From c823d32c71c0763a0929bde527b099fb7065f9c1 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sun, 2 Aug 2026 00:37:18 +0200 Subject: [PATCH 01/48] Update Lyrical rosdistro snapshot --- rosdistro_snapshot.yaml | 2240 ++++++++++++++++++++++++++------------- 1 file changed, 1484 insertions(+), 756 deletions(-) diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml index 31d03af..e67a5bb 100644 --- a/rosdistro_snapshot.yaml +++ b/rosdistro_snapshot.yaml @@ -1,4 +1,4 @@ -# Snapshot generated by vinca-snapshot on 2026-06-09T09:34:16Z UTC for distro lyrical +# Snapshot generated by vinca-snapshot on 2026-08-01T22:36:49Z UTC for distro lyrical acado_vendor: tag: release/lyrical/acado_vendor/1.0.0-8 url: https://github.com/ros2-gbp/acado_vendor-release.git @@ -16,21 +16,21 @@ ackermann_nlmpc_msgs: url: https://github.com/ros2-gbp/ackmerann_nlmpc-release.git version: 1.0.3 ackermann_steering_controller: - tag: release/lyrical/ackermann_steering_controller/6.7.0-1 + tag: release/lyrical/ackermann_steering_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 action_msgs: tag: release/lyrical/action_msgs/2.4.5-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git version: 2.4.5 action_tutorials_cpp: - tag: release/lyrical/action_tutorials_cpp/0.37.8-3 + tag: release/lyrical/action_tutorials_cpp/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 action_tutorials_py: - tag: release/lyrical/action_tutorials_py/0.37.8-3 + tag: release/lyrical/action_tutorials_py/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 actuator_msgs: tag: release/lyrical/actuator_msgs/0.0.1-5 url: https://github.com/ros2-gbp/actuator_msgs-release.git @@ -40,17 +40,21 @@ adaptive_component: url: https://github.com/ros2-gbp/adaptive_component-release.git version: 0.2.1 admittance_controller: - tag: release/lyrical/admittance_controller/6.7.0-1 + tag: release/lyrical/admittance_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 +agni_tf_tools: + tag: release/lyrical/agni_tf_tools/1.0.0-1 + url: https://github.com/ros2-gbp/agni_tf_tools-release.git + version: 1.0.0 ament_acceleration: tag: release/lyrical/ament_acceleration/0.2.0-6 url: https://github.com/ros2-gbp/ament_acceleration-release.git version: 0.2.0 ament_black: - tag: release/lyrical/ament_black/0.2.6-3 + tag: release/lyrical/ament_black/0.2.7-1 url: https://github.com/ros2-gbp/ament_black-release.git - version: 0.2.6 + version: 0.2.7 ament_clang_format: tag: release/lyrical/ament_clang_format/0.20.6-1 url: https://github.com/ros2-gbp/ament_lint-release.git @@ -60,17 +64,17 @@ ament_clang_tidy: url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.20.6 ament_cmake: - tag: release/lyrical/ament_cmake/2.8.7-3 + tag: release/lyrical/ament_cmake/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_auto: - tag: release/lyrical/ament_cmake_auto/2.8.7-3 + tag: release/lyrical/ament_cmake_auto/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_black: - tag: release/lyrical/ament_cmake_black/0.2.6-3 + tag: release/lyrical/ament_cmake_black/0.2.7-1 url: https://github.com/ros2-gbp/ament_black-release.git - version: 0.2.6 + version: 0.2.7 ament_cmake_catch2: tag: release/lyrical/ament_cmake_catch2/1.5.0-3 url: https://github.com/ros2-gbp/ament_cmake_catch2-release.git @@ -88,9 +92,9 @@ ament_cmake_copyright: url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.20.6 ament_cmake_core: - tag: release/lyrical/ament_cmake_core/2.8.7-3 + tag: release/lyrical/ament_cmake_core/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_cppcheck: tag: release/lyrical/ament_cmake_cppcheck/0.20.6-1 url: https://github.com/ros2-gbp/ament_lint-release.git @@ -100,57 +104,57 @@ ament_cmake_cpplint: url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.20.6 ament_cmake_export_definitions: - tag: release/lyrical/ament_cmake_export_definitions/2.8.7-3 + tag: release/lyrical/ament_cmake_export_definitions/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_export_dependencies: - tag: release/lyrical/ament_cmake_export_dependencies/2.8.7-3 + tag: release/lyrical/ament_cmake_export_dependencies/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_export_include_directories: - tag: release/lyrical/ament_cmake_export_include_directories/2.8.7-3 + tag: release/lyrical/ament_cmake_export_include_directories/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_export_libraries: - tag: release/lyrical/ament_cmake_export_libraries/2.8.7-3 + tag: release/lyrical/ament_cmake_export_libraries/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_export_link_flags: - tag: release/lyrical/ament_cmake_export_link_flags/2.8.7-3 + tag: release/lyrical/ament_cmake_export_link_flags/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_export_targets: - tag: release/lyrical/ament_cmake_export_targets/2.8.7-3 + tag: release/lyrical/ament_cmake_export_targets/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_flake8: tag: release/lyrical/ament_cmake_flake8/0.20.6-1 url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.20.6 ament_cmake_gen_version_h: - tag: release/lyrical/ament_cmake_gen_version_h/2.8.7-3 + tag: release/lyrical/ament_cmake_gen_version_h/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_gmock: - tag: release/lyrical/ament_cmake_gmock/2.8.7-3 + tag: release/lyrical/ament_cmake_gmock/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_google_benchmark: - tag: release/lyrical/ament_cmake_google_benchmark/2.8.7-3 + tag: release/lyrical/ament_cmake_google_benchmark/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_gtest: - tag: release/lyrical/ament_cmake_gtest/2.8.7-3 + tag: release/lyrical/ament_cmake_gtest/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_include_directories: - tag: release/lyrical/ament_cmake_include_directories/2.8.7-3 + tag: release/lyrical/ament_cmake_include_directories/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_libraries: - tag: release/lyrical/ament_cmake_libraries/2.8.7-3 + tag: release/lyrical/ament_cmake_libraries/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_lint_cmake: tag: release/lyrical/ament_cmake_lint_cmake/0.20.6-1 url: https://github.com/ros2-gbp/ament_lint-release.git @@ -176,13 +180,13 @@ ament_cmake_pyflakes: url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.20.6 ament_cmake_pytest: - tag: release/lyrical/ament_cmake_pytest/2.8.7-3 + tag: release/lyrical/ament_cmake_pytest/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_python: - tag: release/lyrical/ament_cmake_python/2.8.7-3 + tag: release/lyrical/ament_cmake_python/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_ros: tag: release/lyrical/ament_cmake_ros/0.15.8-1 url: https://github.com/ros2-gbp/ament_cmake_ros-release.git @@ -192,25 +196,25 @@ ament_cmake_ros_core: url: https://github.com/ros2-gbp/ament_cmake_ros-release.git version: 0.15.8 ament_cmake_target_dependencies: - tag: release/lyrical/ament_cmake_target_dependencies/2.8.7-3 + tag: release/lyrical/ament_cmake_target_dependencies/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_test: - tag: release/lyrical/ament_cmake_test/2.8.7-3 + tag: release/lyrical/ament_cmake_test/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_uncrustify: tag: release/lyrical/ament_cmake_uncrustify/0.20.6-1 url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.20.6 ament_cmake_vendor_package: - tag: release/lyrical/ament_cmake_vendor_package/2.8.7-3 + tag: release/lyrical/ament_cmake_vendor_package/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_version: - tag: release/lyrical/ament_cmake_version/2.8.7-3 + tag: release/lyrical/ament_cmake_version/2.8.8-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.8.7 + version: 2.8.8 ament_cmake_xmllint: tag: release/lyrical/ament_cmake_xmllint/0.20.6-1 url: https://github.com/ros2-gbp/ament_lint-release.git @@ -360,13 +364,13 @@ aruco_msgs: url: https://github.com/ros2-gbp/aruco_ros-release.git version: 5.0.5 aruco_opencv: - tag: release/lyrical/aruco_opencv/6.1.2-1 + tag: release/lyrical/aruco_opencv/7.0.0-1 url: https://github.com/ros2-gbp/aruco_opencv-release.git - version: 6.1.2 + version: 7.0.0 aruco_opencv_msgs: - tag: release/lyrical/aruco_opencv_msgs/6.1.2-1 + tag: release/lyrical/aruco_opencv_msgs/7.0.0-1 url: https://github.com/ros2-gbp/aruco_opencv-release.git - version: 6.1.2 + version: 7.0.0 aruco_ros: tag: release/lyrical/aruco_ros/5.0.5-3 url: https://github.com/ros2-gbp/aruco_ros-release.git @@ -383,6 +387,22 @@ at_sonde_ros_driver: tag: release/lyrical/at_sonde_ros_driver/1.0.0-3 url: https://github.com/ros2-gbp/at_sonde_ros_driver-release.git version: 1.0.0 +audio_capture: + tag: release/lyrical/audio_capture/0.4.0-2 + url: https://github.com/ros2-gbp/audio_common-release.git + version: 0.4.0 +audio_common: + tag: release/lyrical/audio_common/0.4.0-2 + url: https://github.com/ros2-gbp/audio_common-release.git + version: 0.4.0 +audio_common_msgs: + tag: release/lyrical/audio_common_msgs/0.4.0-2 + url: https://github.com/ros2-gbp/audio_common-release.git + version: 0.4.0 +audio_play: + tag: release/lyrical/audio_play/0.4.0-2 + url: https://github.com/ros2-gbp/audio_common-release.git + version: 0.4.0 auto_apms_behavior_tree: tag: release/lyrical/auto_apms_behavior_tree/1.5.1-3 url: https://github.com/ros2-gbp/autoapms-release.git @@ -412,9 +432,9 @@ auto_apms_util: url: https://github.com/ros2-gbp/autoapms-release.git version: 1.5.1 automatika_embodied_agents: - tag: release/lyrical/automatika_embodied_agents/0.7.0-3 + tag: release/lyrical/automatika_embodied_agents/0.7.4-1 url: https://github.com/ros2-gbp/automatika_embodied_agents-release.git - version: 0.7.0 + version: 0.7.4 automatika_ros_sugar: tag: release/lyrical/automatika_ros_sugar/0.7.1-1 url: https://github.com/ros2-gbp/automatika_ros_sugar-release.git @@ -600,13 +620,13 @@ battery_state_rviz_overlay: url: https://github.com/ros2-gbp/ros_battery_monitoring-release.git version: 1.2.0 behaviortree_cpp: - tag: release/lyrical/behaviortree_cpp/4.9.0-3 + tag: release/lyrical/behaviortree_cpp/4.10.0-1 url: https://github.com/ros2-gbp/behaviortree_cpp_v4-release.git - version: 4.9.0 + version: 4.10.0 bicycle_steering_controller: - tag: release/lyrical/bicycle_steering_controller/6.7.0-1 + tag: release/lyrical/bicycle_steering_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 bno055: tag: release/lyrical/bno055/0.5.0-4 url: https://github.com/ros2-gbp/bno055-release.git @@ -644,9 +664,9 @@ builtin_interfaces: url: https://github.com/ros2-gbp/rcl_interfaces-release.git version: 2.4.5 camera_calibration: - tag: release/lyrical/camera_calibration/7.1.6-1 + tag: release/lyrical/camera_calibration/7.1.7-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 7.1.6 + version: 7.1.7 camera_calibration_parsers: tag: release/lyrical/camera_calibration_parsers/6.4.10-1 url: https://github.com/ros2-gbp/image_common-release.git @@ -732,17 +752,17 @@ cartographer_rviz: url: https://github.com/ros2-gbp/cartographer_ros-release.git version: 2.0.9003 cascade_lifecycle_msgs: - tag: release/lyrical/cascade_lifecycle_msgs/2.0.4-3 + tag: release/lyrical/cascade_lifecycle_msgs/2.0.6-1 url: https://github.com/ros2-gbp/cascade_lifecycle-release.git - version: 2.0.4 + version: 2.0.6 catch_ros2: tag: release/lyrical/catch_ros2/0.2.3-3 url: https://github.com/ros2-gbp/catch_ros2-release.git version: 0.2.3 chained_filter_controller: - tag: release/lyrical/chained_filter_controller/6.7.0-1 + tag: release/lyrical/chained_filter_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 chomp_motion_planner: tag: release/lyrical/chomp_motion_planner/2.14.1-3 url: https://github.com/ros2-gbp/moveit2-release.git @@ -760,9 +780,9 @@ clips_executive: url: https://github.com/ros2-gbp/clips_executive-release.git version: 0.1.3 clips_vendor: - tag: release/lyrical/clips_vendor/6.4.3-3 + tag: release/lyrical/clips_vendor/6.4.4-1 url: https://github.com/ros2-gbp/clips_vendor-release.git - version: 6.4.3 + version: 6.4.4 cm_topic_hardware_component: tag: release/lyrical/cm_topic_hardware_component/1.1.0-1 url: https://github.com/ros2-gbp/topic_based_hardware-release.git @@ -784,9 +804,9 @@ color_util: url: https://github.com/ros2-gbp/color_util-release.git version: 1.2.0 common_interfaces: - tag: release/lyrical/common_interfaces/5.9.2-3 + tag: release/lyrical/common_interfaces/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.9.2 + version: 5.9.3 compass_conversions: tag: release/lyrical/compass_conversions/3.0.3-1 url: https://github.com/ros2-gbp/compass-release.git @@ -796,21 +816,21 @@ compass_interfaces: url: https://github.com/ros2-gbp/compass-release.git version: 3.0.3 composition: - tag: release/lyrical/composition/0.37.8-3 + tag: release/lyrical/composition/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 composition_interfaces: tag: release/lyrical/composition_interfaces/2.4.5-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git version: 2.4.5 compressed_depth_image_transport: - tag: release/lyrical/compressed_depth_image_transport/6.2.5-1 + tag: release/lyrical/compressed_depth_image_transport/6.2.6-1 url: https://github.com/ros2-gbp/image_transport_plugins-release.git - version: 6.2.5 + version: 6.2.6 compressed_image_transport: - tag: release/lyrical/compressed_image_transport/6.2.5-1 + tag: release/lyrical/compressed_image_transport/6.2.6-1 url: https://github.com/ros2-gbp/image_transport_plugins-release.git - version: 6.2.5 + version: 6.2.6 console_bridge_vendor: tag: release/lyrical/console_bridge_vendor/1.9.1-3 url: https://github.com/ros2-gbp/console_bridge_vendor-release.git @@ -820,25 +840,25 @@ control_box_rst: url: https://github.com/ros2-gbp/control_box_rst-release.git version: 0.0.7 control_msgs: - tag: release/lyrical/control_msgs/6.9.0-3 + tag: release/lyrical/control_msgs/6.10.0-1 url: https://github.com/ros2-gbp/control_msgs-release.git - version: 6.9.0 + version: 6.10.0 control_toolbox: tag: release/lyrical/control_toolbox/6.3.0-3 url: https://github.com/ros2-gbp/control_toolbox-release.git version: 6.3.0 controller_interface: - tag: release/lyrical/controller_interface/6.7.1-1 + tag: release/lyrical/controller_interface/6.8.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.8.0 controller_manager: - tag: release/lyrical/controller_manager/6.7.1-1 + tag: release/lyrical/controller_manager/6.8.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.8.0 controller_manager_msgs: - tag: release/lyrical/controller_manager_msgs/6.7.1-1 + tag: release/lyrical/controller_manager_msgs/6.8.