Add foxglove_bridge package (#345)

* Add ros-foxglove-bridge package * Fix name * Add patch for actionlib to use missing boost::placeholders namespace The patch comes from ros/actionlib@d675dd7. You can retrieve the patch by adding `.patch` to the url. * remove windows build * Add patch for ros-babel-fish * kick ci * Only rebuild selected packages (including actionlib) * Remove old channel * Add babel-fish-test-msgs * babel-fish-test-msgs -> ros-babel-fish-test-msgs * Add websocketpp mapping * Add websocketpp mapping * testpr workflow: Set ROS_VERSION to 1 * fix malformed ros-babel-fish patch * Update ros-babel-fish patch * Update ros-babel-fish patch * Update actionlib patch (whitespace changes) * Update ros-babel-fish patch * Update ros-babel-fish patch * Update ros-babel-fish patch * Update ros-babel-fish patch * Add patch for foxglove-bridge * Update foxglove-bridge patch * Update foxglove-bridge patch * Update ros-babel-fish patch * Update foxglove-bridge patch * Update ros-babel-fish patch * update patches * Update ros-babel-fish patch * Update foxglove-bridge patch * Update foxglove-bridge patch * Update foxglove-bridge patch * Update foxglove-bridge patch * Update ros-noetic-foxglove-bridge.patch --------- Co-authored-by: Hans-Joachim Krauch <[email protected]> Co-authored-by: Tobias Fischer <[email protected]> Co-authored-by: Hans-Joachim Krauch <[email protected]>
RoboStack · Mar 11, 2023 · 1f7fd77 · 1f7fd77
1 parent c81602b
commit 1f7fd77
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diff --git a/.github/testpr_environment.yml b/.github/testpr_environment.yml
@@ -1,6 +1,5 @@
 name: testpr_env
 channels:
-  - robostack
   - robostack-staging
   - conda-forge
 dependencies:

diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
@@ -2,6 +2,9 @@ on:
   pull_request:
     paths:
       - '*.yaml'
+
+env:
+  ROS_VERSION: 1
 
 jobs:
   build:

diff --git a/conda.yaml b/conda.yaml
@@ -898,6 +898,8 @@ uuid:
     win64: []
 virtualenv:
   conda: [virtualenv]
+libwebsocketpp-dev:
+  conda: [websocketpp]
 wget:
   conda: [wget]
 wx-common:

diff --git a/patch/ros-noetic-actionlib.patch b/patch/ros-noetic-actionlib.patch
@@ -0,0 +1,264 @@
+diff --git a/actionlib/include/actionlib/client/action_client.h b/actionlib/include/actionlib/client/action_client.h
+index 85b32dc..21d0102 100644
+--- a/actionlib/include/actionlib/client/action_client.h
++++ b/actionlib/include/actionlib/client/action_client.h
+@@ -236,17 +236,17 @@ private:
+
+     // Start publishers and subscribers
+     goal_pub_ = queue_advertise<ActionGoal>("goal", static_cast<uint32_t>(pub_queue_size),
+-        boost::bind(&ConnectionMonitor::goalConnectCallback, connection_monitor_, _1),
+-        boost::bind(&ConnectionMonitor::goalDisconnectCallback, connection_monitor_, _1),
++        boost::bind(&ConnectionMonitor::goalConnectCallback, connection_monitor_, boost::placeholders::_1),
++        boost::bind(&ConnectionMonitor::goalDisconnectCallback, connection_monitor_, boost::placeholders::_1),
+         queue);
+     cancel_pub_ =
+       queue_advertise<actionlib_msgs::GoalID>("cancel", static_cast<uint32_t>(pub_queue_size),
+-        boost::bind(&ConnectionMonitor::cancelConnectCallback, connection_monitor_, _1),
+-        boost::bind(&ConnectionMonitor::cancelDisconnectCallback, connection_monitor_, _1),
++        boost::bind(&ConnectionMonitor::cancelConnectCallback, connection_monitor_, boost::placeholders::_1),
++        boost::bind(&ConnectionMonitor::cancelDisconnectCallback, connection_monitor_, boost::placeholders::_1),
