, srdf_path_.string(), xacro_args)) + { + throw std::runtime_error("SRDF file not found: " + srdf_path_.string()); + } +diff --git a/src/urdf_config.cpp b/src/urdf_config.cpp +index 72d9bf4af..3ca176656 100644 +--- a/src/urdf_config.cpp ++++ b/src/urdf_config.cpp +@@ -36,6 +36,7 @@ + #include + #include + #include ++#include + + namespace moveit_setup + { +@@ -126,7 +127,7 @@ void URDFConfig::loadFromPackage(const std::filesystem::path& package_name, cons + throw std::runtime_error("URDF/COLLADA package not found: ''" + package_name.string()); + } + +- urdf_pkg_name_ = package_name; ++ urdf_pkg_name_ = package_name.string(); + urdf_pkg_relative_path_ = relative_path; + xacro_args_ = xacro_args; + +@@ -139,12 +140,12 @@ void URDFConfig::load() + RCLCPP_DEBUG_STREAM(*logger_, "URDF Package Name: " << urdf_pkg_name_); + RCLCPP_DEBUG_STREAM(*logger_, "URDF Package Path: " << urdf_pkg_relative_path_); + +- if (!rdf_loader::RDFLoader::loadXmlFileToString(urdf_string_, urdf_path_, xacro_args_vec_)) ++ if (!rdf_loader::RDFLoader::loadXmlFileToString(urdf_string_, urdf_path_.string(), xacro_args_vec_)) + { + throw std::runtime_error("URDF/COLLADA file not found: " + urdf_path_.string()); + } + +- if (urdf_string_.empty() && rdf_loader::RDFLoader::isXacroFile(urdf_path_)) ++ if (urdf_string_.empty() && rdf_loader::RDFLoader::isXacroFile(urdf_path_.string())) + { + throw std::runtime_error("Running xacro failed.\nPlease check console for errors."); + } +@@ -154,7 +155,7 @@ void URDFConfig::load() + { + throw std::runtime_error("URDF/COLLADA file is not a valid robot model."); + } +- urdf_from_xacro_ = rdf_loader::RDFLoader::isXacroFile(urdf_path_); ++ urdf_from_xacro_ = rdf_loader::RDFLoader::isXacroFile(urdf_path_.string()); + + // Set parameter + parent_node_->set_parameter(rclcpp::Parameter("robot_description", urdf_string_)); +@@ -164,7 +165,7 @@ void URDFConfig::load() + + bool URDFConfig::isXacroFile() const + { +- return rdf_loader::RDFLoader::isXacroFile(urdf_path_); ++ return rdf_loader::RDFLoader::isXacroFile(urdf_path_.string()); + } + + bool URDFConfig::isConfigured() const +@@ -182,7 +183,7 @@ void URDFConfig::collectVariables(std::vector& variables) + std::string urdf_location; + if (urdf_pkg_name_.empty()) + { +- urdf_location = urdf_path_; ++ urdf_location = urdf_path_.string(); + } + else + { +diff --git a/src/utilities.cpp b/src/utilities.cpp +index 3625d9459..43ade4b27 100644 +--- a/src/utilities.cpp ++++ b/src/utilities.cpp +@@ -63,7 +63,7 @@ bool extractPackageNameFromPath(const std::filesystem::path& path, std::string& + // Default package name to folder name + package_name = sub_path.filename().string(); + tinyxml2::XMLDocument package_xml_file; +- auto is_open = package_xml_file.LoadFile((sub_path / "package.xml").c_str()); ++ auto is_open = package_xml_file.LoadFile((sub_path / "package.xml").string().c_str()); + if (is_open == tinyxml2::XML_SUCCESS) + { + auto name_potential = diff --git a/patch/ros-jazzy-nav2-common.patch b/patch/ros-jazzy-nav2-common.patch new file mode 100644 index 00000000..f22d44e4 --- /dev/null +++ b/patch/ros-jazzy-nav2-common.patch @@ -0,0 +1,13 @@ +diff --git a/nav2_common/cmake/nav2_package.cmake b/nav2_common/cmake/nav2_package.cmake +index 3f4977193c..01ca1c3ed2 100644 +--- a/nav2_common/cmake/nav2_package.cmake ++++ b/nav2_common/cmake/nav2_package.cmake +@@ -37,7 +37,7 @@ macro(nav2_package) + endif() + + if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +- add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference) ++ add_compile_options(-Wall -Wextra -Wpedantic -Wdeprecated -fPIC -Wshadow -Wnull-dereference) + add_compile_options("$<$:-Wnon-virtual-dtor>") + endif() + diff --git a/patch/ros-jazzy-nav2-costmap-2d.patch b/patch/ros-jazzy-nav2-costmap-2d.patch new file mode 100644 index 00000000..974334df --- /dev/null +++ b/patch/ros-jazzy-nav2-costmap-2d.patch @@ -0,0 +1,56 @@ +diff --git a/include/nav2_costmap_2d/plugin_container_layer.hpp b/include/nav2_costmap_2d/plugin_container_layer.hpp +index e98c7b813..fb1d23e2e 100644 +--- a/include/nav2_costmap_2d/plugin_container_layer.hpp ++++ b/include/nav2_costmap_2d/plugin_container_layer.hpp +@@ -46,7 +46,7 @@ public: + /** + * @brief Initialization process of layer on startup + */ +- virtual void onInitialize(); ++ virtual void onInitialize() override; + /** + * @brief Update the bounds of the master costmap by this layer's update + *dimensions +@@ -65,7 +65,7 @@ public: + double * min_x, + double * min_y, + double * max_x, +- double * max_y); ++ double * max_y) override; + /** + * @brief Update the costs in the master costmap in the window + * @param master_grid The master costmap grid to update +@@ -79,26 +79,26 @@ public: + int min_i, + int min_j, + int max_i, +- int max_j); +- virtual void onFootprintChanged(); ++ int max_j) override; ++ virtual void onFootprintChanged() override; + /** @brief Update the footprint to match size of the parent costmap. */ +- virtual void matchSize(); ++ virtual void matchSize() override; + /** + * @brief Deactivate the layer + */ +- virtual void deactivate(); ++ virtual void deactivate() override; + /** + * @brief Activate the layer + */ +- virtual void activate(); ++ virtual void activate() override; + /** + * @brief Reset this costmap + */ +- virtual void reset(); ++ virtual void reset() override; + /** + * @brief If clearing operations should be processed on this layer or not + */ +- virtual bool isClearable(); ++ virtual bool isClearable() override; + /** + * @brief Clear an area in the constituent costmaps with the given dimension + * if invert, then clear everything except these dimensions diff --git a/patch/ros-jazzy-nav2-mppi-controller.patch b/patch/ros-jazzy-nav2-mppi-controller.patch new file mode 100644 index 00000000..b9228c74 --- /dev/null +++ b/patch/ros-jazzy-nav2-mppi-controller.patch @@ -0,0 +1,37 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 95eabf6c4..567c3e5fb 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -52,7 +52,7 @@ if(COMPILER_SUPPORTS_AVX512) + add_compile_options(-mno-avx512f) + endif() + +-if(COMPILER_SUPPORTS_SSE4) ++if(COMPILER_SUPPORTS_SSE4 AND NOT APPLE) + add_compile_options(-msse4.2) + endif() + +@@ -65,7 +65,11 @@ if(COMPILER_SUPPORTS_FMA) + endif() + + # If building one the same hardware to be deployed on, try `-march=native`! +-add_compile_options(-O3 -finline-limit=10000000 -ffp-contract=fast -ffast-math -mtune=generic) ++if(APPLE) ++ add_compile_options(-O3 -ffp-contract=fast -ffast-math -mtune=generic) ++else() ++ add_compile_options(-O3 -finline-limit=10000000 -ffp-contract=fast -ffast-math -mtune=generic) ++endif() + + add_library(mppi_controller SHARED + src/controller.cpp +@@ -94,7 +98,9 @@ add_library(mppi_critics SHARED + set(libraries mppi_controller mppi_critics) + + foreach(lib IN LISTS libraries) +- target_compile_options(${lib} PUBLIC -fconcepts) ++ if(NOT APPLE) ++ target_compile_options(${lib} PUBLIC -fconcepts) ++ endif() + target_include_directories(${lib} PUBLIC ${xsimd_INCLUDE_DIRS}) # ${OpenMP_INCLUDE_DIRS} + target_link_libraries(${lib} xtensor xtensor::optimize xtensor::use_xsimd) + ament_target_dependencies(${lib} ${dependencies_pkgs}) diff --git a/patch/ros-jazzy-nav2-rviz-plugins.patch b/patch/ros-jazzy-nav2-rviz-plugins.patch new file mode 100644 index 00000000..177fb6af --- /dev/null +++ b/patch/ros-jazzy-nav2-rviz-plugins.patch @@ -0,0 +1,43 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index c5f5c788a..dbb0f0d3b 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD) + endif() + + if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +- add_compile_options(-Wall -Wextra -Wpedantic -Werror) ++ add_compile_options(-Wall -Wextra -Wpedantic) + endif() + + # Qt5 boilerplate options from http://doc.qt.io/qt-5/cmake-manual.html +diff --git a/src/costmap_cost_tool.cpp b/src/costmap_cost_tool.cpp +index f25a71cd8..93d234043 100644 +--- a/src/costmap_cost_tool.cpp ++++ b/src/costmap_cost_tool.cpp +@@ -50,6 +50,10 @@ void CostmapCostTool::onInitialize() + node_->create_client("/global_costmap/get_cost_global_costmap"); + } + ++void CostmapCostTool::updateAutoDeactivate() { ++ // TODO: Add implementation ++} ++ + void CostmapCostTool::activate() {} + void CostmapCostTool::deactivate() {} + +diff --git a/src/docking_panel.cpp b/src/docking_panel.cpp +index 62304a825..291a570f9 100644 +--- a/src/docking_panel.cpp ++++ b/src/docking_panel.cpp +@@ -311,6 +311,10 @@ void DockingPanel::save(rviz_common::Config config) const + Panel::save(config); + } + ++void DockingPanel::onStartup() { ++ // TODO: Add implementation ++} ++ + void DockingPanel::onDockingButtonPressed() + { + auto is_action_server_ready = diff --git a/patch/ros-jazzy-nav2-util.patch b/patch/ros-jazzy-nav2-util.patch new file mode 100644 index 00000000..f6a7129f --- /dev/null +++ b/patch/ros-jazzy-nav2-util.patch @@ -0,0 +1,22 @@ +diff --git a/src/node_utils.cpp b/src/node_utils.cpp +index 993eaf53b..83ab5ebaa 100644 +--- a/src/node_utils.cpp ++++ b/src/node_utils.cpp +@@ -92,6 +92,9 @@ rclcpp::Node::SharedPtr generate_internal_node(const std::string & prefix) + + void setSoftRealTimePriority() + { ++#if defined(__APPLE__) ++ throw std::runtime_error("Cannot set as real-time thread on macOS!"); ++#else + sched_param sch; + sch.sched_priority = 49; + if (sched_setscheduler(0, SCHED_FIFO, &sch) == -1) { +@@ -101,6 +104,7 @@ void setSoftRealTimePriority() + "realtime prioritization! Error: "); + throw std::runtime_error(errmsg + std::strerror(errno)); + } ++#endif + } + + } // namespace nav2_util diff --git a/patch/ros-jazzy-ompl.patch b/patch/ros-jazzy-ompl.patch new file mode 100644 index 00000000..daad9108 --- /dev/null +++ b/patch/ros-jazzy-ompl.