From 468ca357dacb228609509623e09353027904f1c2 Mon Sep 17 00:00:00 2001 From: wep21 Date: Thu, 6 Feb 2025 12:45:06 +0900 Subject: [PATCH 1/4] feat: add grid map into linux and osx Signed-off-by: wep21 --- .../ros-jazzy-octomap/recipe.yaml | 20 ++++++++++++++ patch/dependencies.yaml | 4 +++ patch/ros-jazzy-grid-map-core.osx.patch | 27 +++++++++++++++++++ patch/ros-jazzy-octomap-rviz-plugins.patch | 13 +++++++++ vinca_linux_64.yaml | 2 ++ vinca_linux_aarch64.yaml | 2 +- vinca_osx.yaml | 2 +- vinca_osx_arm64.yaml | 2 ++ 8 files changed, 70 insertions(+), 2 deletions(-) create mode 100644 additional_recipes/ros-jazzy-octomap/recipe.yaml create mode 100644 patch/ros-jazzy-grid-map-core.osx.patch create mode 100644 patch/ros-jazzy-octomap-rviz-plugins.patch diff --git a/additional_recipes/ros-jazzy-octomap/recipe.yaml b/additional_recipes/ros-jazzy-octomap/recipe.yaml new file mode 100644 index 00000000..26020fa7 --- /dev/null +++ b/additional_recipes/ros-jazzy-octomap/recipe.yaml @@ -0,0 +1,20 @@ +package: + name: ros-jazzy-octomap + version: "1.10.0" + +build: + number: 0 + +requirements: + run: + - octomap 1.10.* + + +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/patch/dependencies.yaml b/patch/dependencies.yaml index f545d18e..aeda87d2 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -231,6 +231,10 @@ gz_ros2_control: add_host: ["REQUIRE_OPENGL"] gz_ros2_control_demos: add_host: ["REQUIRE_OPENGL"] +octomap_ros: + add_host: ["octomap"] +octomap_rviz_plugins: + add_host: ["octomap"] zenoh_cpp_vendor: add_host: ["libzenohc", "libzenohcxx"] rmw_zenoh_cpp: diff --git a/patch/ros-jazzy-grid-map-core.osx.patch b/patch/ros-jazzy-grid-map-core.osx.patch new file mode 100644 index 00000000..c64df277 --- /dev/null +++ b/patch/ros-jazzy-grid-map-core.osx.patch @@ -0,0 +1,27 @@ +diff --git a/include/grid_map_core/BufferRegion.hpp b/include/grid_map_core/BufferRegion.hpp +index fbe2d20..873b4b6 100644 +--- a/include/grid_map_core/BufferRegion.hpp ++++ b/include/grid_map_core/BufferRegion.hpp +@@ -39,6 +39,8 @@ public: + BufferRegion( + const Index & startIndex, const Size & size, + const BufferRegion::Quadrant & quadrant); ++ BufferRegion(const BufferRegion & other) = default; ++ BufferRegion & operator=(const BufferRegion & other) = default; + virtual ~BufferRegion() = default; + + const Index & getStartIndex() const; +diff --git a/include/grid_map_core/Polygon.hpp b/include/grid_map_core/Polygon.hpp +index 9d7ad27..a02b133 100644 +--- a/include/grid_map_core/Polygon.hpp ++++ b/include/grid_map_core/Polygon.hpp +@@ -40,6 +40,9 @@ public: + */ + explicit Polygon(std::vector vertices); + ++ Polygon(const Polygon & other) = default; ++ Polygon & operator=(const Polygon & other) = default; ++ + /*! + * Destructor. + */ diff --git a/patch/ros-jazzy-octomap-rviz-plugins.patch b/patch/ros-jazzy-octomap-rviz-plugins.patch new file mode 100644 index 00000000..8b5bf64d --- /dev/null +++ b/patch/ros-jazzy-octomap-rviz-plugins.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 2bdfa4d..c16ebcc 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -33,7 +33,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED + + target_link_libraries(${PROJECT_NAME} + Qt5::Widgets +- ${OCTOMAP_LIBRARIES} ++ octomap + ) + + target_include_directories(${PROJECT_NAME} PUBLIC diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml index dd213ed0..cbd736e4 100644 --- a/vinca_linux_64.yaml +++ b/vinca_linux_64.yaml @@ -85,5 +85,7 @@ packages_select_by_deps: - ament_cmake_mypy - rosbridge_suite + - grid_map + patch_dir: patch rosdistro_snapshot: rosdistro_snapshot.yaml diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml index 1ede6068..3145f45d 100644 --- a/vinca_linux_aarch64.yaml +++ b/vinca_linux_aarch64.yaml @@ -83,8 +83,8 @@ packages_select_by_deps: - flex_sync - ament_cmake_mypy - - rosbridge_suite + - grid_map patch_dir: patch rosdistro_snapshot: rosdistro_snapshot.yaml diff --git a/vinca_osx.yaml b/vinca_osx.yaml index 471e0e0c..7795ee6a 100644 --- a/vinca_osx.yaml +++ b/vinca_osx.yaml @@ -94,7 +94,7 @@ packages_select_by_deps: - ament_cmake_mypy - rosbridge_suite - + - grid_map patch_dir: patch rosdistro_snapshot: rosdistro_snapshot.yaml diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml index 19602a77..7ee2cf17 100644 --- a/vinca_osx_arm64.yaml +++ b/vinca_osx_arm64.yaml @@ -94,5 +94,7 @@ packages_select_by_deps: - rosbridge_suite + - grid_map + patch_dir: patch rosdistro_snapshot: rosdistro_snapshot.yaml From 349944409f0e6c256ac3e395f3b2975af4b3fe5c Mon Sep 17 00:00:00 2001 From: wep21 Date: Sat, 15 Feb 2025 12:49:08 +0900 Subject: [PATCH 2/4] add patch for grid map pcl Signed-off-by: wep21 --- patch/ros-jazzy-grid-map-pcl.osx.patch | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 patch/ros-jazzy-grid-map-pcl.osx.patch diff --git a/patch/ros-jazzy-grid-map-pcl.osx.patch b/patch/ros-jazzy-grid-map-pcl.osx.patch new file mode 100644 index 00000000..f11aff31 --- /dev/null +++ b/patch/ros-jazzy-grid-map-pcl.osx.patch @@ -0,0 +1,16 @@ +diff --git a/include/grid_map_pcl/helpers.hpp b/include/grid_map_pcl/helpers.hpp +index f3d9f38..fc94637 100644 +--- a/include/grid_map_pcl/helpers.hpp ++++ b/include/grid_map_pcl/helpers.hpp +@@ -42,7 +42,11 @@ void saveGridMap( + const std::string & mapTopic); + + inline void printTimeElapsedToRosInfoStream( ++#if defined(__APPLE__) ++ const std::chrono::steady_clock::time_point & start, ++#else + const std::chrono::system_clock::time_point & start, ++#endif + const std::string & prefix, + const rclcpp::Logger & node_logger) + { From ec89e04ada4217c2e775516abae159809217df93 Mon Sep 17 00:00:00 2001 From: wep21 Date: Sun, 16 Feb 2025 00:47:45 +0900 Subject: [PATCH 3/4] fix merge Signed-off-by: wep21 --- vinca_linux_aarch64.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml index 3145f45d..cbd736e4 100644 --- a/vinca_linux_aarch64.yaml +++ b/vinca_linux_aarch64.yaml @@ -83,6 +83,7 @@ packages_select_by_deps: - flex_sync - ament_cmake_mypy + - rosbridge_suite - grid_map From b9270740ff79cc6f25d9a4ab0ad95065486cd268 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 17 Feb 2025 22:53:42 +0900 Subject: [PATCH 4/4] add octomap into skip_by_deps Signed-off-by: wep21 --- vinca_linux_64.yaml | 1 + vinca_linux_aarch64.yaml | 1 + vinca_osx.yaml | 1 + vinca_osx_arm64.yaml | 1 + vinca_win.yaml | 1 + 5 files changed, 5 insertions(+) diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml index cbd736e4..43e50e89 100644 --- a/vinca_linux_64.yaml +++ b/vinca_linux_64.yaml @@ -21,6 +21,7 @@ packages_skip_by_deps: - urdfdom - urdfdom_headers - urdfdom_py + - octomap packages_remove_from_deps: - cartographer diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml index cbd736e4..43e50e89 100644 --- a/vinca_linux_aarch64.yaml +++ b/vinca_linux_aarch64.yaml @@ -21,6 +21,7 @@ packages_skip_by_deps: - urdfdom - urdfdom_headers - urdfdom_py + - octomap packages_remove_from_deps: - cartographer diff --git a/vinca_osx.yaml b/vinca_osx.yaml index 7795ee6a..8bd419f8 100644 --- a/vinca_osx.yaml +++ b/vinca_osx.yaml @@ -25,6 +25,7 @@ packages_skip_by_deps: - rttest - tlsf - tlsf_cpp + - octomap packages_remove_from_deps: - cartographer diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml index 7ee2cf17..e08c8404 100644 --- a/vinca_osx_arm64.yaml +++ b/vinca_osx_arm64.yaml @@ -25,6 +25,7 @@ packages_skip_by_deps: - rttest - tlsf - tlsf_cpp + - octomap packages_remove_from_deps: - cartographer diff --git a/vinca_win.yaml b/vinca_win.yaml index de79de68..3e052720 100644 --- a/vinca_win.yaml +++ b/vinca_win.yaml @@ -25,6 +25,7 @@ packages_skip_by_deps: - tlsf - tlsf_cpp - pendulum_control + - octomap packages_remove_from_deps: - cartographer