+         queue);
+
+-    manager_.registerSendGoalFunc(boost::bind(&ActionClientT::sendGoalFunc, this, _1));
+-    manager_.registerCancelFunc(boost::bind(&ActionClientT::sendCancelFunc, this, _1));
++    manager_.registerSendGoalFunc(boost::bind(&ActionClientT::sendGoalFunc, this, boost::placeholders::_1));
++    manager_.registerCancelFunc(boost::bind(&ActionClientT::sendCancelFunc, this, boost::placeholders::_1));
+   }
+
+   template<class M>
+@@ -275,7 +275,7 @@ private:
+     ops.datatype = ros::message_traits::datatype<M>();
+     ops.helper = ros::SubscriptionCallbackHelperPtr(
+       new ros::SubscriptionCallbackHelperT<const ros::MessageEvent<M const> &>(
+-        boost::bind(fp, obj, _1)
++        boost::bind(fp, obj, boost::placeholders::_1)
+       )
+       );
+     return n_.subscribe(ops);
+diff --git a/actionlib/include/actionlib/client/goal_manager_imp.h b/actionlib/include/actionlib/client/goal_manager_imp.h
+index 28f4979..4e3281b 100644
+--- a/actionlib/include/actionlib/client/goal_manager_imp.h
++++ b/actionlib/include/actionlib/client/goal_manager_imp.h
+@@ -74,7 +74,7 @@ ClientGoalHandle<ActionSpec> GoalManager<ActionSpec>::initGoal(const Goal & goal
+
+   boost::recursive_mutex::scoped_lock lock(list_mutex_);
+   typename ManagedListT::Handle list_handle =
+-    list_.add(comm_state_machine, boost::bind(&GoalManagerT::listElemDeleter, this, _1), guard_);
++    list_.add(comm_state_machine, boost::bind(&GoalManagerT::listElemDeleter, this, boost::placeholders::_1), guard_);
+
+   if (send_goal_func_) {
+     send_goal_func_(action_goal);
+diff --git a/actionlib/include/actionlib/client/simple_action_client.h b/actionlib/include/actionlib/client/simple_action_client.h
+index 436516f..02df1ae 100644
+--- a/actionlib/include/actionlib/client/simple_action_client.h
++++ b/actionlib/include/actionlib/client/simple_action_client.h
+@@ -330,8 +330,8 @@ void SimpleActionClient<ActionSpec>::sendGoal(const Goal & goal,
+   cur_simple_state_ = SimpleGoalState::PENDING;
+
+   // Send the goal to the ActionServer
+-  gh_ = ac_->sendGoal(goal, boost::bind(&SimpleActionClientT::handleTransition, this, _1),
+-      boost::bind(&SimpleActionClientT::handleFeedback, this, _1, _2));
++  gh_ = ac_->sendGoal(goal, boost::bind(&SimpleActionClientT::handleTransition, this, boost::placeholders::_1),
++      boost::bind(&SimpleActionClientT::handleFeedback, this, boost::placeholders::_1, boost::placeholders::_2));
+ }
+
+ template<class ActionSpec>
+diff --git a/actionlib/include/actionlib/managed_list.h b/actionlib/include/actionlib/managed_list.h
+index 2c91960..b2c4f89 100644
+--- a/actionlib/include/actionlib/managed_list.h
++++ b/actionlib/include/actionlib/managed_list.h
+@@ -218,7 +218,7 @@ private:
+    */
+   Handle add(const T & elem)
+   {
+-    return add(elem, boost::bind(&ManagedList<T>::defaultDeleter, this, _1) );
++    return add(elem, boost::bind(&ManagedList<T>::defaultDeleter, this, boost::placeholders::_1) );
+   }
+
+   /**
+diff --git a/actionlib/include/actionlib/one_shot_timer.h b/actionlib/include/actionlib/one_shot_timer.h
+index e3c821d..7839294 100644
+--- a/actionlib/include/actionlib/one_shot_timer.h
++++ b/actionlib/include/actionlib/one_shot_timer.h
+@@ -60,7 +60,7 @@ public:
+
+   boost::function<void(const ros::TimerEvent & e)> getCb()
+   {
+-    return boost::bind(&OneShotTimer::cb, this, _1);
++    return boost::bind(&OneShotTimer::cb, this, boost::placeholders::_1);
+   }
+
+   void registerOneShotCb(boost::function<void(const ros::TimerEvent & e)> callback)