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 09fc750..2e4ff16 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -178,7 +178,7 @@ find_program(R_EXEC R) + + add_subdirectory(src) + add_subdirectory(py-bindings) +-add_subdirectory(tests) ++# add_subdirectory(tests) + add_subdirectory(demos) + add_subdirectory(scripts) + add_subdirectory(doc) diff --git a/patch/ros-jazzy-pilz-industrial-motion-planner.patch b/patch/ros-jazzy-pilz-industrial-motion-planner.patch new file mode 100644 index 00000000..83fe60b2 --- /dev/null +++ b/patch/ros-jazzy-pilz-industrial-motion-planner.patch @@ -0,0 +1,22 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index e8420aec3..b1257cde3 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -64,7 +64,7 @@ generate_parameter_library( + ) + + add_library(planning_context_loader_base SHARED src/planning_context_loader.cpp) +-target_link_libraries(planning_context_loader_base cartesian_limits_parameters) ++target_link_libraries(planning_context_loader_base cartesian_limits_parameters joint_limits_common) + ament_target_dependencies(planning_context_loader_base + ${THIS_PACKAGE_INCLUDE_DEPENDS}) + +@@ -79,7 +79,7 @@ add_library( + trajectory_generation_common SHARED + src/trajectory_functions.cpp src/trajectory_generator.cpp + src/trajectory_blender_transition_window.cpp) +-target_link_libraries(trajectory_generation_common cartesian_limits_parameters) ++target_link_libraries(trajectory_generation_common cartesian_limits_parameters joint_limits_common) + ament_target_dependencies(trajectory_generation_common + ${THIS_PACKAGE_INCLUDE_DEPENDS}) + diff --git a/patch/ros-jazzy-plotjuggler.patch b/patch/ros-jazzy-plotjuggler.patch new file mode 100644 index 00000000..9a0da52d --- /dev/null +++ b/patch/ros-jazzy-plotjuggler.patch @@ -0,0 +1,626 @@ +diff --git a/cmake/FindXCB.cmake b/cmake/FindXCB.cmake +new file mode 100644 +index 00000000..a2e2757a +--- /dev/null ++++ b/cmake/FindXCB.cmake +@@ -0,0 +1,51 @@ ++# - FindXCB ++# ++# Copyright 2015 Valve Coporation ++ ++find_package(PkgConfig) ++ ++if(NOT XCB_FIND_COMPONENTS) ++ set(XCB_FIND_COMPONENTS xcb) ++endif() ++ ++include(FindPackageHandleStandardArgs) ++set(XCB_FOUND true) ++set(XCB_INCLUDE_DIRS "") ++set(XCB_LIBRARIES "") ++foreach(comp ${XCB_FIND_COMPONENTS}) ++ # component name ++ string(TOUPPER ${comp} compname) ++ string(REPLACE "-" "_" compname ${compname}) ++ # header name ++ string(REPLACE "xcb-" "" headername xcb/${comp}.h) ++ # library name ++ set(libname ${comp}) ++ ++ pkg_check_modules(PC_${comp} QUIET ${comp}) ++ ++ find_path(${compname}_INCLUDE_DIR NAMES ${headername} ++ HINTS ++ ${PC_${comp}_INCLUDEDIR} ++ ${PC_${comp}_INCLUDE_DIRS} ++ ) ++ ++ find_library(${compname}_LIBRARY NAMES ${libname} ++ HINTS ++ ${PC_${comp}_LIBDIR} ++ ${PC_${comp}_LIBRARY_DIRS} ++ ) ++ ++ find_package_handle_standard_args(${comp} ++ FOUND_VAR ${comp}_FOUND ++ REQUIRED_VARS ${compname}_INCLUDE_DIR ${compname}_LIBRARY) ++ mark_as_advanced(${compname}_INCLUDE_DIR ${compname}_LIBRARY) ++ ++ list(APPEND XCB_INCLUDE_DIRS ${${compname}_INCLUDE_DIR}) ++ list(APPEND XCB_LIBRARIES ${${compname}_LIBRARY}) ++ ++ if(NOT ${comp}_FOUND) ++ set(XCB_FOUND false) ++ endif() ++endforeach() ++ ++list(REMOVE_DUPLICATES XCB_INCLUDE_DIRS) +diff --git a/3rdparty/nlohmann/json.hpp b/3rdparty/nlohmann/json.hpp +index cb27e058..cecdb1fd 100644 +--- a/3rdparty/nlohmann/json.hpp ++++ b/3rdparty/nlohmann/json.hpp +@@ -3198,6 +3198,7 @@ template struct identity_tag {}; + #include // false_type, is_constructible, is_integral, is_same, true_type + #include // declval + #include // tuple ++#include // char_traits + + // #include + +@@ -3261,6 +3262,7 @@ struct iterator_traits::value>> + + + // #include ++// #include + + + namespace nlohmann +@@ -3272,6 +3274,7 @@ NLOHMANN_CAN_CALL_STD_FUNC_IMPL(begin); + + + // #include ++// #include + + + namespace nlohmann +@@ -3482,6 +3485,63 @@ struct has_to_json < BasicJsonType, T, enable_if_t < !is_basic_json::value >> + }; + + ++///////////////// ++// char_traits // ++///////////////// ++ ++// Primary template of char_traits calls std char_traits ++template ++struct char_traits : std::char_traits ++{}; ++ ++// Explicitly define char traits for unsigned char since it is not standard ++template<> ++struct char_traits : std::char_traits ++{ ++ using char_type = unsigned char; ++ using int_type = uint64_t; ++ ++ // Redefine to_int_type function ++ static int_type to_int_type(char_type c) noexcept ++ { ++ return static_cast(c); ++ } ++ ++ static char_type to_char_type(int_type i) noexcept ++ { ++ return static_cast(i); ++ } ++ ++ static constexpr int_type eof() noexcept ++ { ++ return static_cast(EOF); ++ } ++}; ++ ++// Explicitly define char traits for signed char since it is not standard ++template<> ++struct char_traits : std::char_traits ++{ ++ using char_type = signed char; ++ using int_type = uint64_t; ++ ++ // Redefine to_int_type function ++ static int_type to_int_type(char_type c) noexcept ++ { ++ return static_cast(c); ++ } ++ ++ static char_type to_char_type(int_type i) noexcept ++ { ++ return static_cast(i); ++ } ++ ++ static constexpr int_type eof() noexcept ++ { ++ return static_cast(EOF); ++ } ++}; ++ + /////////////////// + // is_ functions // + /////////////////// +@@ -5342,16 +5402,16 @@ class iterator_input_adapter + : current(std::move(first)), end(std::move(last)) + {} + +- typename std::char_traits::int_type get_character() ++ typename char_traits::int_type get_character() + { + if (JSON_HEDLEY_LIKELY(current != end)) + { +- auto result = std::char_traits::to_int_type(*current); ++ auto result = char_traits::to_int_type(*current); + std::advance(current, 1); + return result; + } + +- return std::char_traits::eof(); ++ return char_traits::eof(); + } + + private: +@@ -6517,7 +6577,7 @@ class lexer : public lexer_base + using number_float_t = typename BasicJsonType::number_float_t; + using string_t = typename BasicJsonType::string_t; + using char_type = typename InputAdapterType::char_type; +- using char_int_type = typename std::char_traits::int_type; ++ using char_int_type = typename char_traits::int_type; + + public: + using token_type = typename lexer_base::token_type; +@@ -6667,7 +6727,7 @@ class lexer : public lexer_base + switch (get()) + { + // end of file while parsing string +- case std::char_traits::eof(): ++ case char_traits::eof(): + { + error_message = "invalid string: missing closing quote"; + return token_type::parse_error; +@@ -7256,7 +7316,7 @@ class lexer : public lexer_base + { + case '\n': + case '\r': +- case std::char_traits::eof(): ++ case char_traits::eof(): + case '\0': + return true; + +@@ -7273,7 +7333,7 @@ class lexer : public lexer_base + { + switch (get()) + { +- case std::char_traits::eof(): ++ case char_traits::eof(): + case '\0': + { + error_message = "invalid comment; missing closing '*/'"; +@@ -7702,10 +7762,10 @@ scan_number_done: + token_type scan_literal(const char_type* literal_text, const std::size_t length, + token_type return_type) + { +- JSON_ASSERT(std::char_traits::to_char_type(current) == literal_text[0]); ++ JSON_ASSERT(char_traits::to_char_type(current) == literal_text[0]); + for (std::size_t i = 1; i < length; ++i) + { +- if (JSON_HEDLEY_UNLIKELY(std::char_traits::to_char_type(get()) != literal_text[i])) ++ if (JSON_HEDLEY_UNLIKELY(char_traits::to_char_type(get()) != literal_text[i])) + { + error_message = "invalid literal"; + return token_type::parse_error; +@@ -7723,7 +7783,7 @@ scan_number_done: + { + token_buffer.clear(); + token_string.clear(); +- token_string.push_back(std::char_traits::to_char_type(current)); ++ token_string.push_back(char_traits::to_char_type(current)); + } + + /* +@@ -7731,7 +7791,7 @@ scan_number_done: + + This function provides the interface to the used input adapter. It does + not throw in case the input reached EOF, but returns a +- `std::char_traits::eof()` in that case. Stores the scanned characters ++ `char_traits::eof()` in that case. Stores the scanned characters + for use in error messages. + + @return character read from the input +@@ -7751,9 +7811,9 @@ scan_number_done: + current = ia.get_character(); + } + +- if (JSON_HEDLEY_LIKELY(current != std::char_traits::eof())) ++ if (JSON_HEDLEY_LIKELY(current != char_traits::eof())) + { +- token_string.push_back(std::char_traits::to_char_type(current)); ++ token_string.push_back(char_traits::to_char_type(current)); + } + + if (current == '\n') +@@ -7792,7 +7852,7 @@ scan_number_done: + --position.chars_read_current_line; + } + +- if (JSON_HEDLEY_LIKELY(current != std::char_traits::eof())) ++ if (JSON_HEDLEY_LIKELY(current != char_traits::eof())) + { + JSON_ASSERT(!token_string.empty()); + token_string.pop_back(); +@@ -7986,7 +8046,7 @@ scan_number_done: + // end of input (the null byte is needed when parsing from + // string literals) + case '\0': +- case std::char_traits::eof(): ++ case char_traits::eof(): + return token_type::end_of_input; + + // error +@@ -8004,7 +8064,7 @@ scan_number_done: + const bool ignore_comments = false; + + /// the current character +- char_int_type current = std::char_traits::eof(); ++ char_int_type current = char_traits::eof(); + + /// whether the next get() call should just return current + bool next_unget = false; +@@ -8235,7 +8295,7 @@ class binary_reader + using binary_t = typename BasicJsonType::binary_t; + using json_sax_t = SAX; + using char_type = typename InputAdapterType::char_type; +- using char_int_type = typename std::char_traits::int_type; ++ using char_int_type = typename char_traits::int_type; + + public: + /*! +@@ -8307,7 +8367,7 @@ class binary_reader + get(); + } + +- if (JSON_HEDLEY_UNLIKELY(current != std::char_traits::eof())) ++ if (JSON_HEDLEY_UNLIKELY(current != char_traits::eof())) + { + return sax->parse_error(chars_read, get_token_string(), + parse_error::create(110, chars_read, exception_message(format, "expected end of input; last byte: 0x" + get_token_string(), "value"), BasicJsonType())); +@@ -8389,7 +8449,7 @@ class binary_reader + return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::bson, "string length must be at least 1, is " + std::to_string(len), "string"), BasicJsonType())); + } + +- return get_string(input_format_t::bson, len - static_cast(1), result) && get() != std::char_traits::eof(); ++ return get_string(input_format_t::bson, len - static_cast(1), result) && get() != char_traits::eof(); + } + + /*! +@@ -8580,7 +8640,7 @@ class binary_reader + switch (get_char ? get() : current) + { + // EOF +- case std::char_traits::eof(): ++ case char_traits::eof(): + return unexpect_eof(input_format_t::cbor, "value"); + + // Integer 0x00..0x17 (0..23) +@@ -9350,7 +9410,7 @@ class binary_reader + switch (get()) + { + // EOF +- case std::char_traits::eof(): ++ case char_traits::eof(): + return unexpect_eof(input_format_t::msgpack, "value"); + + // positive fixint +@@ -10172,7 +10232,7 @@ class binary_reader + { + switch (prefix) + { +- case std::char_traits::eof(): // EOF ++ case char_traits::eof(): // EOF + return unexpect_eof(input_format_t::ubjson, "value"); + + case 'T': // true +@@ -10478,7 +10538,7 @@ class binary_reader + + This function provides the interface to the used input adapter. It does + not throw in case the input reached EOF, but returns a -'ve valued +- `std::char_traits::eof()` in that case. ++ `char_traits::eof()` in that case. + + @return character read from the input + */ +@@ -10618,7 +10678,7 @@ class binary_reader + JSON_HEDLEY_NON_NULL(3) + bool unexpect_eof(const input_format_t format, const char* context) const + { +- if (JSON_HEDLEY_UNLIKELY(current == std::char_traits::eof())) ++ if (JSON_HEDLEY_UNLIKELY(current == char_traits::eof())) + { + return sax->parse_error(chars_read, "", + parse_error::create(110, chars_read, exception_message(format, "unexpected end of input", context), BasicJsonType())); +@@ -10679,7 +10739,7 @@ class binary_reader + InputAdapterType ia; + + /// the current character +- char_int_type current = std::char_traits::eof(); ++ char_int_type current = char_traits::eof(); + + /// the number of characters read + std::size_t chars_read = 0; +@@ -16102,8 +16162,8 @@ class serializer + error_handler_t error_handler_ = error_handler_t::strict) + : o(std::move(s)) + , loc(std::localeconv()) +- , thousands_sep(loc->thousands_sep == nullptr ? '\0' : std::char_traits::to_char_type(* (loc->thousands_sep))) +- , decimal_point(loc->decimal_point == nullptr ? '\0' : std::char_traits::to_char_type(* (loc->decimal_point))) ++ , thousands_sep(loc->thousands_sep == nullptr ? '\0' : char_traits::to_char_type(* (loc->thousands_sep))) ++ , decimal_point(loc->decimal_point == nullptr ? '\0' : char_traits::to_char_type(* (loc->decimal_point))) + , indent_char(ichar) + , indent_string(512, indent_char) + , error_handler(error_handler_) +diff --git a/plotjuggler_plugins/ParserProtobuf/error_collectors.cpp b/plotjuggler_plugins/ParserProtobuf/error_collectors.cpp +index 761e0b73..b7ce4129 100644 +--- a/plotjuggler_plugins/ParserProtobuf/error_collectors.cpp ++++ b/plotjuggler_plugins/ParserProtobuf/error_collectors.cpp +@@ -2,38 +2,38 @@ + #include + #include + +-void FileErrorCollector::AddError(const std::string& filename, int line, int, +- const std::string& message) ++void FileErrorCollector::RecordError(const absl::string_view filename, int line, int, ++ const absl::string_view message) + { + auto msg = QString("File: [%1] Line: [%2] Message: %3\n\n") +- .arg(QString::fromStdString(filename)) ++ .arg(QString::fromStdString(std::string(filename))) + .arg(line) +- .arg(QString::fromStdString(message)); ++ .arg(QString::fromStdString(std::string(message))); + + _errors.push_back(msg); + } + +-void FileErrorCollector::AddWarning(const std::string& filename, int line, int, +- const std::string& message) ++void FileErrorCollector::RecordWarning(const absl::string_view filename, int line, int, ++ const absl::string_view message) + { + auto msg = QString("Warning [%1] line %2: %3") +- .arg(QString::fromStdString(filename)) ++ .arg(QString::fromStdString(std::string(filename))) + .arg(line) +- .arg(QString::fromStdString(message)); ++ .arg(QString::fromStdString(std::string(message))); + qDebug() << msg; + } + +-void IoErrorCollector::AddError(int line, google::protobuf::io::ColumnNumber, +- const std::string& message) ++void IoErrorCollector::RecordError(int line, google::protobuf::io::ColumnNumber, ++ const absl::string_view message) + { + _errors.push_back( +- QString("Line: [%1] Message: %2\n").arg(line).arg(QString::fromStdString(message))); ++ QString("Line: [%1] Message: %2\n").arg(line).arg(QString::fromStdString(std::string(message)))); + } + +-void IoErrorCollector::AddWarning(int line, google::protobuf::io::ColumnNumber column, +- const std::string& message) ++void IoErrorCollector::RecordWarning(int line, google::protobuf::io::ColumnNumber column, ++ const absl::string_view message) + { + qDebug() << QString("Line: [%1] Message: %2\n") + .arg(line) +- .arg(QString::fromStdString(message)); ++ .arg(QString::fromStdString(std::string(message))); + } +diff --git a/plotjuggler_plugins/ParserProtobuf/error_collectors.h b/plotjuggler_plugins/ParserProtobuf/error_collectors.h +index f70a881f..7afe1fea 100644 +--- a/plotjuggler_plugins/ParserProtobuf/error_collectors.h ++++ b/plotjuggler_plugins/ParserProtobuf/error_collectors.h +@@ -3,17 +3,18 @@ + + #include + #include ++#include + + #include + + class IoErrorCollector : public google::protobuf::io::ErrorCollector + { + public: +- void AddError(int line, google::protobuf::io::ColumnNumber column, +- const std::string& message) override; ++ void RecordError(int line, google::protobuf::io::ColumnNumber column, ++ const absl::string_view message) override; + +- void AddWarning(int line, google::protobuf::io::ColumnNumber column, +- const std::string& message) override; ++ void RecordWarning(int line, google::protobuf::io::ColumnNumber column, ++ const absl::string_view message) override; + + const QStringList& errors() + { +@@ -27,11 +28,11 @@ private: + class FileErrorCollector : public google::protobuf::compiler::MultiFileErrorCollector + { + public: +- void AddError(const std::string& filename, int line, int, +- const std::string& message) override; ++ void RecordError(const absl::string_view filename, int line, int, ++ const absl::string_view message) override; + +- void AddWarning(const std::string& filename, int line, int, +- const