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.8.0 cras_bag_tools: tag: release/lyrical/cras_bag_tools/3.0.2-3 url: https://github.com/ros2-gbp/cras_ros_utils-release.git @@ -860,29 +880,33 @@ cras_topic_tools: url: https://github.com/ros2-gbp/cras_ros_utils-release.git version: 3.0.2 crazyflie: - tag: release/lyrical/crazyflie/1.0.4-1 + tag: release/lyrical/crazyflie/1.0.5-1 url: https://github.com/ros2-gbp/crazyswarm2-release.git - version: 1.0.4 + version: 1.0.5 +crazyflie_description: + tag: release/lyrical/crazyflie_description/1.0.5-1 + url: https://github.com/ros2-gbp/crazyswarm2-release.git + version: 1.0.5 crazyflie_examples: - tag: release/lyrical/crazyflie_examples/1.0.4-1 + tag: release/lyrical/crazyflie_examples/1.0.5-1 url: https://github.com/ros2-gbp/crazyswarm2-release.git - version: 1.0.4 + version: 1.0.5 crazyflie_interfaces: - tag: release/lyrical/crazyflie_interfaces/1.0.4-1 + tag: release/lyrical/crazyflie_interfaces/1.0.5-1 url: https://github.com/ros2-gbp/crazyswarm2-release.git - version: 1.0.4 + version: 1.0.5 crazyflie_py: - tag: release/lyrical/crazyflie_py/1.0.4-1 + tag: release/lyrical/crazyflie_py/1.0.5-1 url: https://github.com/ros2-gbp/crazyswarm2-release.git - version: 1.0.4 + version: 1.0.5 crazyflie_server_py: - tag: release/lyrical/crazyflie_server_py/1.0.4-1 + tag: release/lyrical/crazyflie_server_py/1.0.5-1 url: https://github.com/ros2-gbp/crazyswarm2-release.git - version: 1.0.4 + version: 1.0.5 crazyflie_sim: - tag: release/lyrical/crazyflie_sim/1.0.4-1 + tag: release/lyrical/crazyflie_sim/1.0.5-1 url: https://github.com/ros2-gbp/crazyswarm2-release.git - version: 1.0.4 + version: 1.0.5 crocoddyl: tag: release/lyrical/crocoddyl/3.2.0-5 url: https://github.com/ros2-gbp/crocoddyl-release.git @@ -988,9 +1012,29 @@ data_tamer_msgs: url: https://github.com/ros2-gbp/data_tamer-release.git version: 1.0.3 data_tamer_tools: - tag: release/lyrical/data_tamer_tools/0.4.0-3 + tag: release/lyrical/data_tamer_tools/0.10.0-1 url: https://github.com/ros2-gbp/data_tamer_tools-release.git - version: 0.4.0 + version: 0.10.0 +dataspeed_can: + tag: release/lyrical/dataspeed_can/2.0.7-1 + url: https://github.com/DataspeedInc-release/dataspeed_can-release.git + version: 2.0.7 +dataspeed_can_msg_filters: + tag: release/lyrical/dataspeed_can_msg_filters/2.0.7-1 + url: https://github.com/DataspeedInc-release/dataspeed_can-release.git + version: 2.0.7 +dataspeed_can_msgs: + tag: release/lyrical/dataspeed_can_msgs/2.0.7-1 + url: https://github.com/DataspeedInc-release/dataspeed_can-release.git + version: 2.0.7 +dataspeed_can_tools: + tag: release/lyrical/dataspeed_can_tools/2.0.7-1 + url: https://github.com/DataspeedInc-release/dataspeed_can-release.git + version: 2.0.7 +dataspeed_can_usb: + tag: release/lyrical/dataspeed_can_usb/2.0.7-1 + url: https://github.com/DataspeedInc-release/dataspeed_can-release.git + version: 2.0.7 delphi_esr_msgs: tag: release/lyrical/delphi_esr_msgs/4.0.0-5 url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git @@ -1004,21 +1048,21 @@ delphi_srr_msgs: url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git version: 4.0.0 demo_nodes_cpp: - tag: release/lyrical/demo_nodes_cpp/0.37.8-3 + tag: release/lyrical/demo_nodes_cpp/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 demo_nodes_cpp_native: - tag: release/lyrical/demo_nodes_cpp_native/0.37.8-3 + tag: release/lyrical/demo_nodes_cpp_native/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 demo_nodes_py: - tag: release/lyrical/demo_nodes_py/0.37.8-3 + tag: release/lyrical/demo_nodes_py/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 depth_image_proc: - tag: release/lyrical/depth_image_proc/7.1.6-1 + tag: release/lyrical/depth_image_proc/7.1.7-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 7.1.6 + version: 7.1.7 depthimage_to_laserscan: tag: release/lyrical/depthimage_to_laserscan/2.5.1-4 url: https://github.com/ros2-gbp/depthimage_to_laserscan-release.git @@ -1044,9 +1088,9 @@ diagnostic_common_diagnostics: url: https://github.com/ros2-gbp/diagnostics-release.git version: 4.4.7 diagnostic_msgs: - tag: release/lyrical/diagnostic_msgs/5.9.2-3 + tag: release/lyrical/diagnostic_msgs/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.9.2 + version: 5.9.3 diagnostic_remote_logging: tag: release/lyrical/diagnostic_remote_logging/4.4.7-1 url: https://github.com/ros2-gbp/diagnostics-release.git @@ -1060,9 +1104,9 @@ diagnostics: url: https://github.com/ros2-gbp/diagnostics-release.git version: 4.4.7 diff_drive_controller: - tag: release/lyrical/diff_drive_controller/6.7.0-1 + tag: release/lyrical/diff_drive_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 domain_coordinator: tag: release/lyrical/domain_coordinator/0.15.8-1 url: https://github.com/ros2-gbp/ament_cmake_ros-release.git @@ -1071,30 +1115,46 @@ draco_point_cloud_transport: tag: release/lyrical/draco_point_cloud_transport/6.2.0-1 url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git version: 6.2.0 +ds_dbw: + tag: release/lyrical/ds_dbw/2.4.0-1 + url: https://github.com/DataspeedInc-release/dbw_ros-release.git + version: 2.4.0 +ds_dbw_can: + tag: release/lyrical/ds_dbw_can/2.4.0-1 + url: https://github.com/DataspeedInc-release/dbw_ros-release.git + version: 2.4.0 +ds_dbw_joystick_demo: + tag: release/lyrical/ds_dbw_joystick_demo/2.4.0-1 + url: https://github.com/DataspeedInc-release/dbw_ros-release.git + version: 2.4.0 +ds_dbw_msgs: + tag: release/lyrical/ds_dbw_msgs/2.4.0-1 + url: https://github.com/DataspeedInc-release/dbw_ros-release.git + version: 2.4.0 dual_arm_panda_moveit_config: - tag: release/lyrical/dual_arm_panda_moveit_config/3.1.1-3 + tag: release/lyrical/dual_arm_panda_moveit_config/3.2.0-1 url: https://github.com/ros2-gbp/moveit_resources-release.git - version: 3.1.1 + version: 3.2.0 dual_laser_merger: tag: release/lyrical/dual_laser_merger/0.0.1-3 url: https://github.com/ros2-gbp/dual_laser_merger-release.git version: 0.0.1 dummy_map_server: - tag: release/lyrical/dummy_map_server/0.37.8-3 + tag: release/lyrical/dummy_map_server/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 dummy_robot_bringup: - tag: release/lyrical/dummy_robot_bringup/0.37.8-3 + tag: release/lyrical/dummy_robot_bringup/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 dummy_sensors: - tag: release/lyrical/dummy_sensors/0.37.8-3 + tag: release/lyrical/dummy_sensors/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 dynamixel_hardware: - tag: release/lyrical/dynamixel_hardware/0.6.0-3 + tag: release/lyrical/dynamixel_hardware/0.6.1-2 url: https://github.com/ros2-gbp/dynamixel_hardware-release.git - version: 0.6.0 + version: 0.6.1 dynamixel_hardware_interface: tag: release/lyrical/dynamixel_hardware_interface/1.5.1-3 url: https://github.com/ros2-gbp/dynamixel_hardware_interface-release.git @@ -1127,6 +1187,142 @@ dynamixel_workbench_toolbox: tag: release/lyrical/dynamixel_workbench_toolbox/2.2.5-3 url: https://github.com/ros2-gbp/dynamixel_workbench-release.git version: 2.2.5 +easynav: + tag: release/lyrical/easynav/0.4.2-2 + url: https://github.com/EasyNavigation/EasyNavigation-release.git + version: 0.4.2 +easynav_bonxai_maps_manager: + tag: release/lyrical/easynav_bonxai_maps_manager/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_common: + tag: release/lyrical/easynav_common/0.4.2-2 + url: https://github.com/EasyNavigation/EasyNavigation-release.git + version: 0.4.2 +easynav_controller: + tag: release/lyrical/easynav_controller/0.4.2-2 + url: https://github.com/EasyNavigation/EasyNavigation-release.git + version: 0.4.2 +easynav_core: + tag: release/lyrical/easynav_core/0.4.2-2 + url: https://github.com/EasyNavigation/EasyNavigation-release.git + version: 0.4.2 +easynav_costmap_common: + tag: release/lyrical/easynav_costmap_common/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_costmap_localizer: + tag: release/lyrical/easynav_costmap_localizer/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_costmap_maps_manager: + tag: release/lyrical/easynav_costmap_maps_manager/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_costmap_planner: + tag: release/lyrical/easynav_costmap_planner/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_fusion_localizer: + tag: release/lyrical/easynav_fusion_localizer/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_gps_localizer: + tag: release/lyrical/easynav_gps_localizer/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_interfaces: + tag: release/lyrical/easynav_interfaces/0.4.2-2 + url: https://github.com/EasyNavigation/EasyNavigation-release.git + version: 0.4.2 +easynav_localizer: + tag: release/lyrical/easynav_localizer/0.4.2-2 + url: https://github.com/EasyNavigation/EasyNavigation-release.git + version: 0.4.2 +easynav_maps_manager: + tag: release/lyrical/easynav_maps_manager/0.4.2-2 + url: https://github.com/EasyNavigation/EasyNavigation-release.git + version: 0.4.2 +easynav_mpc_controller: + tag: release/lyrical/easynav_mpc_controller/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_mppi_controller: + tag: release/lyrical/easynav_mppi_controller/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_navmap_localizer: + tag: release/lyrical/easynav_navmap_localizer/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_navmap_maps_manager: + tag: release/lyrical/easynav_navmap_maps_manager/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_navmap_planner: + tag: release/lyrical/easynav_navmap_planner/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_octomap_maps_manager: + tag: release/lyrical/easynav_octomap_maps_manager/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_planner: + tag: release/lyrical/easynav_planner/0.4.2-2 + url: https://github.com/EasyNavigation/EasyNavigation-release.git + version: 0.4.2 +easynav_regulated_pp_controller: + tag: release/lyrical/easynav_regulated_pp_controller/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_routes_maps_manager: + tag: release/lyrical/easynav_routes_maps_manager/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_sensors: + tag: release/lyrical/easynav_sensors/0.4.2-2 + url: https://github.com/EasyNavigation/EasyNavigation-release.git + version: 0.4.2 +easynav_serest_controller: + tag: release/lyrical/easynav_serest_controller/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_simple_common: + tag: release/lyrical/easynav_simple_common/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_simple_controller: + tag: release/lyrical/easynav_simple_controller/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_simple_localizer: + tag: release/lyrical/easynav_simple_localizer/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_simple_maps_manager: + tag: release/lyrical/easynav_simple_maps_manager/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_simple_planner: + tag: release/lyrical/easynav_simple_planner/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 +easynav_support_py: + tag: release/lyrical/easynav_support_py/0.4.2-2 + url: https://github.com/EasyNavigation/EasyNavigation-release.git + version: 0.4.2 +easynav_system: + tag: release/lyrical/easynav_system/0.4.2-2 + url: https://github.com/EasyNavigation/EasyNavigation-release.git + version: 0.4.2 +easynav_tools: + tag: release/lyrical/easynav_tools/0.4.2-2 + url: https://github.com/EasyNavigation/EasyNavigation-release.git + version: 0.4.2 +easynav_vff_controller: + tag: release/lyrical/easynav_vff_controller/0.4.2-2 + url: https://github.com/EasyNavigation/easynav_plugins-release.git + version: 0.4.2 ecl_build: tag: release/lyrical/ecl_build/1.0.3-6 url: https://github.com/ros2-gbp/ecl_tools-release.git @@ -1400,9 +1596,9 @@ examples_rclpy_pointcloud_publisher: url: https://github.com/ros2-gbp/examples-release.git version: 0.21.5 examples_tf2_py: - tag: release/lyrical/examples_tf2_py/0.45.7-3 + tag: release/lyrical/examples_tf2_py/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 executive_smach: tag: release/lyrical/executive_smach/3.0.3-4 url: https://github.com/ros2-gbp/executive_smach-release.git @@ -1412,9 +1608,9 @@ fastcdr: url: https://github.com/ros2-gbp/fastcdr-release.git version: 2.3.6 fastdds: - tag: release/lyrical/fastdds/3.6.1-3 + tag: release/lyrical/fastdds/3.6.2-1 url: https://github.com/ros2-gbp/fastdds-release.git - version: 3.6.1 + version: 3.6.2 feetech_ros2_driver: tag: release/lyrical/feetech_ros2_driver/0.2.1-3 url: https://github.com/ros2-gbp/feetech_ros2_driver-release.git @@ -1424,13 +1620,13 @@ ffmpeg_encoder_decoder: url: https://github.com/ros2-gbp/ffmpeg_encoder_decoder-release.git version: 3.0.1 ffmpeg_image_transport: - tag: release/lyrical/ffmpeg_image_transport/3.0.3-3 + tag: release/lyrical/ffmpeg_image_transport/3.0.4-1 url: https://github.com/ros2-gbp/ffmpeg_image_transport-release.git - version: 3.0.3 + version: 3.0.4 ffmpeg_image_transport_msgs: - tag: release/lyrical/ffmpeg_image_transport_msgs/1.0.2-4 + tag: release/lyrical/ffmpeg_image_transport_msgs/1.3.0-1 url: https://github.com/ros2-gbp/ffmpeg_image_transport_msgs-release.git - version: 1.0.2 + version: 1.3.0 ffmpeg_image_transport_tools: tag: release/lyrical/ffmpeg_image_transport_tools/3.0.1-3 url: https://github.com/ros2-gbp/ffmpeg_image_transport_tools-release.git @@ -1488,9 +1684,9 @@ filters: url: https://github.com/ros2-gbp/filters-release.git version: 2.2.2 fkie_message_filters: - tag: release/lyrical/fkie_message_filters/3.3.1-1 + tag: release/lyrical/fkie_message_filters/3.4.0-1 url: https://github.com/ros2-gbp/fkie_message_filters-release.git - version: 3.3.1 + version: 3.4.0 flex_sync: tag: release/lyrical/flex_sync/2.0.1-3 url: https://github.com/ros2-gbp/flex_sync-release.git @@ -1548,33 +1744,37 @@ foonathan_memory_vendor: url: https://github.com/ros2-gbp/foonathan_memory_vendor-release.git version: 1.4.1 force_torque_sensor_broadcaster: - tag: release/lyrical/force_torque_sensor_broadcaster/6.7.0-1 + tag: release/lyrical/force_torque_sensor_broadcaster/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 forward_command_controller: - tag: release/lyrical/forward_command_controller/6.7.0-1 + tag: release/lyrical/forward_command_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 four_wheel_steering_msgs: tag: release/lyrical/four_wheel_steering_msgs/2.0.1-7 url: https://github.com/ros2-gbp/four_wheel_steering_msgs-release.git version: 2.0.1 foxglove_bridge: - tag: release/lyrical/foxglove_bridge/3.4.1-1 + tag: release/lyrical/foxglove_bridge/3.4.3-1 url: https://github.com/ros2-gbp/foxglove_bridge-release.git - version: 3.4.1 + version: 3.4.3 foxglove_compressed_video_transport: - tag: release/lyrical/foxglove_compressed_video_transport/3.0.2-3 + tag: release/lyrical/foxglove_compressed_video_transport/3.0.3-1 url: https://github.com/ros2-gbp/foxglove_compressed_video_transport-release.git - version: 3.0.2 + version: 3.0.3 foxglove_msgs: - tag: release/lyrical/foxglove_msgs/3.4.1-1 + tag: release/lyrical/foxglove_msgs/3.4.3-1 url: https://github.com/ros2-gbp/foxglove_bridge-release.git - version: 3.4.1 + version: 3.4.3 foxglove_sdk_vendor: tag: release/lyrical/foxglove_sdk_vendor/0.2.0-6 url: https://github.com/ros2-gbp/foxglove_sdk_vendor-release.git version: 0.2.0 +franka_inria_inverse_dynamics_solver: + tag: release/lyrical/franka_inria_inverse_dynamics_solver/3.0.0-1 + url: https://github.com/ros2-gbp/inverse_dynamics_solver-release.git + version: 3.0.0 frequency_cam: tag: release/lyrical/frequency_cam/3.1.2-2 url: https://github.com/ros2-gbp/frequency_cam-release.git @@ -1640,13 +1840,13 @@ game_controller_spl_interfaces: url: https://github.com/ros2-gbp/game_controller_spl-release.git version: 5.0.0 generate_parameter_library: - tag: release/lyrical/generate_parameter_library/1.1.0-1 + tag: release/lyrical/generate_parameter_library/1.3.0-1 url: https://github.com/ros2-gbp/generate_parameter_library-release.git - version: 1.1.0 + version: 1.3.0 generate_parameter_library_py: - tag: release/lyrical/generate_parameter_library_py/1.1.0-1 + tag: release/lyrical/generate_parameter_library_py/1.3.0-1 url: https://github.com/ros2-gbp/generate_parameter_library-release.git - version: 1.1.0 + version: 1.3.0 geodesy: tag: release/lyrical/geodesy/1.0.6-3 url: https://github.com/ros2-gbp/geographic_info-release.git @@ -1660,17 +1860,17 @@ geographic_msgs: url: https://github.com/ros2-gbp/geographic_info-release.git version: 1.0.6 geometric_shapes: - tag: release/lyrical/geometric_shapes/2.3.3-3 + tag: release/lyrical/geometric_shapes/2.3.4-1 url: https://github.com/ros2-gbp/geometric_shapes-release.git - version: 2.3.3 + version: 2.3.4 geometry2: - tag: release/lyrical/geometry2/0.45.7-3 + tag: release/lyrical/geometry2/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 geometry_msgs: - tag: release/lyrical/geometry_msgs/5.9.2-3 + tag: release/lyrical/geometry_msgs/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.9.2 + version: 5.9.3 geometry_tutorials: tag: release/lyrical/geometry_tutorials/0.7.0-3 url: https://github.com/ros2-gbp/geometry_tutorials-release.git @@ -1684,29 +1884,29 @@ google_benchmark_vendor: url: https://github.com/ros2-gbp/google_benchmark_vendor-release.git version: 0.7.0 gpio_controllers: - tag: release/lyrical/gpio_controllers/6.7.0-1 + tag: release/lyrical/gpio_controllers/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 gps_msgs: - tag: release/lyrical/gps_msgs/2.1.2-4 + tag: release/lyrical/gps_msgs/3.1.0-1 url: https://github.com/ros2-gbp/gps_umd-release.git - version: 2.1.2 + version: 3.1.0 gps_sensor_broadcaster: - tag: release/lyrical/gps_sensor_broadcaster/6.7.0-1 + tag: release/lyrical/gps_sensor_broadcaster/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 gps_tools: - tag: release/lyrical/gps_tools/2.1.2-4 + tag: release/lyrical/gps_tools/3.1.0-1 url: https://github.com/ros2-gbp/gps_umd-release.git - version: 2.1.2 + version: 3.1.0 gps_umd: - tag: release/lyrical/gps_umd/2.1.2-4 + tag: release/lyrical/gps_umd/3.1.0-1 url: https://github.com/ros2-gbp/gps_umd-release.git - version: 2.1.2 + version: 3.1.0 gpsd_client: - tag: release/lyrical/gpsd_client/2.1.2-4 + tag: release/lyrical/gpsd_client/3.1.0-1 url: https://github.com/ros2-gbp/gps_umd-release.git - version: 2.1.2 + version: 3.1.0 graph_msgs: tag: release/lyrical/graph_msgs/0.2.0-7 url: https://github.com/ros2-gbp/graph_msgs-release.git @@ -1751,14 +1951,18 @@ gtsam2mrpt_serial: tag: release/lyrical/gtsam2mrpt_serial/0.2.0-3 url: https://github.com/ros2-gbp/gtsam2mrpt_serial-release.git version: 0.2.0 +gurumdds_cmake_module: + tag: release/lyrical/gurumdds_cmake_module/7.0.0-1 + url: https://github.com/ros2-gbp/rmw_gurumdds-release.git + version: 7.0.0 gz_cmake_vendor: - tag: release/lyrical/gz_cmake_vendor/0.4.4-3 + tag: release/lyrical/gz_cmake_vendor/0.4.5-1 url: https://github.com/ros2-gbp/gz_cmake_vendor-release.git - version: 0.4.4 + version: 0.4.5 gz_common_vendor: - tag: release/lyrical/gz_common_vendor/0.3.5-4 + tag: release/lyrical/gz_common_vendor/0.3.6-1 url: https://github.com/ros2-gbp/gz_common_vendor-release.git - version: 0.3.5 + version: 0.3.6 gz_dartsim_vendor: tag: release/lyrical/gz_dartsim_vendor/0.1.3-3 url: https://github.com/ros2-gbp/gz_dartsim_vendor-release.git @@ -1772,33 +1976,33 @@ gz_gui_vendor: url: https://github.com/ros2-gbp/gz_gui_vendor-release.git version: 0.3.1 gz_launch_vendor: - tag: release/lyrical/gz_launch_vendor/0.3.1-3 + tag: release/lyrical/gz_launch_vendor/0.3.2-1 url: https://github.com/ros2-gbp/gz_launch_vendor-release.git - version: 0.3.1 + version: 0.3.2 gz_math_vendor: - tag: release/lyrical/gz_math_vendor/0.4.3-3 + tag: release/lyrical/gz_math_vendor/0.4.4-1 url: https://github.com/ros2-gbp/gz_math_vendor-release.git - version: 0.4.3 + version: 0.4.4 gz_msgs_vendor: - tag: release/lyrical/gz_msgs_vendor/0.3.3-3 + tag: release/lyrical/gz_msgs_vendor/0.3.4-2 url: https://github.com/ros2-gbp/gz_msgs_vendor-release.git - version: 0.3.3 + version: 0.3.4 gz_ogre_next_vendor: tag: release/lyrical/gz_ogre_next_vendor/0.2.1-1 url: https://github.com/ros2-gbp/gz_ogre_next_vendor-release.git version: 0.2.1 gz_physics_vendor: - tag: release/lyrical/gz_physics_vendor/0.4.3-3 + tag: release/lyrical/gz_physics_vendor/0.4.5-1 url: https://github.com/ros2-gbp/gz_physics_vendor-release.git - version: 0.4.3 + version: 0.4.5 gz_plugin_vendor: tag: release/lyrical/gz_plugin_vendor/0.3.1-3 url: https://github.com/ros2-gbp/gz_plugin_vendor-release.git version: 0.3.1 gz_rendering_vendor: - tag: release/lyrical/gz_rendering_vendor/0.4.3-3 + tag: release/lyrical/gz_rendering_vendor/0.4.4-1 url: https://github.com/ros2-gbp/gz_rendering_vendor-release.git - version: 0.4.3 + version: 0.4.4 gz_ros2_control: tag: release/lyrical/gz_ros2_control/3.0.8-1 url: https://github.com/ros2-gbp/ign_ros2_control-release.git @@ -1808,33 +2012,33 @@ gz_ros2_control_demos: url: https://github.com/ros2-gbp/ign_ros2_control-release.git version: 3.0.8 gz_sensors_vendor: - tag: release/lyrical/gz_sensors_vendor/0.3.2-3 + tag: release/lyrical/gz_sensors_vendor/0.3.3-1 url: https://github.com/ros2-gbp/gz_sensors_vendor-release.git - version: 0.3.2 + version: 0.3.3 gz_sim_vendor: - tag: release/lyrical/gz_sim_vendor/0.4.4-3 + tag: release/lyrical/gz_sim_vendor/0.4.5-1 url: https://github.com/ros2-gbp/gz_sim_vendor-release.git - version: 0.4.4 + version: 0.4.5 gz_tools_vendor: tag: release/lyrical/gz_tools_vendor/0.2.1-3 url: https://github.com/ros2-gbp/gz_tools_vendor-release.git version: 0.2.1 gz_transport_vendor: - tag: release/lyrical/gz_transport_vendor/0.3.4-3 + tag: release/lyrical/gz_transport_vendor/0.3.5-1 url: https://github.com/ros2-gbp/gz_transport_vendor-release.git - version: 0.3.4 + version: 0.3.5 gz_utils_vendor: tag: release/lyrical/gz_utils_vendor/0.4.1-3 url: https://github.com/ros2-gbp/gz_utils_vendor-release.git version: 0.4.1 hardware_interface: - tag: release/lyrical/hardware_interface/6.7.1-1 + tag: release/lyrical/hardware_interface/6.8.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.8.0 hardware_interface_testing: - tag: release/lyrical/hardware_interface_testing/6.7.1-1 + tag: release/lyrical/hardware_interface_testing/6.8.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.8.0 hash_library_vendor: tag: release/lyrical/hash_library_vendor/0.1.1-8 url: https://github.com/ros2-gbp/hash_library_vendor-release.git @@ -1851,6 +2055,10 @@ hebi_cpp_api: tag: release/lyrical/hebi_cpp_api/3.16.0-3 url: https://github.com/ros2-gbp/hebi_cpp_api-release.git version: 3.16.0 +hitch_estimation_apriltag_array: + tag: release/lyrical/hitch_estimation_apriltag_array/0.0.3-1 + url: https://github.com/li9i/hitch-estimation-apriltag-array-release.git + version: 0.0.3 hls_lfcd_lds_driver: tag: release/lyrical/hls_lfcd_lds_driver/2.1.1-3 url: https://github.com/ros2-gbp/hls_lfcd_lds_driver-release.git @@ -1908,41 +2116,41 @@ image_geometry: url: https://github.com/ros2-gbp/vision_opencv-release.git version: 4.1.0 image_pipeline: - tag: release/lyrical/image_pipeline/7.1.6-1 + tag: release/lyrical/image_pipeline/7.1.7-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 7.1.6 + version: 7.1.7 image_proc: - tag: release/lyrical/image_proc/7.1.6-1 + tag: release/lyrical/image_proc/7.1.7-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 7.1.6 + version: 7.1.7 image_publisher: - tag: release/lyrical/image_publisher/7.1.6-1 + tag: release/lyrical/image_publisher/7.1.7-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 7.1.6 + version: 7.1.7 image_rotate: - tag: release/lyrical/image_rotate/7.1.6-1 + tag: release/lyrical/image_rotate/7.1.7-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 7.1.6 + version: 7.1.7 image_tools: - tag: release/lyrical/image_tools/0.37.8-3 + tag: release/lyrical/image_tools/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 image_transport: tag: release/lyrical/image_transport/6.4.10-1 url: https://github.com/ros2-gbp/image_common-release.git version: 6.4.10 image_transport_plugins: - tag: release/lyrical/image_transport_plugins/6.2.5-1 + tag: release/lyrical/image_transport_plugins/6.2.6-1 url: https://github.com/ros2-gbp/image_transport_plugins-release.git - version: 6.2.5 + version: 6.2.6 image_transport_py: tag: release/lyrical/image_transport_py/6.4.10-1 url: https://github.com/ros2-gbp/image_common-release.git version: 6.4.10 image_view: - tag: release/lyrical/image_view/7.1.6-1 + tag: release/lyrical/image_view/7.1.7-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 7.1.6 + version: 7.1.7 imu_complementary_filter: tag: release/lyrical/imu_complementary_filter/2.2.2-3 url: https://github.com/ros2-gbp/imu_tools-release.git @@ -1960,9 +2168,9 @@ imu_processors: url: https://github.com/ros2-gbp/imu_pipeline-release.git version: 0.6.1 imu_sensor_broadcaster: - tag: release/lyrical/imu_sensor_broadcaster/6.7.0-1 + tag: release/lyrical/imu_sensor_broadcaster/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 imu_tools: tag: release/lyrical/imu_tools/2.2.2-3 url: https://github.com/ros2-gbp/imu_tools-release.git @@ -1980,9 +2188,13 @@ interactive_markers: url: https://github.com/ros2-gbp/interactive_markers-release.git version: 2.8.4 intra_process_demo: - tag: release/lyrical/intra_process_demo/0.37.8-3 + tag: release/lyrical/intra_process_demo/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 +inverse_dynamics_solver: + tag: release/lyrical/inverse_dynamics_solver/3.0.0-1 + url: https://github.com/ros2-gbp/inverse_dynamics_solver-release.git + version: 3.0.0 io_context: tag: release/lyrical/io_context/1.2.0-5 url: https://github.com/ros2-gbp/transport_drivers-release.git @@ -1996,13 +2208,13 @@ jacro: url: https://github.com/ros2-gbp/jacro-release.git version: 0.2.0 joint_limits: - tag: release/lyrical/joint_limits/6.7.1-1 + tag: release/lyrical/joint_limits/6.8.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.8.0 joint_state_broadcaster: - tag: release/lyrical/joint_state_broadcaster/6.7.0-1 + tag: release/lyrical/joint_state_broadcaster/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 joint_state_publisher: tag: release/lyrical/joint_state_publisher/2.4.2-1 url: https://github.com/ros2-gbp/joint_state_publisher-release.git @@ -2016,9 +2228,9 @@ joint_state_topic_hardware_interface: url: https://github.com/ros2-gbp/topic_based_hardware-release.git version: 1.1.0 joint_trajectory_controller: - tag: release/lyrical/joint_trajectory_controller/6.7.0-1 + tag: release/lyrical/joint_trajectory_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 joy: tag: release/lyrical/joy/3.3.0-4 url: https://github.com/ros2-gbp/joystick_drivers-release.git @@ -2036,13 +2248,17 @@ joy_tester: url: https://github.com/ros2-gbp/joy_tester-release.git version: 0.0.2 jrl_cmakemodules: - tag: release/lyrical/jrl_cmakemodules/1.1.2-3 + tag: release/lyrical/jrl_cmakemodules/2.0.0-1 url: https://github.com/ros2-gbp/jrl_cmakemodules-release.git - version: 1.1.2 + version: 2.0.0 kartech_linear_actuator_msgs: tag: release/lyrical/kartech_linear_actuator_msgs/4.0.0-5 url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git version: 4.0.0 +kdl_inverse_dynamics_solver: + tag: release/lyrical/kdl_inverse_dynamics_solver/3.0.0-1 + url: https://github.com/ros2-gbp/inverse_dynamics_solver-release.git + version: 3.0.0 kdl_parser: tag: release/lyrical/kdl_parser/3.0.1-3 url: https://github.com/ros2-gbp/kdl_parser-release.git @@ -2184,9 +2400,9 @@ laser_segmentation: url: https://github.com/ros2-gbp/laser_segmentation-release.git version: 3.0.2 launch: - tag: release/lyrical/launch/3.9.7-3 + tag: release/lyrical/launch/3.9.8-1 url: https://github.com/ros2-gbp/launch-release.git - version: 3.9.7 + version: 3.9.8 launch_frontend_py: tag: release/lyrical/launch_frontend_py/0.1.0-4 url: https://github.com/ros2-gbp/launch_frontend_py-release.git @@ -2200,41 +2416,41 @@ launch_param_builder: url: https://github.com/ros2-gbp/launch_param_builder-release.git version: 0.1.1 launch_pytest: - tag: release/lyrical/launch_pytest/3.9.7-3 + tag: release/lyrical/launch_pytest/3.9.8-1 url: https://github.com/ros2-gbp/launch-release.git - version: 3.9.7 + version: 3.9.8 launch_ros: - tag: release/lyrical/launch_ros/0.29.8-1 + tag: release/lyrical/launch_ros/0.29.9-1 url: https://github.com/ros2-gbp/launch_ros-release.git - version: 0.29.8 + version: 0.29.9 launch_system_modes: tag: release/lyrical/launch_system_modes/0.9.0-7 url: https://github.com/ros2-gbp/system_modes-release.git version: 0.9.0 launch_testing: - tag: release/lyrical/launch_testing/3.9.7-3 + tag: release/lyrical/launch_testing/3.9.8-1 url: https://github.com/ros2-gbp/launch-release.git - version: 3.9.7 + version: 3.9.8 launch_testing_ament_cmake: - tag: release/lyrical/launch_testing_ament_cmake/3.9.7-3 + tag: release/lyrical/launch_testing_ament_cmake/3.9.8-1 url: https://github.com/ros2-gbp/launch-release.git - version: 3.9.7 + version: 3.9.8 launch_testing_examples: tag: release/lyrical/launch_testing_examples/0.21.5-3 url: https://github.com/ros2-gbp/examples-release.git version: 0.21.5 launch_testing_ros: - tag: release/lyrical/launch_testing_ros/0.29.8-1 + tag: release/lyrical/launch_testing_ros/0.29.9-1 url: https://github.com/ros2-gbp/launch_ros-release.git - version: 0.29.8 + version: 0.29.9 launch_xml: - tag: release/lyrical/launch_xml/3.9.7-3 + tag: release/lyrical/launch_xml/3.9.8-1 url: https://github.com/ros2-gbp/launch-release.git - version: 3.9.7 + version: 3.9.8 launch_yaml: - tag: release/lyrical/launch_yaml/3.9.7-3 + tag: release/lyrical/launch_yaml/3.9.8-1 url: https://github.com/ros2-gbp/launch-release.git - version: 3.9.7 + version: 3.9.8 ld08_driver: tag: release/lyrical/ld08_driver/1.1.4-3 url: https://github.com/ros2-gbp/ld08_driver-release.git @@ -2303,18 +2519,22 @@ lgsvl_msgs: tag: release/lyrical/lgsvl_msgs/0.0.4-6 url: https://github.com/ros2-gbp/lgsvl_msgs-release.git version: 0.0.4 +libbno055_linux: + tag: release/lyrical/libbno055_linux/1.7.2-1 + url: https://github.com/lazytatzv/libbno055_linux-release.git + version: 1.7.2 libcaer_driver: - tag: release/lyrical/libcaer_driver/1.5.5-1 + tag: release/lyrical/libcaer_driver/1.5.6-1 url: https://github.com/ros2-gbp/libcaer_driver-release.git - version: 1.5.5 + version: 1.5.6 libcaer_vendor: tag: release/lyrical/libcaer_vendor/2.0.0-3 url: https://github.com/ros2-gbp/libcaer_vendor-release.git version: 2.0.0 libcamera: - tag: release/lyrical/libcamera/0.7.1-2 + tag: release/lyrical/libcamera/0.7.2-1 url: https://github.com/ros2-gbp/libcamera-release.git - version: 0.7.1 + version: 0.7.2 libg2o: tag: release/lyrical/libg2o/2020.5.29-7 url: https://github.com/ros2-gbp/libg2o-release.git @@ -2344,17 +2564,17 @@ libyaml_vendor: url: https://github.com/ros2-gbp/libyaml_vendor-release.git version: 1.8.1 lifecycle: - tag: release/lyrical/lifecycle/0.37.8-3 + tag: release/lyrical/lifecycle/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 lifecycle_msgs: tag: release/lyrical/lifecycle_msgs/2.4.5-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git version: 2.4.5 lifecycle_py: - tag: release/lyrical/lifecycle_py/0.37.8-3 + tag: release/lyrical/lifecycle_py/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 linear_feedback_controller: tag: release/lyrical/linear_feedback_controller/4.0.1-1 url: https://github.com/ros2-gbp/linear-feedback-controller-release.git @@ -2376,13 +2596,17 @@ log_view: url: https://github.com/ros2-gbp/log_view-release.git version: 0.3.0 logging_demo: - tag: release/lyrical/logging_demo/0.37.8-3 + tag: release/lyrical/logging_demo/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 lttngpy: tag: release/lyrical/lttngpy/8.10.2-1 url: https://github.com/ros2-gbp/ros2_tracing-release.git version: 8.10.2 +lusb: + tag: release/lyrical/lusb/2.0.3-1 + url: https://github.com/DataspeedInc-release/lusb-release.git + version: 2.0.3 lz4_cmake_module: tag: release/lyrical/lz4_cmake_module/0.33.3-1 url: https://github.com/ros2-gbp/rosbag2-release.git @@ -2395,6 +2619,10 @@ magnetic_model: tag: release/lyrical/magnetic_model/3.0.3-1 url: https://github.com/ros2-gbp/compass-release.git version: 3.0.3 +magnetometer_broadcaster: + tag: release/lyrical/magnetometer_broadcaster/6.8.0-1 + url: https://github.com/ros2-gbp/ros2_controllers-release.git + version: 6.8.0 magnetometer_compass: tag: release/lyrical/magnetometer_compass/3.0.3-1 url: https://github.com/ros2-gbp/compass-release.git @@ -2407,6 +2635,18 @@ map_msgs: tag: release/lyrical/map_msgs/2.6.1-1 url: https://github.com/ros2-gbp/navigation_msgs-release.git version: 2.6.1 +mapviz: + tag: release/lyrical/mapviz/3.1.0-1 + url: https://github.com/ros2-gbp/mapviz-release.git + version: 3.1.0 +mapviz_interfaces: + tag: release/lyrical/mapviz_interfaces/3.1.0-1 + url: https://github.com/ros2-gbp/mapviz-release.git + version: 3.1.0 +mapviz_plugins: + tag: release/lyrical/mapviz_plugins/3.1.0-1 + url: https://github.com/ros2-gbp/mapviz-release.git + version: 3.1.0 marine_acoustic_msgs: tag: release/lyrical/marine_acoustic_msgs/2.1.0-3 url: https://github.com/ros2-gbp/marine_msgs-release.git @@ -2456,9 +2696,9 @@ marti_visualization_msgs: url: https://github.com/ros2-gbp/marti_messages-release.git version: 1.6.1 mavlink: - tag: release/lyrical/mavlink/2026.6.6-1 + tag: release/lyrical/mavlink/2026.6.19-1 url: https://github.com/ros2-gbp/mavlink-gbp-release.git - version: 2026.6.6 + version: 2026.6.19 mavros: tag: release/lyrical/mavros/2.14.0-3 url: https://github.com/ros2-gbp/mavros-release.git @@ -2475,24 +2715,52 @@ mavros_msgs: tag: release/lyrical/mavros_msgs/2.14.0-3 url: https://github.com/ros2-gbp/mavros-release.git version: 2.14.0 +mbf_abstract_core: + tag: release/lyrical/mbf_abstract_core/1.2.1-1 + url: https://github.com/ros2-gbp/move_base_flex-release.git + version: 1.2.1 +mbf_abstract_nav: + tag: release/lyrical/mbf_abstract_nav/1.2.1-1 + url: https://github.com/ros2-gbp/move_base_flex-release.git + version: 1.2.1 +mbf_msgs: + tag: release/lyrical/mbf_msgs/1.2.1-1 + url: https://github.com/ros2-gbp/move_base_flex-release.git + version: 1.2.1 +mbf_simple_core: + tag: release/lyrical/mbf_simple_core/1.2.1-1 + url: https://github.com/ros2-gbp/move_base_flex-release.git + version: 1.2.1 +mbf_simple_nav: + tag: release/lyrical/mbf_simple_nav/1.2.1-1 + url: https://github.com/ros2-gbp/move_base_flex-release.git + version: 1.2.1 +mbf_test_utility: + tag: release/lyrical/mbf_test_utility/1.2.1-1 + url: https://github.com/ros2-gbp/move_base_flex-release.git + version: 1.2.1 +mbf_utility: + tag: release/lyrical/mbf_utility/1.2.1-1 + url: https://github.com/ros2-gbp/move_base_flex-release.git + version: 1.2.1 mcap_vendor: tag: release/lyrical/mcap_vendor/0.33.3-1 url: https://github.com/ros2-gbp/rosbag2-release.git version: 0.33.3 mecanum_drive_controller: - tag: release/lyrical/mecanum_drive_controller/6.7.0-1 + tag: release/lyrical/mecanum_drive_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 menge_vendor: tag: release/lyrical/menge_vendor/1.3.0-3 url: https://github.com/ros2-gbp/menge_vendor-release.git version: 1.3.0 message_filters: - tag: release/lyrical/message_filters/7.4.1-1 + tag: release/lyrical/message_filters/7.4.2-1 url: https://github.com/ros2-gbp/ros2_message_filters-release.git - version: 7.4.1 + version: 7.4.2 message_tf_frame_transformer: - tag: release/lyrical/message_tf_frame_transformer/1.1.3-3 + tag: release/lyrical/message_tf_frame_transformer/1.1.3-4 url: https://github.com/ros2-gbp/message_tf_frame_transformer-release.git version: 1.1.3 metavision_driver: @@ -2535,30 +2803,34 @@ mimick_vendor: tag: release/lyrical/mimick_vendor/0.9.0-3 url: https://github.com/ros2-gbp/mimick_vendor-release.git version: 0.9.0 +mobile_robot_simulator: + tag: release/lyrical/mobile_robot_simulator/2.0.1-1 + url: https://github.com/nobleo/mobile_robot_simulator-release.git + version: 2.0.1 mobileye_560_660_msgs: tag: release/lyrical/mobileye_560_660_msgs/4.0.0-5 url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git version: 4.0.0 mola: - tag: release/lyrical/mola/2.9.0-1 + tag: release/lyrical/mola/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_academic_datasets: tag: release/lyrical/mola_academic_datasets/3.0.0-1 url: https://github.com/ros2-gbp/mola_academic_datasets-release.git version: 3.0.0 mola_bridge_ros2: - tag: release/lyrical/mola_bridge_ros2/2.9.0-1 + tag: release/lyrical/mola_bridge_ros2/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_common: tag: release/lyrical/mola_common/0.6.1-1 url: https://github.com/ros2-gbp/mola_common-release.git version: 0.6.1 mola_demos: - tag: release/lyrical/mola_demos/2.9.0-1 + tag: release/lyrical/mola_demos/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_georeferencing: tag: release/lyrical/mola_georeferencing/2.4.2-1 url: https://github.com/ros2-gbp/mola_state_estimation-release.git @@ -2572,9 +2844,9 @@ mola_gtsam_factors: url: https://github.com/ros2-gbp/mola_state_estimation-release.git version: 2.4.2 mola_imu_preintegration: - tag: release/lyrical/mola_imu_preintegration/1.16.1-1 + tag: release/lyrical/mola_imu_preintegration/1.17.1-1 url: https://github.com/ros2-gbp/mola_imu_preintegration-release.git - version: 1.16.1 + version: 1.17.1 mola_input_euroc_dataset: tag: release/lyrical/mola_input_euroc_dataset/3.0.0-1 url: https://github.com/ros2-gbp/mola_academic_datasets-release.git @@ -2588,9 +2860,9 @@ mola_input_kitti_dataset: url: https://github.com/ros2-gbp/mola_academic_datasets-release.git version: 3.0.0 mola_input_lidar_bin_dataset: - tag: release/lyrical/mola_input_lidar_bin_dataset/2.9.0-1 + tag: release/lyrical/mola_input_lidar_bin_dataset/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_input_mulran_dataset: tag: release/lyrical/mola_input_mulran_dataset/3.0.0-1 url: https://github.com/ros2-gbp/mola_academic_datasets-release.git @@ -2604,49 +2876,53 @@ mola_input_paris_luco_dataset: url: https://github.com/ros2-gbp/mola_academic_datasets-release.git version: 3.0.0 mola_input_rawlog: - tag: release/lyrical/mola_input_rawlog/2.9.0-1 + tag: release/lyrical/mola_input_rawlog/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 +mola_input_rosbag1: + tag: release/lyrical/mola_input_rosbag1/0.3.0-1 + url: https://github.com/ros2-gbp/mola_input_rosbag1-release.git + version: 0.3.0 mola_input_rosbag2: - tag: release/lyrical/mola_input_rosbag2/2.9.0-1 + tag: release/lyrical/mola_input_rosbag2/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_input_video: - tag: release/lyrical/mola_input_video/2.9.0-1 + tag: release/lyrical/mola_input_video/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_kernel: - tag: release/lyrical/mola_kernel/2.9.0-1 + tag: release/lyrical/mola_kernel/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_launcher: - tag: release/lyrical/mola_launcher/2.9.0-1 + tag: release/lyrical/mola_launcher/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_lidar_odometry: - tag: release/lyrical/mola_lidar_odometry/2.2.1-1 + tag: release/lyrical/mola_lidar_odometry/3.0.0-1 url: https://github.com/ros2-gbp/mola_lidar_odometry-release.git - version: 2.2.1 + version: 3.0.0 mola_metric_maps: - tag: release/lyrical/mola_metric_maps/2.9.0-1 + tag: release/lyrical/mola_metric_maps/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_msgs: - tag: release/lyrical/mola_msgs/2.9.0-1 + tag: release/lyrical/mola_msgs/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_pose_list: - tag: release/lyrical/mola_pose_list/2.9.0-1 + tag: release/lyrical/mola_pose_list/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_relocalization: - tag: release/lyrical/mola_relocalization/2.9.0-1 + tag: release/lyrical/mola_relocalization/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_sm_loop_closure: - tag: release/lyrical/mola_sm_loop_closure/1.2.0-1 + tag: release/lyrical/mola_sm_loop_closure/1.2.2-1 url: https://github.com/ros2-gbp/mola_sm_loop_closure-release.git - version: 1.2.0 + version: 1.2.2 mola_state_estimation: tag: release/lyrical/mola_state_estimation/2.4.2-1 url: https://github.com/ros2-gbp/mola_state_estimation-release.git @@ -2660,41 +2936,45 @@ mola_state_estimation_smoother: url: https://github.com/ros2-gbp/mola_state_estimation-release.git version: 2.4.2 mola_test_datasets: - tag: release/lyrical/mola_test_datasets/0.4.2-3 + tag: release/lyrical/mola_test_datasets/0.5.0-1 url: https://github.com/ros2-gbp/mola_test_datasets-release.git - version: 0.4.2 + version: 0.5.0 mola_traj_tools: - tag: release/lyrical/mola_traj_tools/2.9.0-1 + tag: release/lyrical/mola_traj_tools/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_viz: - tag: release/lyrical/mola_viz/2.9.0-1 + tag: release/lyrical/mola_viz/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_viz_imgui: - tag: release/lyrical/mola_viz_imgui/2.9.0-1 + tag: release/lyrical/mola_viz_imgui/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 mola_yaml: - tag: release/lyrical/mola_yaml/2.9.0-1 + tag: release/lyrical/mola_yaml/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.0.0 motion_capture_tracking: - tag: release/lyrical/motion_capture_tracking/1.0.8-1 + tag: release/lyrical/motion_capture_tracking/1.0.9-1 url: https://github.com/ros2-gbp/motion_capture_tracking-release.git - version: 1.0.8 + version: 1.0.9 motion_capture_tracking_interfaces: - tag: release/lyrical/motion_capture_tracking_interfaces/1.0.8-1 + tag: release/lyrical/motion_capture_tracking_interfaces/1.0.9-1 url: https://github.com/ros2-gbp/motion_capture_tracking-release.git - version: 1.0.8 + version: 1.0.9 motion_primitives_controllers: - tag: release/lyrical/motion_primitives_controllers/6.7.0-1 + tag: release/lyrical/motion_primitives_controllers/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 mouse_teleop: tag: release/lyrical/mouse_teleop/2.0.0-3 url: https://github.com/ros2-gbp/teleop_tools-release.git version: 2.0.0 +move_base_flex: + tag: release/lyrical/move_base_flex/1.2.1-1 + url: https://github.com/ros2-gbp/move_base_flex-release.git + version: 1.2.1 moveit: tag: release/lyrical/moveit/2.14.1-3 url: https://github.com/ros2-gbp/moveit2-release.git @@ -2748,29 +3028,29 @@ moveit_py: url: https://github.com/ros2-gbp/moveit2-release.git version: 2.14.1 moveit_resources: - tag: release/lyrical/moveit_resources/3.1.1-3 + tag: release/lyrical/moveit_resources/3.2.0-1 url: https://github.com/ros2-gbp/moveit_resources-release.git - version: 3.1.1 + version: 3.2.0 moveit_resources_fanuc_description: - tag: release/lyrical/moveit_resources_fanuc_description/3.1.1-3 + tag: release/lyrical/moveit_resources_fanuc_description/3.2.0-1 url: https://github.com/ros2-gbp/moveit_resources-release.git - version: 3.1.1 + version: 3.2.0 moveit_resources_fanuc_moveit_config: - tag: release/lyrical/moveit_resources_fanuc_moveit_config/3.1.1-3 + tag: release/lyrical/moveit_resources_fanuc_moveit_config/3.2.0-1 url: https://github.com/ros2-gbp/moveit_resources-release.git - version: 3.1.1 + version: 3.2.0 moveit_resources_panda_description: - tag: release/lyrical/moveit_resources_panda_description/3.1.1-3 + tag: release/lyrical/moveit_resources_panda_description/3.2.0-1 url: https://github.com/ros2-gbp/moveit_resources-release.git - version: 3.1.1 + version: 3.2.0 moveit_resources_panda_moveit_config: - tag: release/lyrical/moveit_resources_panda_moveit_config/3.1.1-3 + tag: release/lyrical/moveit_resources_panda_moveit_config/3.2.0-1 url: https://github.com/ros2-gbp/moveit_resources-release.git - version: 3.1.1 + version: 3.2.0 moveit_resources_pr2_description: - tag: release/lyrical/moveit_resources_pr2_description/3.1.1-3 + tag: release/lyrical/moveit_resources_pr2_description/3.2.0-1 url: https://github.com/ros2-gbp/moveit_resources-release.git - version: 3.1.1 + version: 3.2.0 moveit_resources_prbt_ikfast_manipulator_plugin: tag: release/lyrical/moveit_resources_prbt_ikfast_manipulator_plugin/2.14.1-3 url: https://github.com/ros2-gbp/moveit2-release.git @@ -2900,85 +3180,185 @@ moveit_visual_tools: url: https://github.com/ros2-gbp/moveit_visual_tools-release.git version: 4.1.2 mp2p_icp: - tag: release/lyrical/mp2p_icp/2.10.3-1 + tag: release/lyrical/mp2p_icp/2.12.0-1 url: https://github.com/ros2-gbp/mp2p_icp-release.git - version: 2.10.3 + version: 2.12.0 +mp2p_icp_core: + tag: release/lyrical/mp2p_icp_core/2.12.0-1 + url: https://github.com/ros2-gbp/mp2p_icp-release.git + version: 2.12.0 +mp2p_icp_viz: + tag: release/lyrical/mp2p_icp_viz/2.12.0-1 + url: https://github.com/ros2-gbp/mp2p_icp-release.git + version: 2.12.0 mp_units_vendor: tag: release/lyrical/mp_units_vendor/2.5.0-4 url: https://github.com/ros2-gbp/mp_units_vendor-release.git version: 2.5.0 mqtt_client: - tag: release/lyrical/mqtt_client/2.4.1-4 + tag: release/lyrical/mqtt_client/2.5.0-1 url: https://github.com/ros2-gbp/mqtt_client-release.git - version: 2.4.1 + version: 2.5.0 mqtt_client_interfaces: - tag: release/lyrical/mqtt_client_interfaces/2.4.1-4 + tag: release/lyrical/mqtt_client_interfaces/2.5.0-1 url: https://github.com/ros2-gbp/mqtt_client-release.git - version: 2.4.1 + version: 2.5.0 mrpt_apps: - tag: release/lyrical/mrpt_apps/2.15.18-1 + tag: release/lyrical/mrpt_apps/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 +mrpt_apps_cli: + tag: release/lyrical/mrpt_apps_cli/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_apps_gui: + tag: release/lyrical/mrpt_apps_gui/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_bayes: + tag: release/lyrical/mrpt_bayes/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_common: + tag: release/lyrical/mrpt_common/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_comms: + tag: release/lyrical/mrpt_comms/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_config: + tag: release/lyrical/mrpt_config/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_containers: + tag: release/lyrical/mrpt_containers/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_core: + tag: release/lyrical/mrpt_core/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_data: + tag: release/lyrical/mrpt_data/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_examples_cpp: + tag: release/lyrical/mrpt_examples_cpp/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_expr: + tag: release/lyrical/mrpt_expr/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 mrpt_generic_sensor: tag: release/lyrical/mrpt_generic_sensor/0.3.