+diff --git a/actionlib/include/actionlib/server/action_server_imp.h b/actionlib/include/actionlib/server/action_server_imp.h
+index 2a088b1..837b9c4 100644
+--- a/actionlib/include/actionlib/server/action_server_imp.h
++++ b/actionlib/include/actionlib/server/action_server_imp.h
+@@ -172,15 +172,15 @@ void ActionServer<ActionSpec>::initialize()
+
+   if (status_frequency > 0) {
+     status_timer_ = node_.createTimer(ros::Duration(1.0 / status_frequency),
+-        boost::bind(&ActionServer::publishStatus, this, _1));
++        boost::bind(&ActionServer::publishStatus, this, boost::placeholders::_1));
+   }
+
+   goal_sub_ = node_.subscribe<ActionGoal>("goal", static_cast<uint32_t>(sub_queue_size),
+-      boost::bind(&ActionServerBase<ActionSpec>::goalCallback, this, _1));
++      boost::bind(&ActionServerBase<ActionSpec>::goalCallback, this, boost::placeholders::_1));
+
+   cancel_sub_ =
+     node_.subscribe<actionlib_msgs::GoalID>("cancel", static_cast<uint32_t>(sub_queue_size),
+-      boost::bind(&ActionServerBase<ActionSpec>::cancelCallback, this, _1));
++      boost::bind(&ActionServerBase<ActionSpec>::cancelCallback, this, boost::placeholders::_1));
+ }
+
+ template<class ActionSpec>
+diff --git a/actionlib/include/actionlib/server/service_server_imp.h b/actionlib/include/actionlib/server/service_server_imp.h
+index ac5444d..2f0265e 100644
+--- a/actionlib/include/actionlib/server/service_server_imp.h
++++ b/actionlib/include/actionlib/server/service_server_imp.h
+@@ -58,7 +58,7 @@ ServiceServerImpT<ActionSpec>::ServiceServerImpT(ros::NodeHandle n, std::string
+ : service_cb_(service_cb)
+ {
+   as_ = boost::shared_ptr<ActionServer<ActionSpec> >(new ActionServer<ActionSpec>(n, name,
+-      boost::bind(&ServiceServerImpT::goalCB, this, _1), false));
++      boost::bind(&ServiceServerImpT::goalCB, this, boost::placeholders::_1), false));
+   as_->start();
+ }
+
+diff --git a/actionlib/include/actionlib/server/simple_action_server_imp.h b/actionlib/include/actionlib/server/simple_action_server_imp.h
+index 0255515..a361cd7 100644
+--- a/actionlib/include/actionlib/server/simple_action_server_imp.h
++++ b/actionlib/include/actionlib/server/simple_action_server_imp.h
+@@ -56,8 +56,8 @@ SimpleActionServer<ActionSpec>::SimpleActionServer(std::string name,
+
+   // create the action server
+   as_ = boost::shared_ptr<ActionServer<ActionSpec> >(new ActionServer<ActionSpec>(n_, name,
+-      boost::bind(&SimpleActionServer::goalCallback, this, _1),
+-      boost::bind(&SimpleActionServer::preemptCallback, this, _1),
++      boost::bind(&SimpleActionServer::goalCallback, this, boost::placeholders::_1),
++      boost::bind(&SimpleActionServer::preemptCallback, this, boost::placeholders::_1),
+       auto_start));
+ }
+
+@@ -68,8 +68,8 @@ SimpleActionServer<ActionSpec>::SimpleActionServer(std::string name, bool auto_s
+ {
+   // create the action server
+   as_ = boost::shared_ptr<ActionServer<ActionSpec> >(new ActionServer<ActionSpec>(n_, name,
+-      boost::bind(&SimpleActionServer::goalCallback, this, _1),
+-      boost::bind(&SimpleActionServer::preemptCallback, this, _1),
++      boost::bind(&SimpleActionServer::goalCallback, this, boost::placeholders::_1),
++      boost::bind(&SimpleActionServer::preemptCallback, this, boost::placeholders::_1),
+       auto_start));
+
+   if (execute_callback_) {
+@@ -85,8 +85,8 @@ SimpleActionServer<ActionSpec>::SimpleActionServer(std::string name,
+ {
+   // create the action server
+   as_ = boost::shared_ptr<ActionServer<ActionSpec> >(new ActionServer<ActionSpec>(n_, name,
