add foxglove packages

Signed-off-by: wep21 <[email protected]>

patch/ros-jazzy-ffmpeg-encoder-decoder.unix.patch

@@ -0,0 +1,96 @@
+diff --git a/include/ffmpeg_encoder_decoder/decoder.hpp b/include/ffmpeg_encoder_decoder/decoder.hpp
+index 0e2521c..94625e5 100644
+--- a/include/ffmpeg_encoder_decoder/decoder.hpp
++++ b/include/ffmpeg_encoder_decoder/decoder.hpp
+@@ -81,7 +81,7 @@ private:
+   AVFrame * colorFrame_{NULL};
+   SwsContext * swsContext_{NULL};
+   enum AVPixelFormat hwPixFormat_;
+-  AVPacket packet_;
++  // AVPacket packet_;
+   AVBufferRef * hwDeviceContext_{NULL};
+ };
+ }  // namespace ffmpeg_encoder_decoder
+diff --git a/src/decoder.cpp b/src/decoder.cpp
+index 0a12d25..9737ffe 100644
+--- a/src/decoder.cpp
++++ b/src/decoder.cpp
+@@ -38,7 +38,11 @@ Decoder::~Decoder() { reset(); }
+ void Decoder::reset()
+ {
+   if (codecContext_) {
++#if LIBAVFORMAT_VERSION_MAJOR < 59
+     avcodec_close(codecContext_);
++#else
++    avcodec_free_context(&codecContext_);
++#endif
+     av_free(codecContext_);
+     codecContext_ = NULL;
+   }
+@@ -255,7 +259,7 @@ bool Decoder::decodePacket(
+       image->header.stamp = it->second;
+       ptsToStamp_.erase(it);
+ #ifdef USE_AV_FLAGS
+-      callback_(image, decodedFrame_->flags || AV_FRAME_FLAG_KEY);  // deliver callback
++      callback_(image, decodedFrame_->flags | AV_FRAME_FLAG_KEY);  // deliver callback
+ #else
+       callback_(image, decodedFrame_->key_frame);  // deliver callback
+ #endif
+diff --git a/src/encoder.cpp b/src/encoder.cpp
+index a4b6de6..8a3f40a 100644
+--- a/src/encoder.cpp
++++ b/src/encoder.cpp
+@@ -54,7 +54,11 @@ static void free_frame(AVFrame ** frame)
+ void Encoder::closeCodec()
+ {
+   if (codecContext_) {
++#if LIBAVFORMAT_VERSION_MAJOR < 59
+     avcodec_close(codecContext_);
++#else
++    avcodec_free_context(&codecContext_);
++#endif
+     codecContext_ = nullptr;
+   }
+   free_frame(&frame_);
+@@ -207,11 +211,19 @@ void Encoder::doOpenCodec(int width, int height)
+   setAVOption("preset", preset_);
+   setAVOption("tune", tune_);
+   setAVOption("delay", delay_);
++#ifdef __APPLE__
++  RCLCPP_DEBUG(
++    logger_,
++    "codec: %10s, profile: %10s, preset: %10s,"
++    " bit_rate: %10lld qmax: %2d",
++    encoder_.c_str(), profile_.c_str(), preset_.c_str(), bitRate_, qmax_);
++#else
+   RCLCPP_DEBUG(
+     logger_,
+     "codec: %10s, profile: %10s, preset: %10s,"
+     " bit_rate: %10ld qmax: %2d",
+     encoder_.c_str(), profile_.c_str(), preset_.c_str(), bitRate_, qmax_);
++#endif
+
+   err = avcodec_open2(codecContext_, codec, NULL);
+   utils::check_for_err("cannot open codec", err);
+diff --git a/src/utils.cpp b/src/utils.cpp
+index da089e4..01e8eea 100644
+--- a/src/utils.cpp
++++ b/src/utils.cpp
+@@ -104,8 +104,15 @@ enum AVPixelFormat get_preferred_pixel_format(
+ std::vector<enum AVPixelFormat> get_encoder_formats(const AVCodec * c)
+ {
+   std::vector<enum AVPixelFormat> formats;
+-  if (c && c->pix_fmts) {
+-    for (const auto * p = c->pix_fmts; *p != AV_PIX_FMT_NONE; ++p) {
++#if LIBAVUTIL_VERSION_MAJOR > 59 || (LIBAVUTIL_VERSION_MAJOR == 59 && LIBAVUTIL_VERSION_MINOR >= 39)
++  const enum AVPixelFormat *pix_fmts = NULL;
++  avcodec_get_supported_config(NULL, c, AV_CODEC_CONFIG_PIX_FORMAT, 0, (const void **) &pix_fmts, NULL);
++  if (c && pix_fmts) {
++#else
++  const enum AVPixelFormat *pix_fmts = c->pix_fmts;
++  if (c && pix_fmts) {
++#endif
++    for (const auto * p = pix_fmts; *p != AV_PIX_FMT_NONE; ++p) {
+       formats.push_back(*p);
+     }
+   }