std::string& message) override; ++ void RecordWarning(const absl::string_view filename, int line, int, ++ const absl::string_view message) override; + + const QStringList& errors() + { +diff --git a/3rdparty/Qt-Advanced-Docking/CMakeLists.txt b/3rdparty/Qt-Advanced-Docking/CMakeLists.txt +index 6b650f1b..82c58edb 100644 +--- a/3rdparty/Qt-Advanced-Docking/CMakeLists.txt ++++ b/3rdparty/Qt-Advanced-Docking/CMakeLists.txt +@@ -67,7 +67,9 @@ target_link_libraries(qt_advanced_docking PUBLIC Qt5::Core Qt5::Gui Qt5::Widgets + + if(UNIX AND NOT APPLE) + target_link_libraries(qt_advanced_docking PUBLIC Qt5::X11Extras) +- target_link_libraries(qt_advanced_docking PRIVATE xcb) ++ find_package(XCB REQUIRED) ++ target_link_libraries(qt_advanced_docking PRIVATE ${XCB_LIBRARIES}) ++ target_include_directories(qt_advanced_docking SYSTEM PUBLIC ${XCB_INCLUDE_DIRS}) + endif() + + set_target_properties(qt_advanced_docking PROPERTIES +diff --git a/3rdparty/lua-5.4.3/CMakeLists.txt b/3rdparty/lua-5.4.3/CMakeLists.txt +index ad3dc012..a3da197b 100644 +--- a/3rdparty/lua-5.4.3/CMakeLists.txt ++++ b/3rdparty/lua-5.4.3/CMakeLists.txt +@@ -1,3 +1,5 @@ ++include_directories( ./src ) ++ + set(LUA_LIB_SRCS + ${CMAKE_CURRENT_SOURCE_DIR}/src/lapi.c + ${CMAKE_CURRENT_SOURCE_DIR}/src/lcode.c +@@ -32,7 +34,7 @@ set(LUA_LIB_SRCS + ${CMAKE_CURRENT_SOURCE_DIR}/src/loadlib.c + ${CMAKE_CURRENT_SOURCE_DIR}/src/linit.c + ) +-set(LUA_LIB_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/src) ++# set(LUA_LIB_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/src) + + if(CMAKE_C_COMPILER_ID MATCHES "GNU|Clang|AppleClang") + add_compile_options(-fPIC) +@@ -42,7 +44,7 @@ add_library(lua_static STATIC + ${LUA_LIB_SRCS} + ${CMAKE_CURRENT_SOURCE_DIR}/src/lua.c + ) +-target_include_directories(lua_static PUBLIC ${LUA_LIB_INCLUDE}) ++# target_include_directories(lua_static PUBLIC ${LUA_LIB_INCLUDE}) + + add_library(lua_objects OBJECT ${LUA_LIB_SRCS}) + +@@ -55,3 +57,11 @@ if(EMSCRIPTEN) + endif() + target_compile_definitions(lua_static PUBLIC ${LUA_DEFINITIONS}) + ++install( ++ TARGETS ++ lua_static ++ EXPORT export_lua_static ++ LIBRARY DESTINATION lib ++ ARCHIVE DESTINATION lib ++ RUNTIME DESTINATION bin ++ INCLUDES DESTINATION include ) +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 16477dd3..859f7320 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,4 +1,4 @@ +-cmake_minimum_required(VERSION 3.10.2) ++cmake_minimum_required(VERSION 3.20) + + PROJECT(plotjuggler LANGUAGES C CXX VERSION 3.9.2) + +@@ -94,18 +94,6 @@ if (NOT WIN32) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-omit-frame-pointer") + endif() + +-if(APPLE AND EXISTS /usr/local/opt/qt5) +- # Homebrew installs Qt5 (up to at least 5.9.1) in +- # /usr/local/qt5, ensure it can be found by CMake since +- # it is not in the default /usr/local prefix. +- # source: https://github.com/Homebrew/homebrew-core/issues/8392#issuecomment-325226494 +- list(APPEND CMAKE_PREFIX_PATH "/usr/local/opt/qt5") +- set(CMAKE_MACOSX_RPATH 1) +-elseif(APPLE AND EXISTS /opt/homebrew/opt/qt@5) +- list(APPEND CMAKE_PREFIX_PATH "/opt/homebrew/opt/qt@5") +- set(CMAKE_MACOSX_RPATH 1) +-endif() +- + find_package(Qt5 REQUIRED COMPONENTS + Core + Widgets +@@ -120,11 +108,9 @@ find_package(Qt5 REQUIRED COMPONENTS + set( QT_LINK_LIBRARIES + Qt5::Core + Qt5::Widgets +- Qt5::PrintSupport + Qt5::Xml + Qt5::Concurrent + Qt5::Svg +- Qt5::OpenGL + Qt5::WebSockets + ) + +@@ -191,7 +177,7 @@ if (BASE_AS_SHARED) + ${PLOTJUGGLER_BASE_SRC} + ${PLOTJUGGLER_BASE_MOCS} + ) +- target_link_libraries(plotjuggler_base PRIVATE lua_objects plotjuggler_qwt_objects) ++ target_link_libraries(plotjuggler_base PRIVATE ${QT_LINK_LIBRARIES} lua_objects plotjuggler_qwt_objects) + else() + add_library(plotjuggler_base STATIC + ${PLOTJUGGLER_BASE_SRC} +@@ -199,13 +185,6 @@ else() + ) + endif() + +-# target_link_libraries(plotjuggler_base plotjuggler_qwt) +- +-target_include_directories(plotjuggler_base INTERFACE +- $ +- $ +-) +- + ######################### INSTALL #################################### + + if(COMPILING_WITH_CATKIN) +diff --git a/plotjuggler_plugins/ParserProtobuf/CMakeLists.txt b/plotjuggler_plugins/ParserProtobuf/CMakeLists.txt +index f399fdad..4c89c787 100644 +--- a/plotjuggler_plugins/ParserProtobuf/CMakeLists.txt ++++ b/plotjuggler_plugins/ParserProtobuf/CMakeLists.txt +@@ -1,13 +1,6 @@ +-if(BUILDING_WITH_CONAN) +- message(STATUS "Finding Protobuf with conan") +- set(Protobuf_LIBS protobuf::libprotobuf) +-else() +- message(STATUS "Finding Protobuf without package managers") +- find_package(Protobuf QUIET) +- set(Protobuf_LIBS ${Protobuf_LIBRARIES}) +-endif() ++set(Protobuf_LIBS protobuf::libprotobuf) + +-find_package(Protobuf QUIET) ++find_package(Protobuf QUIET CONFIG) + + if( Protobuf_FOUND) + +diff --git a/3rdparty/sol/sol.hpp b/3rdparty/sol/sol.hpp +index 0bb68ebe..20855338 100644 +--- a/3rdparty/sol/sol.hpp ++++ b/3rdparty/sol/sol.hpp +@@ -6747,12 +6747,9 @@ namespace sol { + /// one. + /// + /// \group emplace +- template +- T& emplace(Args&&... args) noexcept { +- static_assert(std::is_constructible::value, "T must be constructible with Args"); +- +- *this = nullopt; +- this->construct(std::forward(args)...); ++ T& emplace(T& arg) noexcept { ++ m_value = &arg; ++ return **this; + } + + /// Swaps this optional with the other. diff --git a/patch/ros-jazzy-python-qt-binding.patch b/patch/ros-jazzy-python-qt-binding.patch new file mode 100644 index 00000000..d025bbca --- /dev/null +++ b/patch/ros-jazzy-python-qt-binding.patch @@ -0,0 +1,254 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 919969e..2bf015a 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -11,6 +11,7 @@ install(FILES + cmake/shiboken_helper.cmake + cmake/sip_configure.py + cmake/sip_helper.cmake ++ cmake/pyproject.toml.in + DESTINATION share/${PROJECT_NAME}/cmake) + + if(BUILD_TESTING) +diff --git a/cmake/pyproject.toml.in b/cmake/pyproject.toml.in +new file mode 100644 +index 0000000..cf4f57f +--- /dev/null ++++ b/cmake/pyproject.toml.in +@@ -0,0 +1,31 @@ ++[project] ++name = "lib@PROJECT_NAME@" ++ ++# Specify sip v5 as the build system for the package. ++[build-system] ++requires = ["PyQt-builder >=1, <2"] ++build-backend = "sipbuild.api" ++ ++[tool.sip] ++project-factory = "pyqtbuild:PyQtProject" ++ ++[tool.sip.builder] ++qmake = "@QMAKE_EXECUTABLE@" ++qmake-settings = [ "QMAKE_MACOSX_DEPLOYMENT_TARGET=@MACOS_MINIMUM_VERSION@", "CONFIG+=c++17" ] ++ ++[tool.sip.project] ++sip-files-dir = "@SIP_FILES_DIR@" ++build-dir = "@SIP_BUILD_DIR@" ++verbose = true ++minimum-macos-version = "@MACOS_MINIMUM_VERSION@" ++# Specify the PEP 566 metadata for the project. ++[tool.sip.metadata] ++name = "lib@PROJECT_NAME@" ++ ++[tool.sip.bindings.libqt_gui_cpp_sip] ++sip-file = "@SIP_FILE@" ++include-dirs = [@SIP_INCLUDE_DIRS@] ++libraries = [@SIP_LIBARIES@] ++library-dirs = [@SIP_LIBRARY_DIRS@] ++qmake-QT = ["widgets"] ++exceptions = true +diff --git a/cmake/sip_configure.py b/cmake/sip_configure.py +index 5210ee5..7bafe73 100644 +--- a/cmake/sip_configure.py ++++ b/cmake/sip_configure.py +@@ -215,6 +215,7 @@ if sys.platform == 'win32': + # The __cplusplus flag is not properly set on Windows for backwards + # compatibilty. This flag sets it correctly + makefile.CXXFLAGS.append('/Zc:__cplusplus') ++ makefile.extra_cxxflags.append('/DROS_BUILD_SHARED_LIBS=1') + else: + makefile.extra_cxxflags.append('-std=c++17') + +diff --git a/cmake/sip_helper.cmake b/cmake/sip_helper.cmake +index a5ac3c2..fdc9c18 100644 +--- a/cmake/sip_helper.cmake ++++ b/cmake/sip_helper.cmake +@@ -31,7 +31,7 @@ execute_process( + if(PYTHON_SIP_EXECUTABLE) + string(STRIP ${PYTHON_SIP_EXECUTABLE} SIP_EXECUTABLE) + else() +- find_program(SIP_EXECUTABLE sip) ++ find_program(SIP_EXECUTABLE NAMES sip sip-build) + endif() + + if(SIP_EXECUTABLE) +@@ -42,6 +42,15 @@ else() + set(sip_helper_NOTFOUND TRUE) + endif() + ++if(sip_helper_FOUND) ++ execute_process( ++ COMMAND ${SIP_EXECUTABLE} -V ++ OUTPUT_VARIABLE SIP_VERSION ++ ERROR_QUIET) ++ string(STRIP ${SIP_VERSION} SIP_VERSION) ++ message(STATUS "SIP binding generator version: ${SIP_VERSION}") ++endif() ++ + # + # Run the SIP generator and compile the generated code into a library. + # +@@ -93,34 +102,107 @@ function(build_sip_binding PROJECT_NAME SIP_FILE) + set(LIBRARY_DIRS ${${PROJECT_NAME}_LIBRARY_DIRS}) + set(LDFLAGS_OTHER ${${PROJECT_NAME}_LDFLAGS_OTHER}) + +- add_custom_command( +- OUTPUT ${SIP_BUILD_DIR}/Makefile +- COMMAND ${Python3_EXECUTABLE} ${sip_SIP_CONFIGURE} ${SIP_BUILD_DIR} ${SIP_FILE} ${sip_LIBRARY_DIR} +- \"${INCLUDE_DIRS}\" \"${LIBRARIES}\" \"${LIBRARY_DIRS}\" \"${LDFLAGS_OTHER}\" +- DEPENDS ${sip_SIP_CONFIGURE} ${SIP_FILE} ${sip_DEPENDS} +- WORKING_DIRECTORY ${sip_SOURCE_DIR} +- COMMENT "Running SIP generator for ${PROJECT_NAME} Python bindings..." +- ) ++ if(${SIP_VERSION} VERSION_GREATER_EQUAL "5.0.0") ++ # Since v5, SIP implements the backend per PEP 517, PEP 518 ++ # Here we synthesize `pyproject.toml` and run `pip install` + +- if(NOT EXISTS "${sip_LIBRARY_DIR}") ++ find_program(QMAKE_EXECUTABLE NAMES qmake REQUIRED) ++ ++ file(REMOVE_RECURSE ${SIP_BUILD_DIR}) + file(MAKE_DIRECTORY ${sip_LIBRARY_DIR}) +- endif() + +- if(WIN32) +- set(MAKE_EXECUTABLE NMake.exe) ++ set(SIP_FILES_DIR ${sip_SOURCE_DIR}) ++ ++ set(SIP_INCLUDE_DIRS "") ++ foreach(_x ${INCLUDE_DIRS}) ++ set(SIP_INCLUDE_DIRS "${SIP_INCLUDE_DIRS},\"${_x}\"") ++ endforeach() ++ string(REGEX REPLACE "^," "" SIP_INCLUDE_DIRS ${SIP_INCLUDE_DIRS}) ++ ++ # SIP expects the libraries WITHOUT the file extension. ++ set(SIP_LIBARIES "") ++ set(SIP_LIBRARY_DIRS "") ++ ++ if(APPLE) ++ set(LIBRARIES_TO_LOOP ${LIBRARIES}) ++ else() ++ set(LIBRARIES_TO_LOOP ${LIBRARIES} ${PYTHON_LIBRARIES}) ++ endif() ++ ++ foreach(_x ${LIBRARIES_TO_LOOP}) ++ get_filename_component(_x_NAME "${_x}" NAME_WLE) ++ get_filename_component(_x_DIR "${_x}" DIRECTORY) ++ get_filename_component(_x "${_x_DIR}/${_x_NAME}" ABSOLUTE) ++ STRING(REGEX REPLACE "^lib" "" _x_NAME_NOPREFIX ${_x_NAME}) ++ ++ string(FIND "${_x_NAME_NOPREFIX}" "$" "" _x_NAME_NOPREFIX ${_x_NAME_NOPREFIX}) ++ if(NOT "${out2}" EQUAL -1) ++ message(STATUS "IGNORE: ${_x_NAME_NOPREFIX}") ++ else() ++ set(SIP_LIBARIES "${SIP_LIBARIES},\"${_x_NAME_NOPREFIX}\"") ++ endif() ++ else() ++ set(SIP_LIBARIES "${SIP_LIBARIES},\"${_x_NAME_NOPREFIX}\"") ++ set(SIP_LIBRARY_DIRS "${SIP_LIBRARY_DIRS},\"${_x_DIR}\"") ++ endif() ++ endforeach() ++ string(REGEX REPLACE "^," "" SIP_LIBARIES ${SIP_LIBARIES}) ++ ++ foreach(_x ${LIBRARY_DIRS}) ++ set(SIP_LIBRARY_DIRS "${SIP_LIBRARY_DIRS},\"${_x}\"") ++ endforeach() ++ string(REGEX REPLACE "^," "" SIP_LIBRARY_DIRS ${SIP_LIBRARY_DIRS}) ++ message(WARNING "test lib dir: ${SIP_LIBRARY_DIRS}") ++ ++ set(MACOS_MINIMUM_VERSION ${CMAKE_OSX_DEPLOYMENT_TARGET}) ++ ++ # TODO: ++ # I don't know what to do about LDFLAGS_OTHER ++ # what's the equivalent construct in sip5? ++ ++ configure_file( ++ ${__PYTHON_QT_BINDING_SIP_HELPER_DIR}/pyproject.toml.in ++ ${sip_BINARY_DIR}/sip/pyproject.toml ++ ) ++ add_custom_command( ++ OUTPUT ${sip_LIBRARY_DIR}/lib${PROJECT_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX} ++ COMMAND ${Python3_EXECUTABLE} -m pip install . --target ${sip_LIBRARY_DIR} --no-deps --verbose --upgrade ++ DEPENDS ${sip_SIP_CONFIGURE} ${SIP_FILE} ${sip_DEPENDS} ++ WORKING_DIRECTORY ${sip_BINARY_DIR}/sip ++ COMMENT "Running SIP-build generator for ${PROJECT_NAME} Python bindings..." ++ ) + else() +- find_program(MAKE_PROGRAM NAMES make) +- message(STATUS "Found required make: ${MAKE_PROGRAM}") +- set(MAKE_EXECUTABLE ${MAKE_PROGRAM}) +- endif() ++ add_custom_command( ++ OUTPUT ${SIP_BUILD_DIR}/Makefile ++ COMMAND ${Python3_EXECUTABLE} ${sip_SIP_CONFIGURE} ${SIP_BUILD_DIR} ${SIP_FILE} ${sip_LIBRARY_DIR} ++ \"${INCLUDE_DIRS}\" \"${LIBRARIES}\" \"${LIBRARY_DIRS}\" \"${LDFLAGS_OTHER}\" ++ DEPENDS ${sip_SIP_CONFIGURE} ${SIP_FILE} ${sip_DEPENDS} ++ WORKING_DIRECTORY ${sip_SOURCE_DIR} ++ COMMENT "Running SIP generator for ${PROJECT_NAME} Python bindings..." ++ ) + +- add_custom_command( +- OUTPUT ${sip_LIBRARY_DIR}/lib${PROJECT_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX} +- COMMAND ${MAKE_EXECUTABLE} +- DEPENDS ${SIP_BUILD_DIR}/Makefile +- WORKING_DIRECTORY ${SIP_BUILD_DIR} +- COMMENT "Compiling generated code for ${PROJECT_NAME} Python bindings..." +- ) ++ if(NOT EXISTS "${sip_LIBRARY_DIR}") ++ file(MAKE_DIRECTORY ${sip_LIBRARY_DIR}) ++ endif() ++ ++ if(WIN32) ++ set(MAKE_EXECUTABLE NMake.exe) ++ else() ++ set(MAKE_EXECUTABLE make) ++ endif() ++ ++ add_custom_command( ++ OUTPUT ${sip_LIBRARY_DIR}/lib${PROJECT_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX} ++ COMMAND ${MAKE_EXECUTABLE} ++ DEPENDS ${SIP_BUILD_DIR}/Makefile ++ WORKING_DIRECTORY ${SIP_BUILD_DIR} ++ COMMENT "Compiling generated code for ${PROJECT_NAME} Python bindings..." ++ ) ++ endif() + + add_custom_target(lib${PROJECT_NAME} ALL + DEPENDS ${sip_LIBRARY_DIR}/lib${PROJECT_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX} +diff --git a/src/python_qt_binding/__init__.py b/src/python_qt_binding/__init__.py +index 1e209de..6b55f35 100644 +--- a/src/python_qt_binding/__init__.py ++++ b/src/python_qt_binding/__init__.py +@@ -66,3 +66,11 @@ for module_name, module in QT_BINDING_MODULES.items(): + del module + + del sys ++ ++import os ++from PyQt5.QtGui import QIcon ++current_theme_path = QIcon.themeSearchPaths() ++conda_path = os.environ['CONDA_PREFIX'] ++QIcon.setThemeSearchPaths(current_theme_path + [os.path.join(conda_path, 'share/icons/')]) ++QIcon.setThemeName('Adwaita') ++del os +diff --git a/src/python_qt_binding/binding_helper.py b/src/python_qt_binding/binding_helper.py +index 27c3237..781fe62 100644 +--- a/src/python_qt_binding/binding_helper.py ++++ b/src/python_qt_binding/binding_helper.py +@@ -50,11 +50,7 @@ QT_BINDING_VERSION = None + def _select_qt_binding(binding_name=None, binding_order=None): + global QT_BINDING, QT_BINDING_VERSION + +- # order of default bindings can be changed here +- if platform.system() == 'Darwin': +- DEFAULT_BINDING_ORDER = ['pyside'] +- else: +- DEFAULT_BINDING_ORDER = ['pyqt', 'pyside'] ++ DEFAULT_BINDING_ORDER = ['pyqt', 'pyside'] + + binding_order = binding_order or DEFAULT_BINDING_ORDER + diff --git a/patch/ros-jazzy-qt-gui-cpp.patch b/patch/ros-jazzy-qt-gui-cpp.patch new file mode 100644 index 00000000..7b18400e --- /dev/null +++ b/patch/ros-jazzy-qt-gui-cpp.patch @@ -0,0 +1,61 @@ +diff --git a/src/qt_gui_cpp_sip/CMakeLists.txt b/src/qt_gui_cpp_sip/CMakeLists.txt +index 47c24958..d5a95d48 100644 +--- a/src/qt_gui_cpp_sip/CMakeLists.txt ++++ b/src/qt_gui_cpp_sip/CMakeLists.txt +@@ -28,7 +28,7 @@ set(qt_gui_cpp_sip_DEPENDENT_FILES + + # maintain context for different named target + set(qt_gui_cpp_sip_INCLUDE_DIRS ${qt_gui_cpp_INCLUDE_DIRS} "${CMAKE_CURRENT_SOURCE_DIR}/../../include") +-set(qt_gui_cpp_sip_LIBRARY_DIRS ${qt_gui_cpp_LIBRARY_DIRS} lib) ++set(qt_gui_cpp_sip_LIBRARY_DIRS ${CMAKE_BINARY_DIR}) + set(qt_gui_cpp_sip_LDFLAGS_OTHER ${qt_gui_cpp_LDFLAGS_OTHER}) + + ament_get_recursive_properties(deps_include_dirs deps_libraries ${pluginlib_TARGETS}) +@@ -51,16 +51,22 @@ cmake_minimum_required(VERSION 3.20) + cmake_policy(SET CMP0094 NEW) + set(Python3_FIND_UNVERSIONED_NAMES FIRST) + +-find_package(Python3 REQUIRED COMPONENTS Development) ++find_package(Python REQUIRED COMPONENTS Development) ++find_package(OpenGL REQUIRED) + + set(_qt_gui_cpp_sip_LIBRARIES + ${deps_libraries} +- Python3::Python + qt_gui_cpp ++ OpenGL::GL + ) + ++if(NOT APPLE) ++ set(_qt_gui_cpp_sip_LIBRARIES ${_qt_gui_cpp_sip_LIBRARIES} Python::Python) ++endif() ++ + # sip needs libraries to have resolved paths and cannot link to cmake targets +-foreach(_lib_name ${_qt_gui_cpp_sip_LIBRARIES}) ++foreach(_lib_name_raw ${_qt_gui_cpp_sip_LIBRARIES}) ++ string(REGEX REPLACE "\\.so\\.[0-9,\\.]*" ".so" _lib_name ${_lib_name_raw}) + if(TARGET ${_lib_name}) + # Use a nifty cmake generator expression to resolve the target location + list(APPEND qt_gui_cpp_sip_LIBRARIES $) +@@ -91,11 +97,19 @@ if(sip_helper_FOUND) + ) + + if(APPLE) +- set(LIBQT_GUI_CPP_SIP_SUFFIX .so) ++ if(${SIP_VERSION} VERSION_GREATER_EQUAL "5.0.0") ++ set(LIBQT_GUI_CPP_SIP_SUFFIX ".cpython-${Python_VERSION_MAJOR}${Python_VERSION_MINOR}-darwin.so") ++ else() ++ set(LIBQT_GUI_CPP_SIP_SUFFIX .so) ++ endif() + elseif(WIN32) + set(LIBQT_GUI_CPP_SIP_SUFFIX .pyd) + else() +- set(LIBQT_GUI_CPP_SIP_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX}) ++ if(${SIP_VERSION} VERSION_GREATER_EQUAL "5.0.0") ++ set(LIBQT_GUI_CPP_SIP_SUFFIX ".cpython-${Python_VERSION_MAJOR}${Python_VERSION_MINOR}-${CMAKE_HOST_SYSTEM_PROCESSOR}-linux-gnu${CMAKE_SHARED_LIBRARY_SUFFIX}") ++ else() ++ set(LIBQT_GUI_CPP_SIP_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX}) ++ endif() + endif() + + install(FILES ${CMAKE_CURRENT_BINARY_DIR}/libqt_gui_cpp_sip${LIBQT_GUI_CPP_SIP_SUFFIX} diff --git a/patch/ros-jazzy-rclpy.patch b/patch/ros-jazzy-rclpy.osx.patch similarity index 100% rename from patch/ros-jazzy-rclpy.patch rename to patch/ros-jazzy-rclpy.osx.patch diff --git a/patch/ros-jazzy-realtime-tools.osx.patch b/patch/ros-jazzy-realtime-tools.osx.patch new file mode 100644 index 00000000..b3a1736f --- /dev/null +++ b/patch/ros-jazzy-realtime-tools.osx.patch @@ -0,0 +1,82 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 5a9be70..9141953 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -40,7 +40,7 @@ target_include_directories(realtime_tools PUBLIC + $ + ) + ament_target_dependencies(realtime_tools PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +-if(UNIX) ++if(UNIX AND NOT APPLE) + target_link_libraries(realtime_tools PUBLIC cap) + endif() + +@@ -54,7 +54,7 @@ target_include_directories(thread_priority PUBLIC + $ + ) + ament_target_dependencies(thread_priority PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +-if(UNIX) ++if(UNIX AND NOT APPLE) + target_link_libraries(thread_priority PUBLIC cap) + endif() + +diff --git a/src/realtime_helpers.cpp b/src/realtime_helpers.cpp +index e55894c..e75e4c8 100644 +--- a/src/realtime_helpers.cpp ++++ b/src/realtime_helpers.cpp +@@ -30,12 +30,15 @@ + + #if defined(__unix__) || (defined(__APPLE__) && defined(__MACH__)) + #include +-#include + #include + + #include + #endif + ++#if defined(__unix__) ++#include ++#endif ++ + #include + #include + +@@ -56,6 +59,19 @@ bool configure_sched_fifo(int priority) + #ifdef _WIN32 + HANDLE thread = GetCurrentThread(); + return SetThreadPriority(thread, priority); ++#elif defined(__APPLE__) ++ pthread_t thread = pthread_self(); ++ struct sched_param schedp; ++ memset(&schedp, 0, sizeof(schedp)); ++ schedp.sched_priority = priority; ++ ++ int policy = SCHED_FIFO; ++ if (pthread_setschedparam(thread, policy, &schedp) == 0) { ++ return true; ++ } else { ++ // Optionally log strerror(errno) for debugging ++ return false; ++ } + #else + struct sched_param schedp; + memset(&schedp, 0, sizeof(schedp)); +@@ -75,6 +91,8 @@ std::pair lock_memory() + { + #ifdef _WIN32 + return {false, "Memory locking is not supported on Windows."}; ++#elif defined(__APPLE__) ++ return {false, "Memory locking is not supported on MacOS."}; + #else + auto is_capable = [](cap_value_t v) -> bool { + bool rc = false; +@@ -127,6 +145,9 @@ std::pair set_thread_affinity( + #ifdef _WIN32 + message = "Thread affinity is not supported on Windows."; + return std::make_pair(false, message); ++#elif defined(__APPLE__) ++ message = "Memory locking is not supported on MacOS."; ++ return std::make_pair(false, message); + #else + auto set_affinity_result_message = [](int result, std::string & msg) -> bool { + if (result == 0) { diff --git a/patch/ros-jazzy-ros-gz-image.patch b/patch/ros-jazzy-ros-gz-image.patch new file mode 100644 index 00000000..27945782 --- /dev/null +++ b/patch/ros-jazzy-ros-gz-image.patch @@ -0,0 +1,14 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index e6e8de26..8e9ea2d3 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -10,6 +10,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra) + endif() + ++find_package(gz-cmake3 REQUIRED 3.5.2) ++gz_find_package(TINYXML2 REQUIRED PRIVATE PRETTY tinyxml2) ++ + find_package(ament_cmake REQUIRED) + find_package(image_transport REQUIRED) + find_package(ros_gz_bridge REQUIRED) diff --git a/patch/ros-jazzy-rosbag2-py.osx.patch b/patch/ros-jazzy-rosbag2-py.osx.patch new file mode 100644 index 00000000..d7564996 --- /dev/null +++ b/patch/ros-jazzy-rosbag2-py.osx.patch @@ -0,0 +1,74 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index feb07925f..6000ec43e 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -41,21 +41,21 @@ find_package(pybind11 REQUIRED) + + ament_python_install_package(${PROJECT_NAME}) + +-pybind11_add_module(_compression_options SHARED ++pybind11_add_module(_compression_options MODULE + src/rosbag2_py/_compression_options.cpp + ) + target_link_libraries(_compression_options PUBLIC + rosbag2_compression::rosbag2_compression + ) + +-pybind11_add_module(_message_definitions SHARED ++pybind11_add_module(_message_definitions MODULE + src/rosbag2_py/_message_definitions.cpp + ) + target_link_libraries(_message_definitions PUBLIC + rosbag2_cpp::rosbag2_cpp + ) + +-pybind11_add_module(_reader SHARED ++pybind11_add_module(_reader MODULE + src/rosbag2_py/_reader.cpp + ) + target_link_libraries(_reader PUBLIC +@@ -64,7 +64,7 @@ target_link_libraries(_reader PUBLIC + rosbag2_storage::rosbag2_storage + ) + +-pybind11_add_module(_storage SHARED ++pybind11_add_module(_storage MODULE + src/rosbag2_py/_storage.cpp + src/rosbag2_py/format_bag_metadata.cpp + ) +@@ -73,7 +73,7 @@ target_link_libraries(_storage PUBLIC + rosbag2_storage::rosbag2_storage + ) + +-pybind11_add_module(_writer SHARED ++pybind11_add_module(_writer MODULE + src/rosbag2_py/_writer.cpp + ) + target_link_libraries(_writer PUBLIC +@@ -82,7 +82,7 @@ target_link_libraries(_writer PUBLIC + rosbag2_storage::rosbag2_storage + ) + +-pybind11_add_module(_info SHARED ++pybind11_add_module(_info MODULE + src/rosbag2_py/_info.cpp + src/rosbag2_py/format_bag_metadata.cpp + src/rosbag2_py/format_service_info.cpp +@@ -92,7 +92,7 @@ target_link_libraries(_info PUBLIC + rosbag2_storage::rosbag2_storage + ) + +-pybind11_add_module(_transport SHARED ++pybind11_add_module(_transport MODULE + src/rosbag2_py/_transport.cpp + ) + target_link_libraries(_transport PUBLIC +@@ -102,7 +102,7 @@ target_link_libraries(_transport PUBLIC + rosbag2_transport::rosbag2_transport + ) + +-pybind11_add_module(_reindexer SHARED ++pybind11_add_module(_reindexer MODULE + src/rosbag2_py/_reindexer.cpp + ) + target_link_libraries(_reindexer PUBLIC diff --git a/patch/ros-jazzy-rosidl-generator-py.osx.patch b/patch/ros-jazzy-rosidl-generator-py.osx.patch new file mode 100644 index 00000000..cde64b21 --- /dev/null +++ b/patch/ros-jazzy-rosidl-generator-py.osx.patch @@ -0,0 +1,69 @@ +diff --git a/cmake/rosidl_generator_py_generate_interfaces.cmake b/cmake/rosidl_generator_py_generate_interfaces.cmake +index cfc424a..cddd23d 100644 +--- a/cmake/rosidl_generator_py_generate_interfaces.cmake ++++ b/cmake/rosidl_generator_py_generate_interfaces.cmake +@@ -138,7 +139,7 @@ set_property( + + set(_target_name_lib "${rosidl_generate_interfaces_TARGET}__rosidl_generator_py") + add_library(${_target_name_lib} SHARED ${_generated_c_files}) +-target_link_libraries(${_target_name_lib} PRIVATE ++target_link_libraries(${_target_name_lib} PUBLIC + ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c) + add_dependencies( + ${_target_name_lib} +@@ -146,11 +147,6 @@ add_dependencies( + ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c + ) + +-target_link_libraries( +- ${_target_name_lib} PRIVATE +- Python3::NumPy +- Python3::Python +-) + target_include_directories(${_target_name_lib} + PRIVATE + ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c +@@ -162,8 +158,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + set(_extension_compile_flags -Wall -Wextra) + endif() + ++if(APPLE) ++ set_target_properties(${_target_name_lib} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") ++ target_include_directories(${_target_name_lib} PUBLIC ${Python3_INCLUDE_DIRS} ${Python3_NumPy_INCLUDE_DIRS}) ++else() ++ target_link_libraries(${_target_name_lib} PUBLIC Python3::NumPy Python3::Python) ++endif() ++ + rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c") +-target_link_libraries(${_target_name_lib} PRIVATE ${c_typesupport_target}) ++target_link_libraries(${_target_name_lib} PUBLIC ${c_typesupport_target}) + + foreach(_typesupport_impl ${_typesupport_impls}) + find_package(${_typesupport_impl} REQUIRED) +@@ -194,7 +197,7 @@ foreach(_typesupport_impl ${_typesupport_impls}) + RUNTIME_OUTPUT_DIRECTORY ${_output_path}) + + target_link_libraries( +- ${_target_name} PRIVATE ++ ${_target_name} PUBLIC + ${_target_name_lib} + ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl} + ${c_typesupport_target} +@@ -210,7 +213,7 @@ foreach(_typesupport_impl ${_typesupport_impls}) + ) + + foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) +- target_link_libraries(${_target_name} PRIVATE ${${_pkg_name}__TARGETS}) ++ target_link_libraries(${_target_name} PUBLIC ${${_pkg_name}__TARGETS}) + endforeach() + + add_dependencies(${_target_name} +@@ -231,7 +234,7 @@ endforeach() + + # Depend on rosidl_generator_py generated targets from our dependencies + foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) +- target_link_libraries(${_target_name_lib} PRIVATE ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}}) ++ target_link_libraries(${_target_name_lib} PUBLIC ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}}) + endforeach() + + set_target_properties(${_target_name_lib} PROPERTIES COMPILE_OPTIONS "${_extension_compile_flags}") diff --git a/patch/ros-jazzy-rsl.patch b/patch/ros-jazzy-rsl.patch new file mode 100644 index 00000000..e3560f29 --- /dev/null +++ b/patch/ros-jazzy-rsl.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 6d47b08..c7b66df 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -10,7 +10,7 @@ find_package(tcb_span REQUIRED) + find_package(tl_expected REQUIRED) + + if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") +- add_compile_options(-Werror -Wall -Wextra -Wpedantic -Wshadow -Wconversion -Wsign-conversion -Wold-style-cast) ++ add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion -Wsign-conversion -Wold-style-cast) + endif() + + option(BUILD_SHARED_LIBS "Build shared libraries" ON) diff --git a/patch/ros-jazzy-rviz-ogre-vendor.patch b/patch/ros-jazzy-rviz-ogre-vendor.patch new file mode 100644 index 00000000..507d530b --- /dev/null +++ b/patch/ros-jazzy-rviz-ogre-vendor.patch @@ -0,0 +1,48 @@ +diff --git a/patches/0005-fix-macos-arm64.patch b/patches/0005-fix-macos-arm64.patch +new file mode 100644 +index 000000000..9494cc9ae +--- /dev/null ++++ b/patches/0005-fix-macos-arm64.patch +@@ -0,0 +1,19 @@ ++diff --git a/CMakeLists.txt b/CMakeLists.txt ++index f4d8fd4..ffae9c8 100644 ++--- a/CMakeLists.txt +++++ b/CMakeLists.txt ++@@ -270,14 +270,6 @@ elseif(EMSCRIPTEN) ++ set(OGRE_CONFIG_THREADS "0" CACHE STRING "Threading is unstable on Emscripten" FORCE) ++ elseif (APPLE AND NOT APPLE_IOS) ++ ++- set(XCODE_ATTRIBUTE_SDKROOT macosx) ++- if(CMAKE_GENERATOR STREQUAL "Unix Makefiles") ++- execute_process(COMMAND xcodebuild -version -sdk "${XCODE_ATTRIBUTE_SDKROOT}" Path | head -n 1 OUTPUT_VARIABLE CMAKE_OSX_SYSROOT) ++- string(REGEX REPLACE "(\r?\n)+$" "" CMAKE_OSX_SYSROOT "${CMAKE_OSX_SYSROOT}") ++- else() ++- set(CMAKE_OSX_SYSROOT macosx) ++- endif() ++- ++ # Make sure that the OpenGL render system is selected for non-iOS Apple builds ++ set(OGRE_BUILD_RENDERSYSTEM_GLES2 FALSE) ++ endif () +diff --git a/patches/0006-fix-char16.patch b/patches/0006-fix-char16.patch +new file mode 100644 +index 000000000..dfc080bb9 +--- /dev/null ++++ b/patches/0006-fix-char16.patch +@@ -0,0 +1,17 @@ ++diff --git a/Components/Overlay/include/OgreUTFString.h b/Components/Overlay/include/OgreUTFString.h ++index 4b29f9d..bb55630 100644 ++--- a/Components/Overlay/include/OgreUTFString.h +++++ b/Components/Overlay/include/OgreUTFString.h ++@@ -183,10 +183,10 @@ namespace Ogre { ++ static const size_type npos = static_cast(~0); ++ ++ //! a single 32-bit Unicode character ++- typedef uint32 unicode_char; +++ typedef char32_t unicode_char; ++ ++ //! a single UTF-16 code point ++- typedef uint16 code_point; +++ typedef char16_t code_point; ++ ++ //! value type typedef for use in iterators ++ typedef code_point value_type; diff --git a/patch/ros-jazzy-sdformat-vendor.patch b/patch/ros-jazzy-sdformat-vendor.patch new file mode 100644 index 00000000..afae280c --- /dev/null +++ b/patch/ros-jazzy-sdformat-vendor.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 723d6a6..08a726c 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -38,7 +38,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "") + set(VERSION_MATCH "") + endif() + +-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET) ++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET) + + ament_vendor(${LIB_NAME_UNDERSCORE}_vendor + SATISFIED ${${LIB_NAME_FULL}_FOUND} diff --git a/pixi.lock b/pixi.lock index 5f221db1..0f3c5929 100644 --- a/pixi.lock +++ b/pixi.lock @@ -1,897 +1,728 @@ -version: 5 +version: 6 environments: beta: channels: - - url: https://conda.anaconda.org/conda-forge/ + - url: https://repo.prefix.dev/conda-forge/ indexes: - https://pypi.org/simple packages: linux-64: - - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2 - - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2 - - conda: https://conda.anaconda.org/conda-forge/noarch/anaconda-client-1.12.3-pyhd8ed1ab_0.conda - - conda: https://conda.anaconda.org/conda-forge/noarch/anaconda-project-0.11.1-pyhd8ed1ab_0.tar.bz2 - - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-23.2.0-pyh71513ae_0.conda - - conda: 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diff --git a/pixi.toml b/pixi.toml index edf4b481..81fcc7df 100644 --- a/pixi.toml +++ b/pixi.toml @@ -1,9 +1,10 @@ [project] name = "ros-jazzy" -version = "0.1.0" -description = "Add a short description here" -authors = ["Tim de Jager "] -channels = ["conda-forge"] +# Just a convention, this is the same as the mutex package +version = "0.6.0" +description = "RoboStack repo to package ros-jazzy packages as conda packages" +authors = ["Tobias Fischer ", "Wolf Vollprecht ", "Silvio Traversaro "] +channels = ["https://repo.prefix.dev/conda-forge"] platforms = ["osx-arm64", "linux-64", "osx-64", "linux-aarch64", "win-64"] [system-requirements] @@ -14,18 +15,44 @@ libc = { family="glibc", version="2.17" } upload = "anaconda -t $ANACONDA_API_TOKEN upload" [dependencies] -python = ">=3.12.4,<3.13" -rattler-build = ">=0.18.0,<0.19" +python = ">=3.11.0,<3.12" +rattler-build = ">=0.33" anaconda-client = ">=1.12" +[target.win-64.dependencies] +# patch is required by rattler-build +m2-patch = "*" +# git is required by rattler-build +git = "*" + [feature.beta.pypi-dependencies] -vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "4414b0ec607a92b4f95b85affc0d3352232ff9ca" } +# This is tipically the latest commit on rattler-build-humble branch +vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "0b1e16d1ade9716246c1618dc0a5c2a18ee01fd9" } +# Uncomment this line to work with a local vinca for faster iteration, but remember to comment it back +# (and regenerate the pixi.lock) once you push the modified commit to the repo +#vinca = { path = "../vinca", editable = true } [feature.beta.tasks] -rename-file = { cmd ="cp vinca_osx_arm64.yaml vinca.yaml" } generate-recipes = { cmd = "vinca -m", depends_on = ["rename-file"] } -remove-file = { cmd = "rm vinca.yaml", depends_on = ["generate-recipes"] } -build = { cmd = "rattler-build build --recipe-dir ./recipes -m ./conda_build_config.yaml --skip-existing", depends_on = ["remove-file"] } +remove-file = { cmd = "rm vinca.yaml; rm -rf recipes" } +build_additional_recipes = { cmd = "rattler-build build --recipe-dir ./additional_recipes -m ./conda_build_config.yaml --skip-existing" } +build = { cmd = "rattler-build build --recipe-dir ./recipes -m ./conda_build_config.yaml --skip-existing", depends_on = ["build_additional_recipes", "generate-recipes"] } +build_one_package = { cmd = "cp ./patch/$PACKAGE.*patch ./recipes/$PACKAGE/patch/; rattler-build build --recipe ./recipes/$PACKAGE/recipe.yaml -m ./conda_build_config.yaml", env = { PACKAGE = "ros-jazzy-ros-workspace" } } [environments] beta = ["beta"] + +[target.linux-64.tasks] +rename-file = { cmd = "cp vinca_linux_64.yaml vinca.yaml", depends_on = ["remove-file"] } + +[target.osx-64.tasks] +rename-file = { cmd = "cp vinca_osx.yaml vinca.yaml", depends_on = ["remove-file"] } + +[target.osx-arm64.tasks] +rename-file = { cmd = "ln -s vinca_osx_arm64.yaml vinca.yaml", depends_on = ["remove-file"] } + +[target.linux-aarch64.tasks] +rename-file = { cmd = "cp vinca_linux_aarch64.yaml vinca.yaml", depends_on = ["remove-file"] } + +[target.win-64.tasks] +rename-file = { cmd = "cp vinca_win.yaml vinca.yaml", depends_on = ["remove-file"] } diff --git a/robostack.yaml b/robostack.yaml index 05343ec1..fa258d7a 100644 --- a/robostack.yaml +++ b/robostack.yaml @@ -87,8 +87,12 @@ festival: linux: [festival, festvox-kallpc16k] osx: [] win64: [] +file: + robostack: [file] ffmpeg: robostack: [ffmpeg] +ffmpeg-dev: + robostack: [ffmpeg] flac: robostack: [libflac] flex: @@ -100,17 +104,19 @@ g++-static: gawk: robostack: [gawk] gazebo: - robostack: [gazebo] + robostack: [gazebo, libprotobuf, libabseil] gazebo11: - robostack: [gazebo] + robostack: [gazebo, libprotobuf, libabseil] gazebo9: - robostack: [gazebo] + robostack: [gazebo, libprotobuf, libabseil] geographiclib: robostack: [geographiclib-cpp] geographiclib-tools: robostack: [geographiclib-cpp] git: robostack: [git] +glslang-dev: + robostack: [glslang] glut: robostack: linux: [freeglut] @@ -184,6 +190,8 @@ libabsl-dev: robostack: [libabseil] libblas-dev: robostack: [libblas, libcblas] +libboost: + robostack: [libboost] libboost-chrono-dev: robostack: [libboost-devel] libboost-date-time: @@ -255,8 +263,12 @@ libflann-dev: robostack: [flann] libfltk-dev: robostack: [fltk] +libfreeimage-dev: + robostack: [freeimage] libfreenect-dev: robostack: [] +libfreetype-dev: + robostack: [freetype] libfreetype6: robostack: [freetype] libfreetype6-dev: @@ -264,9 +276,9 @@ libfreetype6-dev: libftdi-dev: robostack: [libftdi, libusb] libgazebo11-dev: - robostack: [gazebo] + robostack: [gazebo, libprotobuf, libabseil] libgazebo9-dev: - robostack: [gazebo] + robostack: [gazebo, libprotobuf, libabseil] libgdal-dev: robostack: [libgdal] libgeos++-dev: @@ -313,6 +325,10 @@ libjsoncpp-dev: robostack: [jsoncpp] liblapack-dev: robostack: [liblapack] +liblz4: + robostack: [lz4] +liblz4-dev: + robostack: [lz4] libmicrohttpd: robostack: [libmicrohttpd] libncurses-dev: @@ -358,7 +374,7 @@ libpcap: libpcl-all: robostack: [pcl] libpcl-all-dev: - robostack: [pcl] + robostack: [pcl, libboost-devel, vtk-base, REQUIRE_OPENGL] libpng-dev: robostack: [libpng] libpoco-dev: @@ -395,10 +411,12 @@ libreadline: robostack: [readline] libreadline-dev: robostack: [readline] +libshaderc-dev: + robostack: [shaderc] libsndfile1-dev: robostack: [libsndfile] libspnav-dev: - robostack: [libspnav] + robostack: [libspnav, xorg-xorgproto] libsqlite3-dev: robostack: [sqlite 3.*] libssl-dev: @@ -446,10 +464,15 @@ libvtk: robostack: [vtk] libvtk-qt: robostack: [vtk] +libvulkan-dev: + robostack: + linux: [libvulkan-headers, libvulkan-loader] + osx: [] + win64: [libvulkan-headers, libvulkan-loader] libx11: - robostack: [xorg-libx11, REQUIRE_OPENGL] + robostack: [xorg-libx11, xorg-xorgproto, REQUIRE_OPENGL] libx11-dev: - robostack: [xorg-libx11, REQUIRE_OPENGL] + robostack: [xorg-libx11, xorg-xorgproto, REQUIRE_OPENGL] libxaw: robostack: linux: [xorg-libxaw] @@ -476,6 +499,12 @@ libxt-dev: robostack: [xorg-libxt] libxxf86vm: robostack: [REQUIRE_OPENGL] +libyaml: + robostack: [yaml] +libyaml-dev: + robostack: [yaml] +libzip-dev: + robostack: [libzip] libzmq3-dev: robostack: [zeromq, cppzmq] libzstd-dev: @@ -678,6 +707,8 @@ python3-cryptography: robostack: [cryptography] python3-defusedxml: robostack: [defusedxml] +python3-deprecated: + robostack: [deprecated] python3-dev: robostack: [python] python3-docopt: @@ -688,6 +719,8 @@ python3-empy: robostack: [empy] python3-flake8: robostack: [flake8] +python3-flake8-comprehensions: + robostack: [flake8-comprehensions] python3-flask: robostack: [flask] python3-flask-cors: @@ -762,6 +795,8 @@ python3-pip: robostack: [pip] python3-pkg-resources: robostack: [] +python3-protobuf: + robostack: [protobuf] python3-psutil: robostack: [psutil] python3-pyassimp: @@ -874,12 +909,16 @@ qt5-qmake: robostack: [qt-main, REQUIRE_OPENGL] qtbase5-dev: robostack: [qt-main, REQUIRE_OPENGL] +rapidjson-dev: + robostack: [rapidjson] roboticstoolbox-python: robostack: [roboticstoolbox-python] rsync: robostack: [rsync] rti-connext-dds-5.3.1: robostack: [] +ruby: + robostack: [ruby] sbcl: robostack: linux: [sbcl] @@ -948,7 +987,7 @@ wget: xsimd: robostack: [xsimd] xtensor: - robostack: [xtensor 0.24] + robostack: [xtensor ==0.24.7] wx-common: robostack: [wxpython] wxpython: @@ -965,4 +1004,5 @@ zbar: robostack: [zbar] zlib: robostack: [zlib] - +zziplib: + robostack: [zziplib] diff --git a/tests/ros-jazzy-ament-cpplint.yaml b/tests/ros-jazzy-ament-cpplint.yaml new file mode 100644 index 00000000..a408f1ef --- /dev/null +++ b/tests/ros-jazzy-ament-cpplint.yaml @@ -0,0 +1,3 @@ +tests: + - script: + - ament_cpplint --help diff --git a/tests/ros-jazzy-ament-lint-cmake.yaml b/tests/ros-jazzy-ament-lint-cmake.yaml new file mode 100644 index 00000000..8e0eef24 --- /dev/null +++ b/tests/ros-jazzy-ament-lint-cmake.yaml @@ -0,0 +1,3 @@ +tests: + - script: + - ament_lint_cmake --help diff --git a/tests/ros-jazzy-ament-xmllint.yaml b/tests/ros-jazzy-ament-xmllint.yaml new file mode 100644 index 00000000..215597bc --- /dev/null +++ b/tests/ros-jazzy-ament-xmllint.yaml @@ -0,0 +1,3 @@ +tests: + - script: + - ament_xmllint --help diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml index eeb00ffb..b855ea8a 100644 --- a/vinca_linux_64.yaml +++ b/vinca_linux_64.yaml @@ -5,9 +5,9 @@ conda_index: - robostack.yaml - packages-ignore.yaml -build_number: 0 +build_number: 1 -mutex_package: ros2-distro-mutex 0.5 jazzy +mutex_package: ros2-distro-mutex 0.6.* jazzy_* skip_all_deps: false @@ -17,22 +17,48 @@ full_rebuild: true packages_skip_by_deps: - cartographer - - octomap + - urdfdom + - urdfdom_headers + - urdfdom_py packages_remove_from_deps: - cartographer - - octomap - - warehouse_ros_mongo skip_existing: + # - output - https://conda.anaconda.org/robostack-jazzy/ packages_select_by_deps: - - ros_workspace - - ros_environment + - ament_cmake_core + - ament_cmake_catch2 + + - desktop - ros_base - # - desktop + - ros_environment + - ros_workspace + - dev_tools + - diagnostics + - teleop + - robot + - perception + - navigation2 + - simulation + - desktop_full + - moveit + - moveit-planners-chomp -patch_dir: patch + - ros_gz + - slam_toolbox + - turtlebot3 + + # - plotjuggler-ros + + - apriltag_ros + - ackermann-msgs + - velodyne + - sbg_driver + - gtsam + +patch_dir: patch diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml index eeb00ffb..b855ea8a 100644 --- a/vinca_linux_aarch64.yaml +++ b/vinca_linux_aarch64.yaml @@ -5,9 +5,9 @@ conda_index: - robostack.yaml - packages-ignore.yaml -build_number: 0 +build_number: 1 -mutex_package: ros2-distro-mutex 0.5 jazzy +mutex_package: ros2-distro-mutex 0.6.* jazzy_* skip_all_deps: false @@ -17,22 +17,48 @@ full_rebuild: true packages_skip_by_deps: - cartographer - - octomap + - urdfdom + - urdfdom_headers + - urdfdom_py packages_remove_from_deps: - cartographer - - octomap - - warehouse_ros_mongo skip_existing: + # - output - https://conda.anaconda.org/robostack-jazzy/ packages_select_by_deps: - - ros_workspace - - ros_environment + - ament_cmake_core + - ament_cmake_catch2 + + - desktop - ros_base - # - desktop + - ros_environment + - ros_workspace + - dev_tools + - diagnostics + - teleop + - robot + - perception + - navigation2 + - simulation + - desktop_full + - moveit + - moveit-planners-chomp -patch_dir: patch + - ros_gz + - slam_toolbox + - turtlebot3 + + # - plotjuggler-ros + + - apriltag_ros + - ackermann-msgs + - velodyne + - sbg_driver + - gtsam + +patch_dir: patch diff --git a/vinca_osx.yaml b/vinca_osx.yaml index eeb00ffb..479e51c4 100644 --- a/vinca_osx.yaml +++ b/vinca_osx.yaml @@ -5,9 +5,9 @@ conda_index: - robostack.yaml - packages-ignore.yaml -build_number: 0 +build_number: 1 -mutex_package: ros2-distro-mutex 0.5 jazzy +mutex_package: ros2-distro-mutex 0.6.* jazzy_* skip_all_deps: false @@ -17,22 +17,31 @@ full_rebuild: true packages_skip_by_deps: - cartographer - - octomap + - urdfdom + - urdfdom_py + - urdfdom_headers + - pendulum_control + - rttest + - tlsf + - tlsf_cpp packages_remove_from_deps: - cartographer - - octomap - - warehouse_ros_mongo + - pendulum_control + - rttest + - tlsf + - tlsf_cpp skip_existing: + # - output - https://conda.anaconda.org/robostack-jazzy/ packages_select_by_deps: - - ros_workspace - - ros_environment + - ament_cmake_core + - desktop - ros_base - # - desktop - + - ros_environment + - ros_gz + - ros_workspace patch_dir: patch - diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml index eeb00ffb..b7d279e5 100644 --- a/vinca_osx_arm64.yaml +++ b/vinca_osx_arm64.yaml @@ -5,9 +5,9 @@ conda_index: - robostack.yaml - packages-ignore.yaml -build_number: 0 +build_number: 1 -mutex_package: ros2-distro-mutex 0.5 jazzy +mutex_package: ros2-distro-mutex 0.6.* jazzy_* skip_all_deps: false @@ -17,22 +17,58 @@ full_rebuild: true packages_skip_by_deps: - cartographer - - octomap + - urdfdom + - urdfdom_py + - urdfdom_headers + - pendulum_control + - rttest + - tlsf + - tlsf_cpp + - gripper_controllers packages_remove_from_deps: - cartographer - - octomap - - warehouse_ros_mongo + - pendulum_control + - rttest + - tlsf + - tlsf_cpp + - gripper_controllers skip_existing: + # - output - https://conda.anaconda.org/robostack-jazzy/ packages_select_by_deps: - - ros_workspace - - ros_environment + - ament_cmake_core + - ament_cmake_catch2 + + - desktop - ros_base - # - desktop + - ros_environment + - ros_workspace + - dev_tools + - diagnostics + - teleop + - robot + - perception + - navigation2 + - simulation + - desktop_full + - moveit + - moveit-planners-chomp -patch_dir: patch + - ros_gz + - slam_toolbox + - turtlebot3 + + - plotjuggler-ros + + - apriltag_ros + - ackermann-msgs + - velodyne + - sbg_driver + - gtsam + +patch_dir: patch diff --git a/vinca_win.yaml b/vinca_win.yaml index eeb00ffb..ce542135 100644 --- a/vinca_win.yaml +++ b/vinca_win.yaml @@ -5,9 +5,9 @@ conda_index: - robostack.yaml - packages-ignore.yaml -build_number: 0 +build_number: 1 -mutex_package: ros2-distro-mutex 0.5 jazzy +mutex_package: ros2-distro-mutex 0.6.* jazzy_* skip_all_deps: false @@ -17,22 +17,35 @@ full_rebuild: true packages_skip_by_deps: - cartographer - - octomap + - urdfdom + - urdfdom_py + - urdfdom_headers + - pcl_conversions + - pendulum_control + - rttest + - tlsf + - tlsf_cpp + - gripper_controllers packages_remove_from_deps: - cartographer - - octomap - - warehouse_ros_mongo + - pcl_conversions + - pendulum_control + - rttest + - tlsf + - tlsf_cpp + - gripper_controllers skip_existing: + # - output - https://conda.anaconda.org/robostack-jazzy/ packages_select_by_deps: - - ros_workspace - - ros_environment + - ament_cmake_core + - desktop - ros_base - # - desktop - + - ros_environment + - ros_gz + - ros_workspace patch_dir: patch -