More patches and small tweaks

conda-forge.yaml

@@ -342,9 +342,7 @@ python-pycryptodome:
 python3-pycryptodome:
   conda-forge: ['pycryptodome', 'pycryptodomex']
 graphviz:
-  # disabling graphviz for now, to make tf build without conflicts
-  # conda-forge: ['graphviz']
-  conda-forge: []
+  conda-forge: ['graphviz']
 uuid:
   conda-forge:
     win64: []
@@ -444,4 +442,6 @@ libfreenect-dev:
 libopenni-dev:
   conda-forge: []
 tango-icon-theme:
-  conda-forge: []
+  conda-forge: []
+ffmpeg:
+  conda-forge: [ffmpeg]

conda_build_config.yaml

@@ -88,12 +88,8 @@ rust_compiler_version:
   - 1.40.0
 
 
-macos_min_version:             # [osx]
-  - 10.9                       # [osx]
 macos_machine:                 # [osx]
   - x86_64-apple-darwin13.4.0  # [osx]
-MACOSX_DEPLOYMENT_TARGET:      # [osx]
-  - 10.9                       # [osx]
 target_platform:               # [win]
   - win-64                     # [win]
 VERBOSE_AT:
@@ -622,3 +618,10 @@ zlib:
   - 1.2
 zstd:
   - 1.4.4
+
+
+# Project overrides
+macos_min_version:             # [osx]
+  - 10.14                      # [osx]
+MACOSX_DEPLOYMENT_TARGET:      # [osx]
+  - 10.14                      # [osx]

patch/ros-noetic-actionlib-tutorials.patch

@@ -0,0 +1,43 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b57958c..e997f15 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -25,16 +25,25 @@ include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+ ## Averaging server
+ add_executable(averaging_server src/averaging_server.cpp)
+ target_link_libraries(averaging_server ${catkin_LIBRARIES})
++if(UNIX AND NOT APPLE)
++    target_link_libraries(averaging_server rt)
++endif()
+ add_dependencies(averaging_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+ ## Averaging client
+ add_executable(averaging_client src/averaging_client.cpp)
+ target_link_libraries(averaging_client ${catkin_LIBRARIES} ${Boost_LIBRARIES})
++if(UNIX AND NOT APPLE)
++    target_link_libraries(averaging_client rt)
++endif()
+ add_dependencies(averaging_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+ ## Fibonacci server
+ add_executable(fibonacci_server src/fibonacci_server.cpp)
+ target_link_libraries(fibonacci_server ${catkin_LIBRARIES})
++if(UNIX AND NOT APPLE)
++    target_link_libraries(fibonacci_server rt)
++endif()
+ add_dependencies(fibonacci_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+ ## Fibonacci clients
+@@ -44,6 +53,11 @@ add_executable(fibonacci_class_client src/fibonacci_class_client.cpp)
+ target_link_libraries(fibonacci_client ${catkin_LIBRARIES})
+ target_link_libraries(fibonacci_callback_client ${catkin_LIBRARIES})
+ target_link_libraries(fibonacci_class_client ${catkin_LIBRARIES})
++if(UNIX AND NOT APPLE)
++    target_link_libraries(fibonacci_client rt)
++    target_link_libraries(fibonacci_callback_client rt)
++    target_link_libraries(fibonacci_class_client rt)
++endif()
+ if(catkin_EXPORTED_TARGETS)
+   add_dependencies(fibonacci_client ${catkin_EXPORTED_TARGETS})
+   add_dependencies(fibonacci_callback_client ${catkin_EXPORTED_TARGETS})
+

patch/ros-noetic-catkin.patch

@@ -1,3 +1,34 @@
+diff --git a/cmake/empy.cmake b/cmake/empy.cmake
+index 22b7a0a..e648fdf 100644
+--- a/cmake/empy.cmake
++++ b/cmake/empy.cmake
+@@ -21,19 +21,13 @@ function(find_python_module module)
+ endfunction(find_python_module)
+
+ if(NOT EMPY_SCRIPT)
+-  find_program(EMPY_EXECUTABLE empy)
+-  if(NOT EMPY_EXECUTABLE)
+-    # On OSX, there's an em.py, but not an executable empy script
+-    find_python_module(em)
+-    if(NOT PY_EM)
+-      message(FATAL_ERROR "Unable to find either executable 'empy' or Python module 'em'... try installing the package 'python3-empy'")
+-    endif()
+-    # ensure to use cmake-style path separators on Windows
+-    file(TO_CMAKE_PATH "${PY_EM}" EMPY_SCRIPT)
+-  else()
+-    # ensure to use cmake-style path separators on Windows
+-    file(TO_CMAKE_PATH "${EMPY_EXECUTABLE}" EMPY_SCRIPT)
++  # On OSX, there's an em.py, but not an executable empy script
++  find_python_module(em)
++  if(NOT PY_EM)
++    message(FATAL_ERROR "Unable to find either executable 'empy' or Python module 'em'... try installing the package 'python3-empy'")
+   endif()
++  # ensure to use cmake-style path separators on Windows
++  file(TO_CMAKE_PATH "${PY_EM}" EMPY_SCRIPT)
+   set(EMPY_SCRIPT "${EMPY_SCRIPT}" CACHE STRING "Empy script" FORCE)
+ endif()
+ message(STATUS "Using empy: ${EMPY_SCRIPT}")
+
 diff --git a/cmake/catkin_package.cmake b/cmake/catkin_package.cmake
 index df36e236..475eb975 100644
 --- a/cmake/catkin_package.cmake