patch/ros-jazzy-foxglove-bridge.win.patch

@@ -0,0 +1,35 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 715ce29..18d4865 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -14,6 +14,11 @@ project(foxglove_bridge LANGUAGES CXX VERSION 0.8.3)
+ set(CMAKE_CXX_STANDARD 17)
+ set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
++if(MSVC)
++  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
++  set(BUILD_SHARED_LIBS TRUE)
++endif()
++
+ macro(enable_strict_compiler_warnings target)
+   if (MSVC)
+     target_compile_options(${target} PRIVATE /WX /W4)
+@@ -77,7 +82,7 @@ add_library(foxglove_bridge_base SHARED
+   ${CMAKE_CURRENT_BINARY_DIR}/foxglove_bridge_base/src/version.cpp
+ )
+ target_include_directories(foxglove_bridge_base
+-  PUBLIC
++  SYSTEM PUBLIC
+     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/foxglove_bridge_base/include>
+     $<INSTALL_INTERFACE:include>
+ )
+@@ -92,7 +97,8 @@ if(nlohmann_json_FOUND)
+ else()
+   message(STATUS "nlohmann_json not found, will search at compile time")
+ endif()
+-enable_strict_compiler_warnings(foxglove_bridge_base)
++# enable_strict_compiler_warnings(foxglove_bridge_base)
++target_compile_definitions(foxglove_bridge_base PUBLIC _WEBSOCKETPP_CPP11_STL_)
+
+ message(STATUS "ROS_VERSION: " $ENV{ROS_VERSION})
+ message(STATUS "ROS_DISTRO: " $ENV{ROS_DISTRO})

patch/ros-jazzy-rosx-introspection.unix.patch

@@ -0,0 +1,23 @@
+diff --git a/src/ros_parser.cpp b/src/ros_parser.cpp
+index 40c161b..8a1523c 100644
+--- a/src/ros_parser.cpp
++++ b/src/ros_parser.cpp
+@@ -581,8 +581,7 @@ bool Parser::serializeFromJson(const std::string_view json_string,
+             }
+             else
+             {
+-              rapidjson::Value next_value = value_field->GetObject();
+-              serializeImpl(msg_node_child.get(), &next_value);
++              serializeImpl(msg_node_child.get(), value_field);
+             }
+           }
+           break;
+@@ -600,7 +599,7 @@ bool Parser::serializeFromJson(const std::string_view json_string,
+   auto root_msg =
+       _schema->field_tree.croot()->value()->getMessagePtr(_schema->msg_library);
+
+-  rapidjson::Value json_root = json_document.GetObject();
++  rapidjson::Value& json_root = json_document;
+   serializeImpl(root_msg.get(), &json_root);
+
+   return true;

patch/ros-jazzy-rosx-introspection.win.patch

@@ -0,0 +1,42 @@
+diff --git a/src/ros_parser.cpp b/src/ros_parser.cpp
+index 40c161b..8a1523c 100644
+--- a/src/ros_parser.cpp
++++ b/src/ros_parser.cpp
+@@ -581,8 +581,7 @@ bool Parser::serializeFromJson(const std::string_view json_string,
+             }
+             else
+             {
+-              rapidjson::Value next_value = value_field->GetObject();
+-              serializeImpl(msg_node_child.get(), &next_value);
++              serializeImpl(msg_node_child.get(), value_field);
+             }
+           }
+           break;
+@@ -600,7 +599,7 @@ bool Parser::serializeFromJson(const std::string_view json_string,
+   auto root_msg =
+       _schema->field_tree.croot()->value()->getMessagePtr(_schema->msg_library);
+
+-  rapidjson::Value json_root = json_document.GetObject();
++  rapidjson::Value& json_root = json_document;
+   serializeImpl(root_msg.get(), &json_root);
+
+   return true;
+
+diff --git a/src/ros_utils/message_definition_cache.cpp b/src/ros_utils/message_definition_cache.cpp
+index 7c4da1f..41b8f5e 100644
+--- a/src/ros_utils/message_definition_cache.cpp
++++ b/src/ros_utils/message_definition_cache.cpp
+@@ -22,3 +22,4 @@
++#include <functional>
+ #include <regex>
+ #include <set>
+ #include <string>
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 005588b..16a8b50 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -7,2 +7,3 @@ project(rosx_introspection LANGUAGES CXX VERSION 1.0.2)
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+

vinca_linux_64.yaml

@@ -88,5 +88,9 @@ packages_select_by_deps:
 
   - grid_map
 
+  - foxglove_bridge
+  - foxglove_compressed_video_transport
+  - foxglove_msgs
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_linux_aarch64.yaml

@@ -88,5 +88,9 @@ packages_select_by_deps:
 
   - grid_map
 
+  - foxglove_bridge
+  - foxglove_compressed_video_transport
+  - foxglove_msgs
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_osx.yaml

@@ -97,5 +97,9 @@ packages_select_by_deps:
 
   - grid_map
 
+  - foxglove_bridge
+  - foxglove_compressed_video_transport
+  - foxglove_msgs
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_osx_arm64.yaml

@@ -97,5 +97,9 @@ packages_select_by_deps:
 
   - grid_map
 
+  - foxglove_bridge
+  - foxglove_compressed_video_transport
+  - foxglove_msgs
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_win.yaml

@@ -98,6 +98,9 @@ packages_select_by_deps:
   - ament_cmake_mypy
   - rosbridge_suite
 
+  - foxglove_bridge
+  # - foxglove_compressed_video_transport
+  - foxglove_msgs
 
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml