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

conda_build_config.yaml

@@ -41,3 +41,8 @@ cxx_compiler:
 cxx_compiler_version:          # [unix]
   - 13                         # [linux]
   - 18                         # [osx]
+
+libzenohc:
+  - 1.1.1
+libzenohcxx:
+  - 1.1.1

patch/dependencies.yaml

@@ -227,3 +227,11 @@ gz_ogre_next_vendor:
   add_run: ["ogre-next"]
 rosx_introspection:
   add_host: ["rapidjson"]
+gz_ros2_control:
+  add_host: ["REQUIRE_OPENGL"]
+gz_ros2_control_demos:
+  add_host: ["REQUIRE_OPENGL"]
+zenoh_cpp_vendor:
+  add_host: ["libzenohc", "libzenohcxx"]
+rmw_zenoh_cpp:
+  add_host: ["libzenohc", "libzenohcxx"]

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

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

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

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

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

@@ -0,0 +1,17 @@
+diff --git a/gz_ros2_control/CMakeLists.txt b/gz_ros2_control/CMakeLists.txt
+index 196f62d5..a7bdfd01 100644
+--- a/gz_ros2_control/CMakeLists.txt
++++ b/gz_ros2_control/CMakeLists.txt
+@@ -24,6 +24,12 @@ find_package(pluginlib REQUIRED)
+ find_package(rclcpp REQUIRED)
+ find_package(yaml_cpp_vendor REQUIRED)
+
++# Compatibility with https://github.com/gazebosim/gz-cmake/blob/eb1c510e6278935eb742ed92c6a6d1388439f8bd/cmake/FindTINYXML2.cmake#L4
++if(NOT TARGET TINYXML2::TINYXML2)
++  add_library(TINYXML2::TINYXML2 INTERFACE IMPORTED)
++  set_property(TARGET tinyxml2::tinyxml2 PROPERTY INTERFACE_LINK_LIBRARIES tinyxml2::tinyxml2)
++endif()
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+ find_package(gz_sim_vendor REQUIRED)
+ find_package(gz-sim REQUIRED)
+

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

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

patch/ros-jazzy-joint-trajectory-controller.win.patch

@@ -0,0 +1,25 @@
+diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
+index 111837cc17..df3b192c6d 100644
+--- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
++++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
+@@ -271,6 +271,7 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
+     const rclcpp::Time & time, const JointTrajectoryPoint & desired_state,
+     const JointTrajectoryPoint & current_state, const JointTrajectoryPoint & state_error);
+
++  JOINT_TRAJECTORY_CONTROLLER_PUBLIC
+   void read_state_from_state_interfaces(JointTrajectoryPoint & state);
+
+   /** Assign values from the command interfaces as state.
+@@ -279,9 +280,12 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
+    * @param[out] state to be filled with values from command interfaces.
+    * @return true if all interfaces exists and contain non-NaN values, false otherwise.
+    */
++  JOINT_TRAJECTORY_CONTROLLER_PUBLIC
+   bool read_state_from_command_interfaces(JointTrajectoryPoint & state);
++  JOINT_TRAJECTORY_CONTROLLER_PUBLIC
+   bool read_commands_from_command_interfaces(JointTrajectoryPoint & commands);
+
++  JOINT_TRAJECTORY_CONTROLLER_PUBLIC
+   void query_state_service(
+     const std::shared_ptr<control_msgs::srv::QueryTrajectoryState::Request> request,
+     std::shared_ptr<control_msgs::srv::QueryTrajectoryState::Response> response);

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

@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index afeadae..c1cc640 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,6 +5,10 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ endif()
+
++# using this instead of visibility macros
++# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++
+ set(THIS_PACKAGE_INCLUDE_DEPENDS
+   kdl_parser
+   kinematics_interface

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

@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 88eaf9e..f0dbffd 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,6 +5,10 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ endif()
+
++# using this instead of visibility macros
++# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++
+ set(THIS_PACKAGE_INCLUDE_DEPENDS
+   rclcpp
+   rclcpp_lifecycle