+-      boost::bind(&SimpleActionServer::goalCallback, this, _1),
+-      boost::bind(&SimpleActionServer::preemptCallback, this, _1),
++      boost::bind(&SimpleActionServer::goalCallback, this, boost::placeholders::_1),
++      boost::bind(&SimpleActionServer::preemptCallback, this, boost::placeholders::_1),
+       true));
+
+   if (execute_callback_) {
+@@ -104,8 +104,8 @@ SimpleActionServer<ActionSpec>::SimpleActionServer(ros::NodeHandle n, std::strin
+ {
+   // create the action server
+   as_ = boost::shared_ptr<ActionServer<ActionSpec> >(new ActionServer<ActionSpec>(n, name,
+-      boost::bind(&SimpleActionServer::goalCallback, this, _1),
+-      boost::bind(&SimpleActionServer::preemptCallback, this, _1),
++      boost::bind(&SimpleActionServer::goalCallback, this, boost::placeholders::_1),
++      boost::bind(&SimpleActionServer::preemptCallback, this, boost::placeholders::_1),
+       auto_start));
+
+   if (execute_callback_) {
+@@ -121,8 +121,8 @@ SimpleActionServer<ActionSpec>::SimpleActionServer(ros::NodeHandle n, std::strin
+ {
+   // create the action server
+   as_ = boost::shared_ptr<ActionServer<ActionSpec> >(new ActionServer<ActionSpec>(n, name,
+-      boost::bind(&SimpleActionServer::goalCallback, this, _1),
+-      boost::bind(&SimpleActionServer::preemptCallback, this, _1),
++      boost::bind(&SimpleActionServer::goalCallback, this, boost::placeholders::_1),
++      boost::bind(&SimpleActionServer::preemptCallback, this, boost::placeholders::_1),
+       auto_start));
+
+   if (execute_callback_) {
+@@ -138,8 +138,8 @@ SimpleActionServer<ActionSpec>::SimpleActionServer(ros::NodeHandle n, std::strin
+ {
+   // create the action server
+   as_ = boost::shared_ptr<ActionServer<ActionSpec> >(new ActionServer<ActionSpec>(n, name,
+-      boost::bind(&SimpleActionServer::goalCallback, this, _1),
+-      boost::bind(&SimpleActionServer::preemptCallback, this, _1),
++      boost::bind(&SimpleActionServer::goalCallback, this, boost::placeholders::_1),
++      boost::bind(&SimpleActionServer::preemptCallback, this, boost::placeholders::_1),
+       true));
+
+   if (execute_callback_) {
+diff --git a/actionlib/test/add_two_ints_server.cpp b/actionlib/test/add_two_ints_server.cpp
+index 098c315..84ddace 100644
+--- a/actionlib/test/add_two_ints_server.cpp
++++ b/actionlib/test/add_two_ints_server.cpp
+@@ -53,7 +53,7 @@ int main(int argc, char ** argv)
+
+   actionlib::ServiceServer service = actionlib::advertiseService<actionlib::TwoIntsAction>(n,
+       "add_two_ints",
+-      boost::bind(add, _1, _2));
++      boost::bind(add, boost::placeholders::_1, boost::placeholders::_2));
+
+   ros::spin();
+
+diff --git a/actionlib/test/ref_server.cpp b/actionlib/test/ref_server.cpp
+index 1da0ab5..7aede23 100644
+--- a/actionlib/test/ref_server.cpp
++++ b/actionlib/test/ref_server.cpp
+@@ -61,8 +61,8 @@ using namespace actionlib;
+
+ RefServer::RefServer(ros::NodeHandle & n, const std::string & name)
+ : ActionServer<TestAction>(n, name,
+-    boost::bind(&RefServer::goalCallback, this, _1),
+-    boost::bind(&RefServer::cancelCallback, this, _1),
++    boost::bind(&RefServer::goalCallback, this, boost::placeholders::_1),
++    boost::bind(&RefServer::cancelCallback, this, boost::placeholders::_1),
+     false)
+ {
+   start();
+diff --git a/actionlib/test/server_goal_handle_destruction.cpp b/actionlib/test/server_goal_handle_destruction.cpp
+index 9e179c7..ed12d2b 100644
+--- a/actionlib/test/server_goal_handle_destruction.cpp