patch/ros-noetic-cv-bridge.patch

@@ -0,0 +1,70 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 839e2b6..6dac00e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -3,33 +3,13 @@ project(cv_bridge)
+
+ find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
+
+-if(NOT ANDROID)
+-  find_package(PythonLibs)
+-
+-  if(PYTHONLIBS_VERSION_STRING VERSION_LESS "3.8")
+-    # Debian Buster
+-    find_package(Boost REQUIRED python37)
+-  else()
+-    # Ubuntu Focal
+-    find_package(Boost REQUIRED python)
+-  endif()
+-else()
+-find_package(Boost REQUIRED)
+-endif()
+-
+-set(_opencv_version 4)
+-find_package(OpenCV 4 QUIET)
+-if(NOT OpenCV_FOUND)
+-  message(STATUS "Did not find OpenCV 4, trying OpenCV 3")
+-  set(_opencv_version 3)
+-endif()
++find_package(Boost REQUIRED python)
+
+-find_package(OpenCV ${_opencv_version4} REQUIRED
++find_package(OpenCV 4 REQUIRED
+   COMPONENTS
+     opencv_core
+     opencv_imgproc
+     opencv_imgcodecs
+-  CONFIG
+ )
+
+ catkin_package(
+
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index bddf90f..d104692 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -39,10 +39,13 @@ endif()
+ add_library(${PROJECT_NAME}_boost module.cpp module_opencv4.cpp)
+ target_link_libraries(${PROJECT_NAME}_boost ${Boost_LIBRARIES}
+                                             ${catkin_LIBRARIES}
+-                                            ${PYTHON_LIBRARIES}
+                                             ${PROJECT_NAME}
+ )
+
++if(NOT APPLE)
++  target_link_libraries(${PROJECT_NAME}_boost ${PYTHON_LIBRARIES})
++endif()
++
+ set_target_properties(${PROJECT_NAME}_boost PROPERTIES
+                       LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/${PROJECT_NAME}/boost/
+                       RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/${PROJECT_NAME}/boost/
+@@ -51,6 +54,8 @@ set_target_properties(${PROJECT_NAME}_boost PROPERTIES
+ if(APPLE)
+   set_target_properties(${PROJECT_NAME}_boost PROPERTIES
+                         SUFFIX ".so")
++  set_target_properties(${PROJECT_NAME}_boost PROPERTIES
++                        LINK_FLAGS "-undefined dynamic_lookup")
+ endif()
+ if(MSVC)
+   set_target_properties(${PROJECT_NAME}_boost PROPERTIES
+

patch/ros-noetic-interactive-marker-tutorials.patch

@@ -0,0 +1,45 @@
+diff --git a/scripts/menu.py b/scripts/menu.py
+index e2d1854..dc93108 100755
+--- a/scripts/menu.py
++++ b/scripts/menu.py
+@@ -29,6 +29,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+ """
+
++from __future__ import print_function
++
+ import rospy
+
+ from interactive_markers.interactive_marker_server import *
+@@ -68,7 +70,7 @@ def modeCb(feedback):
+
+     rospy.loginfo("Switching to menu entry #" + str(h_mode_last))
+     menu_handler.reApply( server )
+-    print "DONE"
++    print("DONE")
+     server.applyChanges()
+
+ def makeBox( msg ):
+diff --git a/scripts/simple_marker.py b/scripts/simple_marker.py
+index fe44c12..0d13c9a 100755
+--- a/scripts/simple_marker.py
++++ b/scripts/simple_marker.py
+@@ -29,6 +29,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+ """
+
++from __future__ import print_function
++
+ import rospy
+
+ from interactive_markers.interactive_marker_server import *
+@@ -36,7 +38,7 @@ from visualization_msgs.msg import *
+
+ def processFeedback(feedback):
+     p = feedback.pose.position
+-    print feedback.marker_name + " is now at " + str(p.x) + ", " + str(p.y) + ", " + str(p.z)
++    print(feedback.marker_name + " is now at " + str(p.x) + ", " + str(p.y) + ", " + str(p.z))
+
+ if __name__=="__main__":
+     rospy.init_node("simple_marker")
+