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

@@ -0,0 +1,59 @@
+
+diff --git a/moveit_ros/moveit_servo/demos/servo_keyboard_input.cpp b/moveit_ros/moveit_servo/demos/servo_keyboard_input.cpp
+index 8a6507c569..9c5d0805a6 100644
+--- a/moveit_ros/moveit_servo/demos/servo_keyboard_input.cpp
++++ b/moveit_ros/moveit_servo/demos/servo_keyboard_input.cpp
+@@ -45,8 +45,12 @@
+ #include <rclcpp/rclcpp.hpp>
+ #include <signal.h>
+ #include <stdio.h>
++#ifndef WIN32
+ #include <termios.h>
+ #include <unistd.h>
++#else
++#include <conio.h>
++#endif
+
+ // Define used keys
+ namespace
+@@ -88,6 +92,7 @@ class KeyboardReader
+ public:
+   KeyboardReader() : file_descriptor_(0)
+   {
++#ifndef WIN32
+     // get the console in raw mode
+     tcgetattr(file_descriptor_, &cooked_);
+     struct termios raw;
+@@ -97,23 +102,32 @@ class KeyboardReader
+     raw.c_cc[VEOL] = 1;
+     raw.c_cc[VEOF] = 2;
+     tcsetattr(file_descriptor_, TCSANOW, &raw);
++#endif
+   }
+   void readOne(char* c)
+   {
++#ifndef WIN32
+     int rc = read(file_descriptor_, c, 1);
+     if (rc < 0)
+     {
+       throw std::runtime_error("read failed");
+     }
++#else
++    *c = static_cast<char>(_getch());
++#endif
+   }
+   void shutdown()
+   {
++#ifndef WIN32
+     tcsetattr(file_descriptor_, TCSANOW, &cooked_);
++#endif
+   }
+
+ private:
+   int file_descriptor_;
++#ifndef WIN32
+   struct termios cooked_;
++#endif
+ };
+
+ // Converts key-presses to Twist or Jog commands for Servo, in lieu of a controller

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

@@ -0,0 +1,15 @@
+diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt
+index fc79d54b7c..2e80ed198f 100644
+--- a/steering_controllers_library/CMakeLists.txt
++++ b/steering_controllers_library/CMakeLists.txt
+@@ -7,6 +7,10 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+                       -Werror=missing-braces)
+ endif()
+
++# using this instead of visibility macros
++# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++
+ # find dependencies
+ set(THIS_PACKAGE_INCLUDE_DEPENDS
+   control_msgs

patch/ros-jazzy-tinyxml2-vendor.patch

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

patch/ros-jazzy-ur-calibration.win.patch

@@ -0,0 +1,31 @@
+diff --git a/ur_calibration/CMakeLists.txt b/ur_calibration/CMakeLists.txt
+index 0b17e4d5f..31c63864f 100644
+--- a/ur_calibration/CMakeLists.txt
++++ b/ur_calibration/CMakeLists.txt
+@@ -2,10 +2,9 @@ cmake_minimum_required(VERSION 3.5)
+ project(ur_calibration)
+
+ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+-  add_compile_options(-Wall -Wextra -Wpedantic)
++  add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)
+ endif()
+-
+-add_compile_options(-Wno-unused-parameter)
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+   message("${PROJECT_NAME}: You did not request a specific build type: selecting 'RelWithDebInfo'.")
+
+diff --git a/ur_calibration/CMakeLists.txt b/ur_calibration/CMakeLists.txt
+index 0b17e4d5f..8b8bbf871 100644
+--- a/ur_calibration/CMakeLists.txt
++++ b/ur_calibration/CMakeLists.txt
+@@ -37,7 +37,7 @@ target_include_directories(calibration
+     ${YAML_CPP_INCLUDE_DIRS}
+ )
+ target_link_libraries(calibration
+-  ${YAML_CPP_LIBRARIES}
++  yaml-cpp::yaml-cpp
+ )
+ ament_target_dependencies(calibration
+   rclcpp