++++ b/actionlib/test/server_goal_handle_destruction.cpp
+@@ -67,7 +67,7 @@ ServerGoalHandleDestructionTester::ServerGoalHandleDestructionTester()
+   as_ = new ActionServer<TestAction>(nh_, "reference_action", false);
+   as_->start();
+   as_->registerGoalCallback(boost::bind(&ServerGoalHandleDestructionTester::goalCallback, this,
+-    _1));
++    boost::placeholders::_1));
+   gh_ = new GoalHandle();
+ }
+
+diff --git a/actionlib/test/simple_client_test.cpp b/actionlib/test/simple_client_test.cpp
+index 341bbc9..ea40050 100644
+--- a/actionlib/test/simple_client_test.cpp
++++ b/actionlib/test/simple_client_test.cpp
+@@ -106,7 +106,7 @@ TEST(SimpleClient, easy_callback)
+
+   bool called = false;
+   goal.goal = 1;
+-  SimpleActionClient<TestAction>::SimpleDoneCallback func = boost::bind(&easyDoneCallback, &called, &client, _1, _2);
++  SimpleActionClient<TestAction>::SimpleDoneCallback func = boost::bind(&easyDoneCallback, &called, &client, boost::placeholders::_1, boost::placeholders::_2);
+   client.sendGoal(goal, func);
+   finished = client.waitForResult(ros::Duration(10.0));
+   ASSERT_TRUE(finished);
+diff --git a/actionlib/test/simple_execute_ref_server.cpp b/actionlib/test/simple_execute_ref_server.cpp
+index 57aa9cd..b663ec4 100644
+--- a/actionlib/test/simple_execute_ref_server.cpp
++++ b/actionlib/test/simple_execute_ref_server.cpp
+@@ -61,7 +61,7 @@ using namespace actionlib;
+
+ SimpleExecuteRefServer::SimpleExecuteRefServer()
+ : as_(nh_, "reference_action", boost::bind(&SimpleExecuteRefServer::executeCallback, this,
+-    _1), false)
++    boost::placeholders::_1), false)
+ {
+   as_.start();
+ }
diff --git a/patch/ros-noetic-foxglove-bridge.patch b/patch/ros-noetic-foxglove-bridge.patch
@@ -0,0 +1,53 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index efc65dc..994d91b 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -14,6 +14,11 @@ project(foxglove_bridge LANGUAGES CXX VERSION 0.5.1)
+ 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)
+   target_compile_options(${target} PRIVATE
+     $<$<CXX_COMPILER_ID:MSVC>:/WX /W4>
+@@ -47,7 +52,7 @@ add_library(foxglove_bridge_base SHARED
+   foxglove_bridge_base/src/test/test_client.cpp
+ )
+ target_include_directories(foxglove_bridge_base
+-  PUBLIC
++  SYSTEM PUBLIC
+     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/foxglove_bridge_base/include>
+     $<INSTALL_INTERFACE:include>
+ )
+@@ -62,7 +67,11 @@ 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_)
++
++set(ENV{ROS_VERSION} 1)
++set(ENV{ROS_DISTRO} noetic)
+
+ message(STATUS "ROS_VERSION: " $ENV{ROS_VERSION})
+ message(STATUS "ROS_DISTRO: " $ENV{ROS_DISTRO})
+diff --git a/ros1_foxglove_bridge/src/ros1_foxglove_bridge_nodelet.cpp b/ros1_foxglove_bridge/src/ros1_foxglove_bridge_nodelet.cpp
+index 83a8ab5..4022a8f 100644
+--- a/ros1_foxglove_bridge/src/ros1_foxglove_bridge_nodelet.cpp
++++ b/ros1_foxglove_bridge/src/ros1_foxglove_bridge_nodelet.cpp
+@@ -453,8 +453,8 @@ private:
+     try {
+       channelPublicationIt->second.publish(msg);
+     } catch (const std::exception& ex) {
+-      ROS_ERROR("Failed to publish message on topic '%s'",
+-                channelPublicationIt->second.getTopic().c_str());
++      ROS_ERROR("Failed to publish message on topic '%s': %s",
++                channelPublicationIt->second.getTopic().c_str(), ex.what());
+     }
+   }
+
-Original file line number
+Diff line change
@@ Expand Up / @@ -2,6 +2,9 @@ on: @@
       pull_request:
         paths:
           - '*.yaml'
+    env:
+      ROS_VERSION: 1
     jobs:
       build:
@@ Expand Down @@