patch/ros-noetic-moveit-ros-planning-interface.patch

@@ -0,0 +1,33 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 55686b8ff..939a2ba68 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -18,13 +18,14 @@ find_package(catkin REQUIRED COMPONENTS
+   tf2_eigen
+   tf2_geometry_msgs
+   tf2_ros
+-  eigenpy
++  # eigenpy
+   roscpp
+   actionlib
+   rospy
+   rosconsole
+ )
+
++find_package(eigenpy REQUIRED)
+ find_package(PythonInterp REQUIRED)
+ find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIRED)
+
+diff --git a/move_group_interface/CMakeLists.txt b/move_group_interface/CMakeLists.txt
+index eacfa2aec..5a4c93fbb 100644
+--- a/move_group_interface/CMakeLists.txt
++++ b/move_group_interface/CMakeLists.txt
+@@ -6,7 +6,7 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_object
+ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
+
+ add_library(${MOVEIT_LIB_NAME}_python src/wrap_python_move_group.cpp)
+-target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} moveit_py_bindings_tools)
++target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} moveit_py_bindings_tools eigenpy::eigenpy)
+ add_dependencies(${MOVEIT_LIB_NAME}_python ${catkin_EXPORTED_TARGETS})
+ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_move_group_interface PREFIX "")

patch/ros-noetic-octomap.patch

@@ -0,0 +1,15 @@
+diff --git a/octomap/src/binvox2bt.cpp b/octomap/src/binvox2bt.cpp
+index 1e6358f..4b42210 100644
+--- a/octomap/src/binvox2bt.cpp
++++ b/octomap/src/binvox2bt.cpp
+@@ -229,8 +229,8 @@ int main(int argc, char **argv)
+         cout.flush();
+
+         // read voxel data
+-        byte value;
+-        byte count;
++        unsigned char value;
++        unsigned char count;
+         int index = 0;
+         int end_index = 0;
+         unsigned nr_voxels = 0;

patch/ros-noetic-ompl.patch

@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 071da5f..50c4506 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -175,8 +175,8 @@ find_program(R_EXEC R)
+
+ add_subdirectory(py-bindings)
+ add_subdirectory(src)
+-add_subdirectory(tests)
+-add_subdirectory(demos)
++# add_subdirectory(tests)
++# add_subdirectory(demos)
+ add_subdirectory(scripts)
+ add_subdirectory(doc)
+

patch/ros-noetic-python-qt-binding.patch

@@ -0,0 +1,14 @@
+diff --git a/cmake/sip_helper.cmake b/cmake/sip_helper.cmake
+index a055cf5..8932cb4 100644
+--- a/cmake/sip_helper.cmake
++++ b/cmake/sip_helper.cmake
+@@ -104,7 +104,7 @@ function(build_sip_binding PROJECT_NAME SIP_FILE)
+     if(WIN32)
+       set(MAKE_EXECUTABLE NMake.exe)
+     else()
+-      set(MAKE_EXECUTABLE "\$(MAKE)")
++      set(MAKE_EXECUTABLE make)
+     endif()
+
+     add_custom_command(
+

patch/ros-noetic-rosdep.patch

@@ -0,0 +1,18 @@
+diff --git a/src/rosdep2/sources_list.py b/src/rosdep2/sources_list.py
+index 70f7cb8..6cd317d 100644
+--- a/src/rosdep2/sources_list.py
++++ b/src/rosdep2/sources_list.py
+@@ -95,11 +95,7 @@ def get_sources_list_dirs(source_list_dir):
+ def get_sources_list_dir():
+     # base of where we read config files from
+     # TODO: windows
+-    if 0:
+-        # we can't use etc/ros because environment config does not carry over under sudo
+-        etc_ros = rospkg.get_etc_ros_dir()
+-    else:
+-        etc_ros = '/etc/ros'
++    etc_ros = os.environ.get('ROS_ETC_DIR', '/etc/ros')
+     # compute default system wide sources directory
+     sys_sources_list_dir = os.path.join(etc_ros, 'rosdep', SOURCES_LIST_DIR)
+     sources_list_dirs = get_sources_list_dirs(sys_sources_list_dir)
+