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git version: 0.3.0 +mrpt_graphs: + tag: release/lyrical/mrpt_graphs/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_graphslam: + tag: release/lyrical/mrpt_graphslam/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_gui: + tag: release/lyrical/mrpt_gui/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_hwdrivers: + tag: release/lyrical/mrpt_hwdrivers/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_img: + tag: release/lyrical/mrpt_img/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_imgui: + tag: release/lyrical/mrpt_imgui/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_io: + tag: release/lyrical/mrpt_io/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_kinematics: + tag: release/lyrical/mrpt_kinematics/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 mrpt_libapps: - tag: release/lyrical/mrpt_libapps/2.15.18-1 + tag: release/lyrical/mrpt_libapps/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 +mrpt_libapps_cli: + tag: release/lyrical/mrpt_libapps_cli/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_libapps_gui: + tag: release/lyrical/mrpt_libapps_gui/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 mrpt_libbase: - tag: release/lyrical/mrpt_libbase/2.15.18-1 + tag: release/lyrical/mrpt_libbase/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 mrpt_libgui: - tag: release/lyrical/mrpt_libgui/2.15.18-1 + tag: release/lyrical/mrpt_libgui/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 mrpt_libhwdrivers: - tag: release/lyrical/mrpt_libhwdrivers/2.15.18-1 + tag: release/lyrical/mrpt_libhwdrivers/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 mrpt_libmaps: - tag: release/lyrical/mrpt_libmaps/2.15.18-1 + tag: release/lyrical/mrpt_libmaps/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 mrpt_libmath: - tag: release/lyrical/mrpt_libmath/2.15.18-1 + tag: release/lyrical/mrpt_libmath/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 mrpt_libnav: - tag: release/lyrical/mrpt_libnav/2.15.18-1 + tag: release/lyrical/mrpt_libnav/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 mrpt_libobs: - tag: release/lyrical/mrpt_libobs/2.15.18-1 + tag: release/lyrical/mrpt_libobs/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 mrpt_libopengl: - tag: release/lyrical/mrpt_libopengl/2.15.18-1 + tag: release/lyrical/mrpt_libopengl/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 mrpt_libposes: - tag: release/lyrical/mrpt_libposes/2.15.18-1 + tag: release/lyrical/mrpt_libposes/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 mrpt_libros_bridge: tag: release/lyrical/mrpt_libros_bridge/3.5.3-1 url: https://github.com/ros2-gbp/mrpt_ros_bridge-release.git version: 3.5.3 mrpt_libslam: - tag: release/lyrical/mrpt_libslam/2.15.18-1 + tag: release/lyrical/mrpt_libslam/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 mrpt_libtclap: - tag: release/lyrical/mrpt_libtclap/2.15.18-1 + tag: release/lyrical/mrpt_libtclap/2.15.20-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.20 mrpt_map_server: tag: release/lyrical/mrpt_map_server/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 +mrpt_maps: + tag: release/lyrical/mrpt_maps/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_math: + tag: release/lyrical/mrpt_math/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 mrpt_msgs: tag: release/lyrical/mrpt_msgs/0.6.0-3 url: https://github.com/ros2-gbp/mrpt_msgs-release.git @@ -2987,6 +3367,10 @@ mrpt_msgs_bridge: tag: release/lyrical/mrpt_msgs_bridge/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 +mrpt_nav: + tag: release/lyrical/mrpt_nav/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 mrpt_nav_interfaces: tag: release/lyrical/mrpt_nav_interfaces/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git @@ -2995,10 +3379,18 @@ mrpt_navigation: tag: release/lyrical/mrpt_navigation/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 +mrpt_obs: + tag: release/lyrical/mrpt_obs/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_opengl: + tag: release/lyrical/mrpt_opengl/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 mrpt_path_planning: - tag: release/lyrical/mrpt_path_planning/0.3.0-3 + tag: release/lyrical/mrpt_path_planning/1.0.1-1 url: https://github.com/ros2-gbp/mrpt_path_planning-release.git - version: 0.3.0 + version: 1.0.1 mrpt_pf_localization: tag: release/lyrical/mrpt_pf_localization/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git @@ -3007,10 +3399,22 @@ mrpt_pointcloud_pipeline: tag: release/lyrical/mrpt_pointcloud_pipeline/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 +mrpt_poses: + tag: release/lyrical/mrpt_poses/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_random: + tag: release/lyrical/mrpt_random/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 mrpt_reactivenav2d: tag: release/lyrical/mrpt_reactivenav2d/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 +mrpt_rtti: + tag: release/lyrical/mrpt_rtti/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 mrpt_sensor_bumblebee_stereo: tag: release/lyrical/mrpt_sensor_bumblebee_stereo/0.3.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git @@ -3035,6 +3439,26 @@ mrpt_sensors: tag: release/lyrical/mrpt_sensors/0.3.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git version: 0.3.0 +mrpt_serialization: + tag: release/lyrical/mrpt_serialization/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_slam: + tag: release/lyrical/mrpt_slam/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_system: + tag: release/lyrical/mrpt_system/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_tfest: + tag: release/lyrical/mrpt_tfest/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_topography: + tag: release/lyrical/mrpt_topography/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 mrpt_tps_astar_planner: tag: release/lyrical/mrpt_tps_astar_planner/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git @@ -3043,6 +3467,14 @@ mrpt_tutorials: tag: release/lyrical/mrpt_tutorials/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 +mrpt_typemeta: + tag: release/lyrical/mrpt_typemeta/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 +mrpt_viz: + tag: release/lyrical/mrpt_viz/3.1.2-2 + url: https://github.com/ros2-gbp/mrpt3-release.git + version: 3.1.2 mrt_cmake_modules: tag: release/lyrical/mrt_cmake_modules/1.0.11-3 url: https://github.com/ros2-gbp/mrt_cmake_modules-release.git @@ -3064,21 +3496,25 @@ mujoco_ros2_control_plugins: url: https://github.com/ros2-gbp/mujoco_ros2_control-release.git version: 0.0.2 mujoco_vendor: - tag: release/lyrical/mujoco_vendor/0.0.8-4 + tag: release/lyrical/mujoco_vendor/0.0.9-1 url: https://github.com/ros2-gbp/mujoco_vendor-release.git - version: 0.0.8 + version: 0.0.9 +multires_image: + tag: release/lyrical/multires_image/3.1.0-1 + url: https://github.com/ros2-gbp/mapviz-release.git + version: 3.1.0 mvsim: - tag: release/lyrical/mvsim/1.3.0-3 + tag: release/lyrical/mvsim/1.4.0-1 url: https://github.com/ros2-gbp/mvsim-release.git - version: 1.3.0 + version: 1.4.0 nanoeigenpy: tag: release/lyrical/nanoeigenpy/0.5.0-3 url: https://github.com/ros2-gbp/nanoeigenpy-release.git version: 0.5.0 nanoflann: - tag: release/lyrical/nanoflann/1.10.1-1 + tag: release/lyrical/nanoflann/1.11.0-1 url: https://github.com/ros2-gbp/nanoflann-release.git - version: 1.10.1 + version: 1.11.0 nao_button_sim: tag: release/lyrical/nao_button_sim/1.0.1-3 url: https://github.com/ros2-gbp/nao_button_sim-release.git @@ -3108,21 +3544,45 @@ nao_sensor_msgs: url: https://github.com/ros2-gbp/nao_interfaces-release.git version: 1.0.0 nav2_minimal_tb3_sim: - tag: release/lyrical/nav2_minimal_tb3_sim/1.2.0-3 + tag: release/lyrical/nav2_minimal_tb3_sim/1.3.0-1 url: https://github.com/ros2-gbp/nav2_minimal_turtlebot_simulation-release.git - version: 1.2.0 + version: 1.3.0 nav2_minimal_tb4_description: - tag: release/lyrical/nav2_minimal_tb4_description/1.2.0-3 + tag: release/lyrical/nav2_minimal_tb4_description/1.3.0-1 url: https://github.com/ros2-gbp/nav2_minimal_turtlebot_simulation-release.git - version: 1.2.0 + version: 1.3.0 nav2_minimal_tb4_sim: - tag: release/lyrical/nav2_minimal_tb4_sim/1.2.0-3 + tag: release/lyrical/nav2_minimal_tb4_sim/1.3.0-1 url: https://github.com/ros2-gbp/nav2_minimal_turtlebot_simulation-release.git - version: 1.2.0 + version: 1.3.0 nav_msgs: - tag: release/lyrical/nav_msgs/5.9.2-3 + tag: release/lyrical/nav_msgs/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.9.2 + version: 5.9.3 +navmap_core: + tag: release/lyrical/navmap_core/0.5.1-1 + url: https://github.com/EasyNavigation/NavMap-release.git + version: 0.5.1 +navmap_examples: + tag: release/lyrical/navmap_examples/0.5.1-1 + url: https://github.com/EasyNavigation/NavMap-release.git + version: 0.5.1 +navmap_ros: + tag: release/lyrical/navmap_ros/0.5.1-1 + url: https://github.com/EasyNavigation/NavMap-release.git + version: 0.5.1 +navmap_ros_interfaces: + tag: release/lyrical/navmap_ros_interfaces/0.5.1-1 + url: https://github.com/EasyNavigation/NavMap-release.git + version: 0.5.1 +navmap_rviz_plugin: + tag: release/lyrical/navmap_rviz_plugin/0.5.1-1 + url: https://github.com/EasyNavigation/NavMap-release.git + version: 0.5.1 +ndcurves: + tag: release/lyrical/ndcurves/2.3.0-1 + url: https://github.com/ros2-gbp/ndcurves-release.git + version: 2.3.0 neobotix_usboard_msgs: tag: release/lyrical/neobotix_usboard_msgs/4.0.0-5 url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git @@ -3176,9 +3636,9 @@ ntrip_client: url: https://github.com/ros2-gbp/ntrip_client-release.git version: 1.4.1 ntrip_client_node: - tag: release/lyrical/ntrip_client_node/0.7.4-3 + tag: release/lyrical/ntrip_client_node/0.7.5-1 url: https://github.com/ros2-gbp/ublox_dgnss-release.git - version: 0.7.4 + version: 0.7.5 object_recognition_msgs: tag: release/lyrical/object_recognition_msgs/2.0.0-6 url: https://github.com/ros2-gbp/object_recognition_msgs-release.git @@ -3284,13 +3744,17 @@ om_spring_actuator_controller: url: https://github.com/ros2-gbp/open_manipulator-release.git version: 4.1.2 omni_wheel_drive_controller: - tag: release/lyrical/omni_wheel_drive_controller/6.7.0-1 + tag: release/lyrical/omni_wheel_drive_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 ompl: - tag: release/lyrical/ompl/1.7.0-4 + tag: release/lyrical/ompl/2.0.1-3 url: https://github.com/ros2-gbp/ompl-release.git - version: 1.7.0 + version: 2.0.1 +onnxruntime_vendor: + tag: release/lyrical/onnxruntime_vendor/0.1.0-2 + url: https://github.com/ros2-gbp/onnxruntime_vendor-release.git + version: 0.1.0 open3d_vendor: tag: release/lyrical/open3d_vendor/0.19.0-3 url: https://github.com/ros2-gbp/open3d_vendor-release.git @@ -3384,41 +3848,41 @@ pangolin: url: https://github.com/ros2-gbp/Pangolin-release.git version: 0.9.5 parallel_gripper_controller: - tag: release/lyrical/parallel_gripper_controller/6.7.0-1 + tag: release/lyrical/parallel_gripper_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 parameter_expression: tag: release/lyrical/parameter_expression/0.0.2-3 url: https://github.com/ros2-gbp/parameter_expression-release.git version: 0.0.2 pcl_conversions: - tag: release/lyrical/pcl_conversions/2.9.0-1 + tag: release/lyrical/pcl_conversions/2.10.0-1 url: https://github.com/ros2-gbp/perception_pcl-release.git - version: 2.9.0 + version: 2.10.0 pcl_msgs: tag: release/lyrical/pcl_msgs/1.0.0-10 url: https://github.com/ros2-gbp/pcl_msgs-release.git version: 1.0.0 pcl_ros: - tag: release/lyrical/pcl_ros/2.9.0-1 + tag: release/lyrical/pcl_ros/2.10.0-1 url: https://github.com/ros2-gbp/perception_pcl-release.git - version: 2.9.0 + version: 2.10.0 pendulum_control: - tag: release/lyrical/pendulum_control/0.37.8-3 + tag: release/lyrical/pendulum_control/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 pendulum_msgs: - tag: release/lyrical/pendulum_msgs/0.37.8-3 + tag: release/lyrical/pendulum_msgs/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 perception: tag: release/lyrical/perception/0.13.0-3 url: https://github.com/ros2-gbp/variants-release.git version: 0.13.0 perception_pcl: - tag: release/lyrical/perception_pcl/2.9.0-1 + tag: release/lyrical/perception_pcl/2.10.0-1 url: https://github.com/ros2-gbp/perception_pcl-release.git - version: 2.9.0 + version: 2.10.0 performance_test: tag: release/lyrical/performance_test/2.3.0-3 url: https://github.com/ros2-gbp/performance_test-release.git @@ -3431,6 +3895,10 @@ persist_parameter_server: tag: release/lyrical/persist_parameter_server/4.0.0-2 url: https://github.com/ros2-gbp/persist_parameter_server-release.git version: 4.0.0 +pfs: + tag: release/lyrical/pfs/0.15.0-1 + url: https://github.com/ros2-gbp/pfs-release.git + version: 0.15.0 phidgets_accelerometer: tag: release/lyrical/phidgets_accelerometer/2.4.0-3 url: https://github.com/ros2-gbp/phidgets_drivers-release.git @@ -3512,9 +3980,9 @@ picknik_twist_controller: url: https://github.com/ros2-gbp/picknik_controllers-release.git version: 0.0.4 pid_controller: - tag: release/lyrical/pid_controller/6.7.0-1 + tag: release/lyrical/pid_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 pilz_industrial_motion_planner: tag: release/lyrical/pilz_industrial_motion_planner/2.14.1-3 url: https://github.com/ros2-gbp/moveit2-release.git @@ -3524,9 +3992,77 @@ pilz_industrial_motion_planner_testutils: url: https://github.com/ros2-gbp/moveit2-release.git version: 2.14.1 pinocchio: - tag: release/lyrical/pinocchio/4.0.0-2 + tag: release/lyrical/pinocchio/4.1.0-1 url: https://github.com/ros2-gbp/pinocchio-release.git - version: 4.0.0 + version: 4.1.0 +plansys2: + tag: release/lyrical/plansys2/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_bringup: + tag: release/lyrical/plansys2_bringup/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_bt_actions: + tag: release/lyrical/plansys2_bt_actions/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_core: + tag: release/lyrical/plansys2_core/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_domain_expert: + tag: release/lyrical/plansys2_domain_expert/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_executor: + tag: release/lyrical/plansys2_executor/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_lifecycle_manager: + tag: release/lyrical/plansys2_lifecycle_manager/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_msgs: + tag: release/lyrical/plansys2_msgs/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_pddl_parser: + tag: release/lyrical/plansys2_pddl_parser/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_planner: + tag: release/lyrical/plansys2_planner/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_popf_plan_solver: + tag: release/lyrical/plansys2_popf_plan_solver/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_problem_expert: + tag: release/lyrical/plansys2_problem_expert/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_support_py: + tag: release/lyrical/plansys2_support_py/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_terminal: + tag: release/lyrical/plansys2_terminal/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_tests: + tag: release/lyrical/plansys2_tests/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_tools: + tag: release/lyrical/plansys2_tools/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 +plansys2_tui_cli: + tag: release/lyrical/plansys2_tui_cli/3.1.0-1 + url: https://github.com/ros2-gbp/ros2_planning_system-release.git + version: 3.1.0 play_motion2: tag: release/lyrical/play_motion2/1.8.4-3 url: https://github.com/ros2-gbp/play_motion2-release.git @@ -3572,21 +4108,25 @@ point_cloud_msg_wrapper: url: https://github.com/ros2-gbp/point_cloud_msg_wrapper-release.git version: 1.0.7 point_cloud_transport: - tag: release/lyrical/point_cloud_transport/5.4.2-1 + tag: release/lyrical/point_cloud_transport/5.4.3-1 url: https://github.com/ros2-gbp/point_cloud_transport-release.git - version: 5.4.2 + version: 5.4.3 point_cloud_transport_plugins: tag: release/lyrical/point_cloud_transport_plugins/6.2.0-1 url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git version: 6.2.0 point_cloud_transport_py: - tag: release/lyrical/point_cloud_transport_py/5.4.2-1 + tag: release/lyrical/point_cloud_transport_py/5.4.3-1 url: https://github.com/ros2-gbp/point_cloud_transport-release.git - version: 5.4.2 + version: 5.4.3 point_cloud_transport_tutorial: tag: release/lyrical/point_cloud_transport_tutorial/0.0.9-3 url: https://github.com/ros2-gbp/point_cloud_transport_tutorial-release.git version: 0.0.9 +pointcloud_conversions: + tag: release/lyrical/pointcloud_conversions/0.0.4-3 + url: https://github.com/li9i/pointcloud-conversions-release.git + version: 0.0.4 pointcloud_to_laserscan: tag: release/lyrical/pointcloud_to_laserscan/2.1.0-3 url: https://github.com/ros2-gbp/pointcloud_to_laserscan-release.git @@ -3607,50 +4147,54 @@ polygon_utils: tag: release/lyrical/polygon_utils/1.3.0-3 url: https://github.com/ros2-gbp/polygon_ros-release.git version: 1.3.0 +popf: + tag: release/lyrical/popf/0.0.20-1 + url: https://github.com/ros2-gbp/popf-release.git + version: 0.0.20 pose_broadcaster: - tag: release/lyrical/pose_broadcaster/6.7.0-1 + tag: release/lyrical/pose_broadcaster/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 pose_cov_ops: tag: release/lyrical/pose_cov_ops/0.4.0-3 url: https://github.com/ros2-gbp/pose_cov_ops-release.git version: 0.4.0 protobuf_comm: - tag: release/lyrical/protobuf_comm/0.9.3-3 + tag: release/lyrical/protobuf_comm/0.9.4-1 url: https://github.com/ros2-gbp/protobuf_comm-release.git - version: 0.9.3 + version: 0.9.4 proxsuite: - tag: release/lyrical/proxsuite/0.6.5-3 + tag: release/lyrical/proxsuite/0.7.3-1 url: https://github.com/ros2-gbp/proxsuite-release.git - version: 0.6.5 + version: 0.7.3 py_binding_tools: - tag: release/lyrical/py_binding_tools/2.1.2-4 + tag: release/lyrical/py_binding_tools/2.1.3-1 url: https://github.com/ros2-gbp/py_binding_tools-release.git - version: 2.1.2 + version: 2.1.3 py_trees: - tag: release/lyrical/py_trees/2.4.0-4 + tag: release/lyrical/py_trees/2.5.0-1 url: https://github.com/ros2-gbp/py_trees-release.git - version: 2.4.0 + version: 2.5.0 py_trees_js: - tag: release/lyrical/py_trees_js/0.6.6-4 + tag: release/lyrical/py_trees_js/0.6.7-1 url: https://github.com/ros2-gbp/py_trees_js-release.git - version: 0.6.6 + version: 0.6.7 py_trees_ros: - tag: release/lyrical/py_trees_ros/2.4.0-4 + tag: release/lyrical/py_trees_ros/2.5.0-1 url: https://github.com/ros2-gbp/py_trees_ros-release.git - version: 2.4.0 + version: 2.5.0 py_trees_ros_interfaces: - tag: release/lyrical/py_trees_ros_interfaces/2.1.1-4 + tag: release/lyrical/py_trees_ros_interfaces/2.1.2-1 url: https://github.com/ros2-gbp/py_trees_ros_interfaces-release.git - version: 2.1.1 + version: 2.1.2 py_trees_ros_tutorials: - tag: release/lyrical/py_trees_ros_tutorials/2.4.0-4 + tag: release/lyrical/py_trees_ros_tutorials/2.5.0-1 url: https://github.com/ros2-gbp/py_trees_ros_tutorials-release.git - version: 2.4.0 + version: 2.5.0 py_trees_ros_viewer: - tag: release/lyrical/py_trees_ros_viewer/0.2.5-4 + tag: release/lyrical/py_trees_ros_viewer/0.3.0-1 url: https://github.com/ros2-gbp/py_trees_ros_viewer-release.git - version: 0.2.5 + version: 0.3.0 pybind11_json_vendor: tag: release/lyrical/pybind11_json_vendor/0.7.0-1 url: https://github.com/ros2-gbp/pybind11_json_vendor-release.git @@ -3680,9 +4224,9 @@ python_orocos_kdl_vendor: url: https://github.com/ros2-gbp/orocos_kdl_vendor-release.git version: 0.8.0 python_qt_binding: - tag: release/lyrical/python_qt_binding/2.5.4-3 + tag: release/lyrical/python_qt_binding/2.5.5-1 url: https://github.com/ros2-gbp/python_qt_binding-release.git - version: 2.5.4 + version: 2.5.5 qml6_ros2_plugin: tag: release/lyrical/qml6_ros2_plugin/4.26.42-3 url: https://github.com/ros2-gbp/qml6_ros2_plugin-release.git @@ -3696,37 +4240,37 @@ qpoases_vendor: url: https://github.com/ros2-gbp/qpoases_vendor-release.git version: 3.2.3 qt_dotgraph: - tag: release/lyrical/qt_dotgraph/2.11.0-1 + tag: release/lyrical/qt_dotgraph/2.11.1-1 url: https://github.com/ros2-gbp/qt_gui_core-release.git - version: 2.11.0 + version: 2.11.1 qt_gui: - tag: release/lyrical/qt_gui/2.11.0-1 + tag: release/lyrical/qt_gui/2.11.1-1 url: https://github.com/ros2-gbp/qt_gui_core-release.git - version: 2.11.0 + version: 2.11.1 qt_gui_app: - tag: release/lyrical/qt_gui_app/2.11.0-1 + tag: release/lyrical/qt_gui_app/2.11.1-1 url: https://github.com/ros2-gbp/qt_gui_core-release.git - version: 2.11.0 + version: 2.11.1 qt_gui_core: - tag: release/lyrical/qt_gui_core/2.11.0-1 + tag: release/lyrical/qt_gui_core/2.11.1-1 url: https://github.com/ros2-gbp/qt_gui_core-release.git - version: 2.11.0 + version: 2.11.1 qt_gui_cpp: - tag: release/lyrical/qt_gui_cpp/2.11.0-1 + tag: release/lyrical/qt_gui_cpp/2.11.1-1 url: https://github.com/ros2-gbp/qt_gui_core-release.git - version: 2.11.0 + version: 2.11.1 qt_gui_py_common: - tag: release/lyrical/qt_gui_py_common/2.11.0-1 + tag: release/lyrical/qt_gui_py_common/2.11.1-1 url: https://github.com/ros2-gbp/qt_gui_core-release.git - version: 2.11.0 + version: 2.11.1 quality_of_service_demo_cpp: - tag: release/lyrical/quality_of_service_demo_cpp/0.37.8-3 + tag: release/lyrical/quality_of_service_demo_cpp/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 quality_of_service_demo_py: - tag: release/lyrical/quality_of_service_demo_py/0.37.8-3 + tag: release/lyrical/quality_of_service_demo_py/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 r2r_spl_7: tag: release/lyrical/r2r_spl_7/3.0.1-5 url: https://github.com/ros2-gbp/r2r_spl-release.git @@ -3736,13 +4280,13 @@ radar_msgs: url: https://github.com/ros2-gbp/radar_msgs-release.git version: 0.2.2 random_numbers: - tag: release/lyrical/random_numbers/2.0.4-3 + tag: release/lyrical/random_numbers/2.0.5-1 url: https://github.com/ros2-gbp/random_numbers-release.git - version: 2.0.4 + version: 2.0.5 range_sensor_broadcaster: - tag: release/lyrical/range_sensor_broadcaster/6.7.0-1 + tag: release/lyrical/range_sensor_broadcaster/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 raspimouse: tag: release/lyrical/raspimouse/2.0.0-3 url: https://github.com/ros2-gbp/raspimouse2-release.git @@ -3836,33 +4380,33 @@ rclc_parameter: url: https://github.com/ros2-gbp/rclc-release.git version: 6.3.0 rclcpp: - tag: release/lyrical/rclcpp/32.0.0-1 + tag: release/lyrical/rclcpp/32.0.2-1 url: https://github.com/ros2-gbp/rclcpp-release.git - version: 32.0.0 + version: 32.0.2 rclcpp_action: - tag: release/lyrical/rclcpp_action/32.0.0-1 + tag: release/lyrical/rclcpp_action/32.0.2-1 url: https://github.com/ros2-gbp/rclcpp-release.git - version: 32.0.0 + version: 32.0.2 rclcpp_cascade_lifecycle: - tag: release/lyrical/rclcpp_cascade_lifecycle/2.0.4-3 + tag: release/lyrical/rclcpp_cascade_lifecycle/2.0.6-1 url: https://github.com/ros2-gbp/cascade_lifecycle-release.git - version: 2.0.4 + version: 2.0.6 rclcpp_components: - tag: release/lyrical/rclcpp_components/32.0.0-1 + tag: release/lyrical/rclcpp_components/32.0.2-1 url: https://github.com/ros2-gbp/rclcpp-release.git - version: 32.0.0 + version: 32.0.2 rclcpp_lifecycle: - tag: release/lyrical/rclcpp_lifecycle/32.0.0-1 + tag: release/lyrical/rclcpp_lifecycle/32.0.2-1 url: https://github.com/ros2-gbp/rclcpp-release.git - version: 32.0.0 + version: 32.0.2 rclpy: tag: release/lyrical/rclpy/10.0.10-1 url: https://github.com/ros2-gbp/rclpy-release.git version: 10.0.10 rclpy_cascade_lifecycle: - tag: release/lyrical/rclpy_cascade_lifecycle/2.0.4-3 + tag: release/lyrical/rclpy_cascade_lifecycle/2.0.6-1 url: https://github.com/ros2-gbp/cascade_lifecycle-release.git - version: 2.0.4 + version: 2.0.6 rclpy_message_converter: tag: release/lyrical/rclpy_message_converter/2.0.2-3 url: https://github.com/ros2-gbp/rospy_message_converter-release.git @@ -3896,9 +4440,9 @@ rcss3d_nao: url: https://github.com/ros2-gbp/rcss3d_nao-release.git version: 1.2.0 rcutils: - tag: release/lyrical/rcutils/7.1.1-3 + tag: release/lyrical/rcutils/7.1.2-1 url: https://github.com/ros2-gbp/rcutils-release.git - version: 7.1.1 + version: 7.1.2 realsense2_camera: tag: release/lyrical/realsense2_camera/4.57.7-3 url: https://github.com/ros2-gbp/realsense-ros-release.git @@ -3928,25 +4472,25 @@ resource_retriever: url: https://github.com/ros2-gbp/resource_retriever-release.git version: 3.9.3 resource_retriever_interfaces: - tag: release/lyrical/resource_retriever_interfaces/0.0.2-1 + tag: release/lyrical/resource_retriever_interfaces/0.0.3-1 url: https://github.com/ros2-gbp/resource_retriever_service-release.git - version: 0.0.2 + version: 0.0.3 resource_retriever_service: - tag: release/lyrical/resource_retriever_service/0.0.2-1 + tag: release/lyrical/resource_retriever_service/0.0.3-1 url: https://github.com/ros2-gbp/resource_retriever_service-release.git - version: 0.0.2 + version: 0.0.3 resource_retriever_service_plugin: - tag: release/lyrical/resource_retriever_service_plugin/0.0.2-1 + tag: release/lyrical/resource_retriever_service_plugin/0.0.3-1 url: https://github.com/ros2-gbp/resource_retriever_service-release.git - version: 0.0.2 + version: 0.0.3 rig_reconfigure: - tag: release/lyrical/rig_reconfigure/1.6.0-3 + tag: release/lyrical/rig_reconfigure/1.6.1-1 url: https://github.com/ros2-gbp/rig_reconfigure-release.git - version: 1.6.0 + version: 1.6.1 rko_lio: - tag: release/lyrical/rko_lio/0.2.0-3 + tag: release/lyrical/rko_lio/0.3.2-1 url: https://github.com/ros2-gbp/rko_lio-release.git - version: 0.2.0 + version: 0.3.2 rmf_api_msgs: tag: release/lyrical/rmf_api_msgs/0.5.0-3 url: https://github.com/ros2-gbp/rmf_api_msgs-release.git @@ -3964,49 +4508,49 @@ rmf_building_map_tools: url: https://github.com/ros2-gbp/rmf_traffic_editor-release.git version: 1.14.0 rmf_building_sim_gz_plugins: - tag: release/lyrical/rmf_building_sim_gz_plugins/2.6.1-3 + tag: release/lyrical/rmf_building_sim_gz_plugins/2.7.0-1 url: https://github.com/ros2-gbp/rmf_simulation-release.git - version: 2.6.1 + version: 2.7.0 rmf_charger_msgs: tag: release/lyrical/rmf_charger_msgs/4.0.0-3 url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git version: 4.0.0 rmf_charging_schedule: - tag: release/lyrical/rmf_charging_schedule/2.12.0-3 + tag: release/lyrical/rmf_charging_schedule/2.13.0-1 url: https://github.com/ros2-gbp/rmf_ros2-release.git - version: 2.12.0 + version: 2.13.0 rmf_cmake_uncrustify: tag: release/lyrical/rmf_cmake_uncrustify/1.2.0-7 url: https://github.com/ros2-gbp/rmf_cmake_uncrustify-release.git version: 1.2.0 rmf_demos: - tag: release/lyrical/rmf_demos/2.8.2-4 + tag: release/lyrical/rmf_demos/2.9.0-1 url: https://github.com/ros2-gbp/rmf_demos-release.git - version: 2.8.2 + version: 2.9.0 rmf_demos_assets: - tag: release/lyrical/rmf_demos_assets/2.8.2-4 + tag: release/lyrical/rmf_demos_assets/2.9.0-1 url: https://github.com/ros2-gbp/rmf_demos-release.git - version: 2.8.2 + version: 2.9.0 rmf_demos_bridges: - tag: release/lyrical/rmf_demos_bridges/2.8.2-4 + tag: release/lyrical/rmf_demos_bridges/2.9.0-1 url: https://github.com/ros2-gbp/rmf_demos-release.git - version: 2.8.2 + version: 2.9.0 rmf_demos_fleet_adapter: - tag: release/lyrical/rmf_demos_fleet_adapter/2.8.2-4 + tag: release/lyrical/rmf_demos_fleet_adapter/2.9.0-1 url: https://github.com/ros2-gbp/rmf_demos-release.git - version: 2.8.2 + version: 2.9.0 rmf_demos_gz: - tag: release/lyrical/rmf_demos_gz/2.8.2-4 + tag: release/lyrical/rmf_demos_gz/2.9.0-1 url: https://github.com/ros2-gbp/rmf_demos-release.git - version: 2.8.2 + version: 2.9.0 rmf_demos_maps: - tag: release/lyrical/rmf_demos_maps/2.8.2-4 + tag: release/lyrical/rmf_demos_maps/2.9.0-1 url: https://github.com/ros2-gbp/rmf_demos-release.git - version: 2.8.2 + version: 2.9.0 rmf_demos_tasks: - tag: release/lyrical/rmf_demos_tasks/2.8.2-4 + tag: release/lyrical/rmf_demos_tasks/2.9.0-1 url: https://github.com/ros2-gbp/rmf_demos-release.git - version: 2.8.2 + version: 2.9.0 rmf_dispenser_msgs: tag: release/lyrical/rmf_dispenser_msgs/4.0.0-3 url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git @@ -4016,13 +4560,13 @@ rmf_door_msgs: url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git version: 4.0.0 rmf_fleet_adapter: - tag: release/lyrical/rmf_fleet_adapter/2.12.0-3 + tag: release/lyrical/rmf_fleet_adapter/2.13.0-1 url: https://github.com/ros2-gbp/rmf_ros2-release.git - version: 2.12.0 + version: 2.13.0 rmf_fleet_adapter_python: - tag: release/lyrical/rmf_fleet_adapter_python/2.12.0-3 + tag: release/lyrical/rmf_fleet_adapter_python/2.13.0-1 url: https://github.com/ros2-gbp/rmf_ros2-release.git - version: 2.12.0 + version: 2.13.0 rmf_fleet_msgs: tag: release/lyrical/rmf_fleet_msgs/4.0.0-3 url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git @@ -4044,17 +4588,17 @@ rmf_reservation_msgs: url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git version: 4.0.0 rmf_reservation_node: - tag: release/lyrical/rmf_reservation_node/2.12.0-3 + tag: release/lyrical/rmf_reservation_node/2.13.0-1 url: https://github.com/ros2-gbp/rmf_ros2-release.git - version: 2.12.0 + version: 2.13.0 rmf_robot_sim_common: - tag: release/lyrical/rmf_robot_sim_common/2.6.1-3 + tag: release/lyrical/rmf_robot_sim_common/2.7.0-1 url: https://github.com/ros2-gbp/rmf_simulation-release.git - version: 2.6.1 + version: 2.7.0 rmf_robot_sim_gz_plugins: - tag: release/lyrical/rmf_robot_sim_gz_plugins/2.6.1-3 + tag: release/lyrical/rmf_robot_sim_gz_plugins/2.7.0-1 url: https://github.com/ros2-gbp/rmf_simulation-release.git - version: 2.6.1 + version: 2.7.0 rmf_scheduler_msgs: tag: release/lyrical/rmf_scheduler_msgs/4.0.0-3 url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git @@ -4064,25 +4608,25 @@ rmf_site_map_msgs: url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git version: 4.0.0 rmf_task: - tag: release/lyrical/rmf_task/2.9.0-3 + tag: release/lyrical/rmf_task/2.10.0-1 url: https://github.com/ros2-gbp/rmf_task-release.git - version: 2.9.0 + version: 2.10.0 rmf_task_msgs: tag: release/lyrical/rmf_task_msgs/4.0.0-3 url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git version: 4.0.0 rmf_task_ros2: - tag: release/lyrical/rmf_task_ros2/2.12.0-3 + tag: release/lyrical/rmf_task_ros2/2.13.0-1 url: https://github.com/ros2-gbp/rmf_ros2-release.git - version: 2.12.0 + version: 2.13.0 rmf_task_sequence: - tag: release/lyrical/rmf_task_sequence/2.9.0-3 + tag: release/lyrical/rmf_task_sequence/2.10.0-1 url: https://github.com/ros2-gbp/rmf_task-release.git - version: 2.9.0 + version: 2.10.0 rmf_traffic: - tag: release/lyrical/rmf_traffic/3.7.0-3 + tag: release/lyrical/rmf_traffic/3.8.0-1 url: https://github.com/ros2-gbp/rmf_traffic-release.git - version: 3.7.0 + version: 3.8.0 rmf_traffic_editor: tag: release/lyrical/rmf_traffic_editor/1.14.0-3 url: https://github.com/ros2-gbp/rmf_traffic_editor-release.git @@ -4096,61 +4640,61 @@ rmf_traffic_editor_test_maps: url: https://github.com/ros2-gbp/rmf_traffic_editor-release.git version: 1.14.0 rmf_traffic_examples: - tag: release/lyrical/rmf_traffic_examples/3.7.0-3 + tag: release/lyrical/rmf_traffic_examples/3.8.0-1 url: https://github.com/ros2-gbp/rmf_traffic-release.git - version: 3.7.0 + version: 3.8.0 rmf_traffic_msgs: tag: release/lyrical/rmf_traffic_msgs/4.0.0-3 url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git version: 4.0.0 rmf_traffic_ros2: - tag: release/lyrical/rmf_traffic_ros2/2.12.0-3 + tag: release/lyrical/rmf_traffic_ros2/2.13.0-1 url: https://github.com/ros2-gbp/rmf_ros2-release.git - version: 2.12.0 + version: 2.13.0 rmf_utils: - tag: release/lyrical/rmf_utils/1.7.0-3 + tag: release/lyrical/rmf_utils/1.8.0-1 url: https://github.com/ros2-gbp/rmf_utils-release.git - version: 1.7.0 + version: 1.8.0 rmf_visualization: - tag: release/lyrical/rmf_visualization/2.5.1-3 + tag: release/lyrical/rmf_visualization/2.6.0-1 url: https://github.com/ros2-gbp/rmf_visualization-release.git - version: 2.5.1 + version: 2.6.0 rmf_visualization_building_systems: - tag: release/lyrical/rmf_visualization_building_systems/2.5.1-3 + tag: release/lyrical/rmf_visualization_building_systems/2.6.0-1 url: https://github.com/ros2-gbp/rmf_visualization-release.git - version: 2.5.1 + version: 2.6.0 rmf_visualization_fleet_states: - tag: release/lyrical/rmf_visualization_fleet_states/2.5.1-3 + tag: release/lyrical/rmf_visualization_fleet_states/2.6.0-1 url: https://github.com/ros2-gbp/rmf_visualization-release.git - version: 2.5.1 + version: 2.6.0 rmf_visualization_floorplans: - tag: release/lyrical/rmf_visualization_floorplans/2.5.1-3 + tag: release/lyrical/rmf_visualization_floorplans/2.6.0-1 url: https://github.com/ros2-gbp/rmf_visualization-release.git - version: 2.5.1 + version: 2.6.0 rmf_visualization_msgs: tag: release/lyrical/rmf_visualization_msgs/1.5.0-3 url: https://github.com/ros2-gbp/rmf_visualization_msgs-release.git version: 1.5.0 rmf_visualization_navgraphs: - tag: release/lyrical/rmf_visualization_navgraphs/2.5.1-3 + tag: release/lyrical/rmf_visualization_navgraphs/2.6.0-1 url: https://github.com/ros2-gbp/rmf_visualization-release.git - version: 2.5.1 + version: 2.6.0 rmf_visualization_obstacles: - tag: release/lyrical/rmf_visualization_obstacles/2.5.1-3 + tag: release/lyrical/rmf_visualization_obstacles/2.6.0-1 url: https://github.com/ros2-gbp/rmf_visualization-release.git - version: 2.5.1 + version: 2.6.0 rmf_visualization_rviz2_plugins: - tag: release/lyrical/rmf_visualization_rviz2_plugins/2.5.1-3 + tag: release/lyrical/rmf_visualization_rviz2_plugins/2.6.0-1 url: https://github.com/ros2-gbp/rmf_visualization-release.git - version: 2.5.1 + version: 2.6.0 rmf_visualization_schedule: - tag: release/lyrical/rmf_visualization_schedule/2.5.1-3 + tag: release/lyrical/rmf_visualization_schedule/2.6.0-1 url: https://github.com/ros2-gbp/rmf_visualization-release.git - version: 2.5.1 + version: 2.6.0 rmf_websocket: - tag: release/lyrical/rmf_websocket/2.12.0-3 + tag: release/lyrical/rmf_websocket/2.13.0-1 url: https://github.com/ros2-gbp/rmf_ros2-release.git - version: 2.12.0 + version: 2.13.0 rmf_workcell_msgs: tag: release/lyrical/rmf_workcell_msgs/4.0.0-3 url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git @@ -4176,25 +4720,29 @@ rmw_dds_common: url: https://github.com/ros2-gbp/rmw_dds_common-release.git version: 6.0.0 rmw_desert: - tag: release/lyrical/rmw_desert/4.0.1-4 + tag: release/lyrical/rmw_desert/4.0.2-1 url: https://github.com/ros2-gbp/rmw_desert-release.git - version: 4.0.1 + version: 4.0.2 rmw_fastrtps_cpp: - tag: release/lyrical/rmw_fastrtps_cpp/9.4.8-1 + tag: release/lyrical/rmw_fastrtps_cpp/9.4.9-1 url: https://github.com/ros2-gbp/rmw_fastrtps-release.git - version: 9.4.8 + version: 9.4.9 rmw_fastrtps_dynamic_cpp: - tag: release/lyrical/rmw_fastrtps_dynamic_cpp/9.4.8-1 + tag: release/lyrical/rmw_fastrtps_dynamic_cpp/9.4.9-1 url: https://github.com/ros2-gbp/rmw_fastrtps-release.git - version: 9.4.8 + version: 9.4.9 rmw_fastrtps_shared_cpp: - tag: release/lyrical/rmw_fastrtps_shared_cpp/9.4.8-1 + tag: release/lyrical/rmw_fastrtps_shared_cpp/9.4.9-1 url: https://github.com/ros2-gbp/rmw_fastrtps-release.git - version: 9.4.8 + version: 9.4.9 +rmw_gurumdds_cpp: + tag: release/lyrical/rmw_gurumdds_cpp/7.0.0-1 + url: https://github.com/ros2-gbp/rmw_gurumdds-release.git + version: 7.0.0 rmw_implementation: - tag: release/lyrical/rmw_implementation/3.1.5-6 + tag: release/lyrical/rmw_implementation/3.1.6-1 url: https://github.com/ros2-gbp/rmw_implementation-release.git - version: 3.1.5 + version: 3.1.6 rmw_implementation_cmake: tag: release/lyrical/rmw_implementation_cmake/7.10.1-5 url: https://github.com/ros2-gbp/rmw-release.git @@ -4216,37 +4764,41 @@ rmw_test_fixture_implementation: url: https://github.com/ros2-gbp/ament_cmake_ros-release.git version: 0.15.8 rmw_zenoh_cpp: - tag: release/lyrical/rmw_zenoh_cpp/0.10.4-1 + tag: release/lyrical/rmw_zenoh_cpp/0.10.5-1 url: https://github.com/ros2-gbp/rmw_zenoh-release.git - version: 0.10.4 + version: 0.10.5 roboplan: - tag: release/lyrical/roboplan/0.4.0-1 + tag: release/lyrical/roboplan/0.5.1-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.5.1 +roboplan_cartesian_planning: + tag: release/lyrical/roboplan_cartesian_planning/0.5.1-1 + url: https://github.com/ros2-gbp/roboplan-release.git + version: 0.5.1 roboplan_example_models: - tag: release/lyrical/roboplan_example_models/0.4.0-1 + tag: release/lyrical/roboplan_example_models/0.5.1-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.5.1 roboplan_examples: - tag: release/lyrical/roboplan_examples/0.4.0-1 + tag: release/lyrical/roboplan_examples/0.5.1-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.5.1 roboplan_oink: - tag: release/lyrical/roboplan_oink/0.4.0-1 + tag: release/lyrical/roboplan_oink/0.5.1-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.5.1 roboplan_rrt: - tag: release/lyrical/roboplan_rrt/0.4.0-1 + tag: release/lyrical/roboplan_rrt/0.5.1-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.5.1 roboplan_simple_ik: - tag: release/lyrical/roboplan_simple_ik/0.4.0-1 + tag: release/lyrical/roboplan_simple_ik/0.5.1-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.5.1 roboplan_toppra: - tag: release/lyrical/roboplan_toppra/0.4.0-1 + tag: release/lyrical/roboplan_toppra/0.5.1-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.5.1 robot_arm_demo: tag: release/lyrical/robot_arm_demo/0.1.0-1 url: https://github.com/ros2-gbp/rosidl_buffer_backends_tutorials-release.git @@ -4284,29 +4836,93 @@ robotraconteur_companion: url: https://github.com/ros2-gbp/robotraconteur_companion-release.git version: 0.4.3 ros2_control: - tag: release/lyrical/ros2_control/6.7.1-1 + tag: release/lyrical/ros2_control/6.8.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.8.0 ros2_control_cmake: tag: release/lyrical/ros2_control_cmake/0.3.0-3 url: https://github.com/ros2-gbp/ros2_control_cmake-release.git version: 0.3.0 ros2_control_test_assets: - tag: release/lyrical/ros2_control_test_assets/6.7.1-1 + tag: release/lyrical/ros2_control_test_assets/6.8.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.8.0 ros2_controllers: - tag: release/lyrical/ros2_controllers/6.7.0-1 + tag: release/lyrical/ros2_controllers/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 ros2_controllers_test_nodes: - tag: release/lyrical/ros2_controllers_test_nodes/6.7.0-1 + tag: release/lyrical/ros2_controllers_test_nodes/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 ros2_fmt_logger: tag: release/lyrical/ros2_fmt_logger/1.1.0-3 url: https://github.com/ros2-gbp/ros2_fmt_logger-release.git version: 1.1.0 +ros2_medkit_action_status_bridge: + tag: release/lyrical/ros2_medkit_action_status_bridge/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_beacon_common: + tag: release/lyrical/ros2_medkit_beacon_common/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_cmake: + tag: release/lyrical/ros2_medkit_cmake/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_diagnostic_bridge: + tag: release/lyrical/ros2_medkit_diagnostic_bridge/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_fault_manager: + tag: release/lyrical/ros2_medkit_fault_manager/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_fault_reporter: + tag: release/lyrical/ros2_medkit_fault_reporter/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_gateway: + tag: release/lyrical/ros2_medkit_gateway/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_graph_provider: + tag: release/lyrical/ros2_medkit_graph_provider/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_integration_tests: + tag: release/lyrical/ros2_medkit_integration_tests/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_linux_introspection: + tag: release/lyrical/ros2_medkit_linux_introspection/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_log_bridge: + tag: release/lyrical/ros2_medkit_log_bridge/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_msgs: + tag: release/lyrical/ros2_medkit_msgs/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_param_beacon: + tag: release/lyrical/ros2_medkit_param_beacon/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_serialization: + tag: release/lyrical/ros2_medkit_serialization/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_sovd_service_interface: + tag: release/lyrical/ros2_medkit_sovd_service_interface/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 +ros2_medkit_topic_beacon: + tag: release/lyrical/ros2_medkit_topic_beacon/0.6.0-1 + url: https://github.com/ros2-gbp/ros2_medkit-release.git + version: 0.6.0 ros2_snapshot: tag: release/lyrical/ros2_snapshot/0.0.7-1 url: https://github.com/ros2-gbp/ros2_snapshot-release.git @@ -4324,45 +4940,45 @@ ros2acceleration: url: https://github.com/ros2-gbp/ros2acceleration-release.git version: 0.5.1 ros2action: - tag: release/lyrical/ros2action/0.40.7-1 + tag: release/lyrical/ros2action/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2bag: tag: release/lyrical/ros2bag/0.33.3-1 url: https://github.com/ros2-gbp/rosbag2-release.git version: 0.33.3 ros2cli: - tag: release/lyrical/ros2cli/0.40.7-1 + tag: release/lyrical/ros2cli/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2cli_common_extensions: tag: release/lyrical/ros2cli_common_extensions/0.5.2-3 url: https://github.com/ros2-gbp/ros2cli_common_extensions-release.git version: 0.5.2 ros2cli_test_interfaces: - tag: release/lyrical/ros2cli_test_interfaces/0.40.7-1 + tag: release/lyrical/ros2cli_test_interfaces/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2component: - tag: release/lyrical/ros2component/0.40.7-1 + tag: release/lyrical/ros2component/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2controlcli: - tag: release/lyrical/ros2controlcli/6.7.1-1 + tag: release/lyrical/ros2controlcli/6.8.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.8.0 ros2doctor: - tag: release/lyrical/ros2doctor/0.40.7-1 + tag: release/lyrical/ros2doctor/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2interface: - tag: release/lyrical/ros2interface/0.40.7-1 + tag: release/lyrical/ros2interface/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2launch: - tag: release/lyrical/ros2launch/0.29.8-1 + tag: release/lyrical/ros2launch/0.29.9-1 url: https://github.com/ros2-gbp/launch_ros-release.git - version: 0.29.8 + version: 0.29.9 ros2launch_security: tag: release/lyrical/ros2launch_security/1.0.0-6 url: https://github.com/ros2-gbp/ros2launch_security-release.git @@ -4372,53 +4988,53 @@ ros2launch_security_examples: url: https://github.com/ros2-gbp/ros2launch_security-release.git version: 1.0.0 ros2lifecycle: - tag: release/lyrical/ros2lifecycle/0.40.7-1 + tag: release/lyrical/ros2lifecycle/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2lifecycle_test_fixtures: - tag: release/lyrical/ros2lifecycle_test_fixtures/0.40.7-1 + tag: release/lyrical/ros2lifecycle_test_fixtures/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2multicast: - tag: release/lyrical/ros2multicast/0.40.7-1 + tag: release/lyrical/ros2multicast/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2node: - tag: release/lyrical/ros2node/0.40.7-1 + tag: release/lyrical/ros2node/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2nodl: tag: release/lyrical/ros2nodl/0.3.1-6 url: https://github.com/ros2-gbp/nodl-release.git version: 0.3.1 ros2param: - tag: release/lyrical/ros2param/0.40.7-1 + tag: release/lyrical/ros2param/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2pkg: - tag: release/lyrical/ros2pkg/0.40.7-1 + tag: release/lyrical/ros2pkg/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2plugin: tag: release/lyrical/ros2plugin/5.8.4-3 url: https://github.com/ros2-gbp/pluginlib-release.git version: 5.8.4 ros2run: - tag: release/lyrical/ros2run/0.40.7-1 + tag: release/lyrical/ros2run/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2service: - tag: release/lyrical/ros2service/0.40.7-1 + tag: release/lyrical/ros2service/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2test: tag: release/lyrical/ros2test/0.9.1-3 url: https://github.com/ros2-gbp/ros_testing-release.git version: 0.9.1 ros2topic: - tag: release/lyrical/ros2topic/0.40.7-1 + tag: release/lyrical/ros2topic/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.40.7 + version: 0.40.8 ros2trace: tag: release/lyrical/ros2trace/8.10.2-1 url: https://github.com/ros2-gbp/ros2_tracing-release.git @@ -4483,6 +5099,10 @@ ros_industrial_cmake_boilerplate: tag: release/lyrical/ros_industrial_cmake_boilerplate/0.5.4-3 url: https://github.com/ros2-gbp/ros_industrial_cmake_boilerplate-release.git version: 0.5.4 +ros_snapd_interfaces: + tag: release/lyrical/ros_snapd_interfaces/0.0.1-1 + url: https://github.com/ros2-gbp/ros_snapd_interfaces-release.git + version: 0.0.1 ros_testing: tag: release/lyrical/ros_testing/0.9.1-3 url: https://github.com/ros2-gbp/ros_testing-release.git @@ -4583,6 +5203,10 @@ rosbag2rawlog: tag: release/lyrical/rosbag2rawlog/3.5.3-1 url: https://github.com/ros2-gbp/mrpt_ros_bridge-release.git version: 3.5.3 +rosbag_timing_inspector: + tag: release/lyrical/rosbag_timing_inspector/1.0.2-1 + url: https://github.com/ros2-gbp/rosbag_timing_inspector-release.git + version: 1.0.2 rosbridge_library: tag: release/lyrical/rosbridge_library/4.2.0-1 url: https://github.com/ros2-gbp/rosbridge_suite-release.git @@ -4799,6 +5423,10 @@ rot_conv: tag: release/lyrical/rot_conv/1.1.0-5 url: https://github.com/ros2-gbp/rot_conv_lib-release.git version: 1.1.0 +rplidar_driver: + tag: release/lyrical/rplidar_driver/1.4.1-1 + url: https://github.com/ros2-gbp/rplidar_driver-release.git + version: 1.4.1 rplidar_ros: tag: release/lyrical/rplidar_ros/2.1.0-5 url: https://github.com/ros2-gbp/rplidar_ros-release.git @@ -4824,33 +5452,33 @@ rqml_plugin_example: url: https://github.com/ros2-gbp/rqml-release.git version: 3.26.42 rqt: - tag: release/lyrical/rqt/1.10.5-1 + tag: release/lyrical/rqt/1.10.6-1 url: https://github.com/ros2-gbp/rqt-release.git - version: 1.10.5 + version: 1.10.6 rqt_action: tag: release/lyrical/rqt_action/2.5.0-1 url: https://github.com/ros2-gbp/rqt_action-release.git version: 2.5.0 rqt_bag: - tag: release/lyrical/rqt_bag/2.2.4-1 + tag: release/lyrical/rqt_bag/2.2.5-1 url: https://github.com/ros2-gbp/rqt_bag-release.git - version: 2.2.4 + version: 2.2.5 rqt_bag_plugins: - tag: release/lyrical/rqt_bag_plugins/2.2.4-1 + tag: release/lyrical/rqt_bag_plugins/2.2.5-1 url: https://github.com/ros2-gbp/rqt_bag-release.git - version: 2.2.4 + version: 2.2.5 rqt_common_plugins: tag: release/lyrical/rqt_common_plugins/1.2.0-5 url: https://github.com/ros2-gbp/rqt_common_plugins-release.git version: 1.2.0 rqt_console: - tag: release/lyrical/rqt_console/2.4.3-3 + tag: release/lyrical/rqt_console/2.4.4-1 url: https://github.com/ros2-gbp/rqt_console-release.git - version: 2.4.3 + version: 2.4.4 rqt_controller_manager: - tag: release/lyrical/rqt_controller_manager/6.7.1-1 + tag: release/lyrical/rqt_controller_manager/6.8.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.8.0 rqt_dotgraph: tag: release/lyrical/rqt_dotgraph/0.0.5-3 url: https://github.com/ros2-gbp/rqt_dotgraph-release.git @@ -4860,21 +5488,21 @@ rqt_gauges: url: https://github.com/ros2-gbp/rqt_gauges-release.git version: 0.0.3 rqt_graph: - tag: release/lyrical/rqt_graph/1.8.3-1 + tag: release/lyrical/rqt_graph/1.8.5-1 url: https://github.com/ros2-gbp/rqt_graph-release.git - version: 1.8.3 + version: 1.8.5 rqt_gui: - tag: release/lyrical/rqt_gui/1.10.5-1 + tag: release/lyrical/rqt_gui/1.10.6-1 url: https://github.com/ros2-gbp/rqt-release.git - version: 1.10.5 + version: 1.10.6 rqt_gui_cpp: - tag: release/lyrical/rqt_gui_cpp/1.10.5-1 + tag: release/lyrical/rqt_gui_cpp/1.10.6-1 url: https://github.com/ros2-gbp/rqt-release.git - version: 1.10.5 + version: 1.10.6 rqt_gui_py: - tag: release/lyrical/rqt_gui_py/1.10.5-1 + tag: release/lyrical/rqt_gui_py/1.10.6-1 url: https://github.com/ros2-gbp/rqt-release.git - version: 1.10.5 + version: 1.10.6 rqt_image_overlay: tag: release/lyrical/rqt_image_overlay/0.5.0-3 url: https://github.com/ros2-gbp/rqt_image_overlay-release.git @@ -4888,41 +5516,41 @@ rqt_image_view: url: https://github.com/ros2-gbp/rqt_image_view-release.git version: 2.0.5 rqt_joint_trajectory_controller: - tag: release/lyrical/rqt_joint_trajectory_controller/6.7.0-1 + tag: release/lyrical/rqt_joint_trajectory_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 rqt_moveit: tag: release/lyrical/rqt_moveit/1.0.1-6 url: https://github.com/ros2-gbp/rqt_moveit-release.git version: 1.0.1 rqt_msg: - tag: release/lyrical/rqt_msg/1.7.2-3 + tag: release/lyrical/rqt_msg/1.7.4-1 url: https://github.com/ros2-gbp/rqt_msg-release.git - version: 1.7.2 + version: 1.7.4 rqt_play_motion_builder: tag: release/lyrical/rqt_play_motion_builder/1.4.1-3 url: https://github.com/ros2-gbp/play_motion_builder-release.git version: 1.4.1 rqt_plot: - tag: release/lyrical/rqt_plot/1.7.5-3 + tag: release/lyrical/rqt_plot/1.7.6-1 url: https://github.com/ros2-gbp/rqt_plot-release.git - version: 1.7.5 + version: 1.7.6 rqt_publisher: - tag: release/lyrical/rqt_publisher/1.10.3-1 + tag: release/lyrical/rqt_publisher/1.10.4-1 url: https://github.com/ros2-gbp/rqt_publisher-release.git - version: 1.10.3 + version: 1.10.4 rqt_py_common: - tag: release/lyrical/rqt_py_common/1.10.5-1 + tag: release/lyrical/rqt_py_common/1.10.6-1 url: https://github.com/ros2-gbp/rqt-release.git - version: 1.10.5 + version: 1.10.6 rqt_py_console: - tag: release/lyrical/rqt_py_console/1.5.2-4 + tag: release/lyrical/rqt_py_console/1.5.3-1 url: https://github.com/ros2-gbp/rqt_py_console-release.git - version: 1.5.2 + version: 1.5.3 rqt_reconfigure: - tag: release/lyrical/rqt_reconfigure/1.8.5-1 + tag: release/lyrical/rqt_reconfigure/1.8.6-1 url: https://github.com/ros2-gbp/rqt_reconfigure-release.git - version: 1.8.5 + version: 1.8.6 rqt_robot_dashboard: tag: release/lyrical/rqt_robot_dashboard/0.6.1-6 url: https://github.com/ros2-gbp/rqt_robot_dashboard-release.git @@ -4940,25 +5568,25 @@ rqt_runtime_monitor: url: https://github.com/ros2-gbp/rqt_runtime_monitor-release.git version: 1.0.0 rqt_service_caller: - tag: release/lyrical/rqt_service_caller/1.5.2-3 + tag: release/lyrical/rqt_service_caller/1.5.4-1 url: https://github.com/ros2-gbp/rqt_service_caller-release.git - version: 1.5.2 + version: 1.5.4 rqt_shell: - tag: release/lyrical/rqt_shell/1.4.1-3 + tag: release/lyrical/rqt_shell/1.4.2-1 url: https://github.com/ros2-gbp/rqt_shell-release.git - version: 1.4.1 + version: 1.4.2 rqt_srv: tag: release/lyrical/rqt_srv/1.4.1-3 url: https://github.com/ros2-gbp/rqt_srv-release.git version: 1.4.1 rqt_tf_tree: - tag: release/lyrical/rqt_tf_tree/1.1.0-1 + tag: release/lyrical/rqt_tf_tree/1.1.1-1 url: https://github.com/ros2-gbp/rqt_tf_tree-release.git - version: 1.1.0 + version: 1.1.1 rqt_topic: - tag: release/lyrical/rqt_topic/2.1.1-1 + tag: release/lyrical/rqt_topic/2.1.2-1 url: https://github.com/ros2-gbp/rqt_topic-release.git - version: 2.1.1 + version: 2.1.2 rsl: tag: release/lyrical/rsl/1.3.0-3 url: https://github.com/ros2-gbp/RSL-release.git @@ -4980,9 +5608,61 @@ rt_usb_9axisimu_driver: url: https://github.com/ros2-gbp/rt_usb_9axisimu_driver-release.git version: 3.0.0 rtabmap: - tag: release/lyrical/rtabmap/0.22.1-3 + tag: release/lyrical/rtabmap/0.23.7-1 url: https://github.com/ros2-gbp/rtabmap-release.git - version: 0.22.1 + version: 0.23.7 +rtabmap_conversions: + tag: release/lyrical/rtabmap_conversions/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 +rtabmap_demos: + tag: release/lyrical/rtabmap_demos/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 +rtabmap_examples: + tag: release/lyrical/rtabmap_examples/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 +rtabmap_launch: + tag: release/lyrical/rtabmap_launch/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 +rtabmap_msgs: + tag: release/lyrical/rtabmap_msgs/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 +rtabmap_odom: + tag: release/lyrical/rtabmap_odom/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 +rtabmap_python: + tag: release/lyrical/rtabmap_python/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 +rtabmap_ros: + tag: release/lyrical/rtabmap_ros/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 +rtabmap_rviz_plugins: + tag: release/lyrical/rtabmap_rviz_plugins/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 +rtabmap_slam: + tag: release/lyrical/rtabmap_slam/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 +rtabmap_sync: + tag: release/lyrical/rtabmap_sync/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 +rtabmap_util: + tag: release/lyrical/rtabmap_util/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 +rtabmap_viz: + tag: release/lyrical/rtabmap_viz/0.23.7-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.7 rtcm_msgs: tag: release/lyrical/rtcm_msgs/1.1.6-5 url: https://github.com/ros2-gbp/rtcm_msgs-release.git @@ -5008,25 +5688,25 @@ ruckig: url: https://github.com/ros2-gbp/ruckig-release.git version: 0.9.2 rviz2: - tag: release/lyrical/rviz2/15.2.3-1 + tag: release/lyrical/rviz2/15.2.5-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 15.2.3 + version: 15.2.5 rviz_2d_overlay_msgs: - tag: release/lyrical/rviz_2d_overlay_msgs/1.4.1-3 + tag: release/lyrical/rviz_2d_overlay_msgs/1.4.2-1 url: https://github.com/ros2-gbp/rviz_2d_overlay_plugins-release.git - version: 1.4.1 + version: 1.4.2 rviz_2d_overlay_plugins: - tag: release/lyrical/rviz_2d_overlay_plugins/1.4.1-3 + tag: release/lyrical/rviz_2d_overlay_plugins/1.4.2-1 url: https://github.com/ros2-gbp/rviz_2d_overlay_plugins-release.git - version: 1.4.1 + version: 1.4.2 rviz_common: - tag: release/lyrical/rviz_common/15.2.3-1 + tag: release/lyrical/rviz_common/15.2.5-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 15.2.3 + version: 15.2.5 rviz_default_plugins: - tag: release/lyrical/rviz_default_plugins/15.2.3-1 + tag: release/lyrical/rviz_default_plugins/15.2.5-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 15.2.3 + version: 15.2.5 rviz_imu_plugin: tag: release/lyrical/rviz_imu_plugin/2.2.2-3 url: https://github.com/ros2-gbp/imu_tools-release.git @@ -5035,38 +5715,50 @@ rviz_marker_tools: tag: release/lyrical/rviz_marker_tools/0.1.5-3 url: https://github.com/ros2-gbp/moveit_task_constructor-release.git version: 0.1.5 +rviz_mbf_plugins: + tag: release/lyrical/rviz_mbf_plugins/1.2.1-1 + url: https://github.com/ros2-gbp/move_base_flex-release.git + version: 1.2.1 rviz_ogre_vendor: - tag: release/lyrical/rviz_ogre_vendor/15.2.3-1 + tag: release/lyrical/rviz_ogre_vendor/15.2.5-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 15.2.3 + version: 15.2.5 rviz_rendering: - tag: release/lyrical/rviz_rendering/15.2.3-1 + tag: release/lyrical/rviz_rendering/15.2.5-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 15.2.3 + version: 15.2.5 rviz_rendering_tests: - tag: release/lyrical/rviz_rendering_tests/15.2.3-1 + tag: release/lyrical/rviz_rendering_tests/15.2.5-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 15.2.3 + version: 15.2.5 +rviz_satellite: + tag: release/lyrical/rviz_satellite/4.3.1-1 + url: https://github.com/ros2-gbp/rviz_satellite-release.git + version: 4.3.1 rviz_visual_testing_framework: - tag: release/lyrical/rviz_visual_testing_framework/15.2.3-1 + tag: release/lyrical/rviz_visual_testing_framework/15.2.5-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 15.2.3 + version: 15.2.5 rviz_visual_tools: tag: release/lyrical/rviz_visual_tools/4.1.4-5 url: https://github.com/ros2-gbp/rviz_visual_tools-release.git version: 4.1.4 +sbg_driver: + tag: release/lyrical/sbg_driver/3.4.0-1 + url: https://github.com/SBG-Systems/sbg_ros2-release.git + version: 3.4.0 sdformat_test_files: - tag: release/lyrical/sdformat_test_files/2.1.0-3 + tag: release/lyrical/sdformat_test_files/2.1.1-1 url: https://github.com/ros2-gbp/sdformat_urdf-release.git - version: 2.1.0 + version: 2.1.1 sdformat_urdf: - tag: release/lyrical/sdformat_urdf/2.1.0-3 + tag: release/lyrical/sdformat_urdf/2.1.1-1 url: https://github.com/ros2-gbp/sdformat_urdf-release.git - version: 2.1.0 + version: 2.1.1 sdformat_vendor: - tag: release/lyrical/sdformat_vendor/0.3.3-3 + tag: release/lyrical/sdformat_vendor/0.3.4-1 url: https://github.com/ros2-gbp/sdformat_vendor-release.git - version: 0.3.3 + version: 0.3.4 sdl2_vendor: tag: release/lyrical/sdl2_vendor/3.3.0-4 url: https://github.com/ros2-gbp/joystick_drivers-release.git @@ -5076,17 +5768,17 @@ self_test: url: https://github.com/ros2-gbp/diagnostics-release.git version: 4.4.7 sensor_msgs: - tag: release/lyrical/sensor_msgs/5.9.2-3 + tag: release/lyrical/sensor_msgs/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.9.2 + version: 5.9.3 sensor_msgs_py: - tag: release/lyrical/sensor_msgs_py/5.9.2-3 + tag: release/lyrical/sensor_msgs_py/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.9.2 + version: 5.9.3 septentrio_gnss_driver: - tag: release/lyrical/septentrio_gnss_driver/1.4.6-3 + tag: release/lyrical/septentrio_gnss_driver/1.4.7-2 url: https://github.com/ros2-gbp/septentrio_gnss_driver_ros2-release.git - version: 1.4.6 + version: 1.4.7 serial_driver: tag: release/lyrical/serial_driver/1.2.0-5 url: https://github.com/ros2-gbp/transport_drivers-release.git @@ -5100,17 +5792,17 @@ service_msgs: url: https://github.com/ros2-gbp/rcl_interfaces-release.git version: 2.4.5 shape_msgs: - tag: release/lyrical/shape_msgs/5.9.2-3 + tag: release/lyrical/shape_msgs/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.9.2 + version: 5.9.3 sick_safetyscanners2: tag: release/lyrical/sick_safetyscanners2/1.0.4-3 url: https://github.com/ros2-gbp/sick_safetyscanners2-release.git version: 1.0.4 sick_safetyscanners2_interfaces: - tag: release/lyrical/sick_safetyscanners2_interfaces/1.0.0-3 + tag: release/lyrical/sick_safetyscanners2_interfaces/1.0.1-1 url: https://github.com/ros2-gbp/sick_safetyscanners2_interfaces-release.git - version: 1.0.0 + version: 1.0.1 sick_safetyscanners_base: tag: release/lyrical/sick_safetyscanners_base/1.0.3-3 url: https://github.com/ros2-gbp/sick_safetyscanners_base-release.git @@ -5151,6 +5843,10 @@ simulation_interfaces: tag: release/lyrical/simulation_interfaces/2.1.0-3 url: https://github.com/ros2-gbp/simulation_interfaces-release.git version: 2.1.0 +slam_toolbox: + tag: release/lyrical/slam_toolbox/2.10.0-1 + url: https://github.com/SteveMacenski/slam_toolbox-release.git + version: 2.10.0 slg_msgs: tag: release/lyrical/slg_msgs/3.9.1-3 url: https://github.com/ros2-gbp/slg_msgs-release.git @@ -5215,6 +5911,14 @@ sophus: tag: release/lyrical/sophus/1.22.9102-4 url: https://github.com/ros2-gbp/sophus-release.git version: 1.22.9102 +sound_play: + tag: release/lyrical/sound_play/0.4.0-2 + url: https://github.com/ros2-gbp/audio_common-release.git + version: 0.4.0 +sound_play_msgs: + tag: release/lyrical/sound_play_msgs/0.4.0-2 + url: https://github.com/ros2-gbp/audio_common-release.git + version: 0.4.0 spacenav: tag: release/lyrical/spacenav/3.3.0-4 url: https://github.com/ros2-gbp/joystick_drivers-release.git @@ -5252,37 +5956,37 @@ sros2_cmake: url: https://github.com/ros2-gbp/sros2-release.git version: 0.16.6 state_interfaces_broadcaster: - tag: release/lyrical/state_interfaces_broadcaster/6.7.0-1 + tag: release/lyrical/state_interfaces_broadcaster/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 statistics_msgs: tag: release/lyrical/statistics_msgs/2.4.5-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git version: 2.4.5 std_msgs: - tag: release/lyrical/std_msgs/5.9.2-3 + tag: release/lyrical/std_msgs/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.9.2 + version: 5.9.3 std_srvs: - tag: release/lyrical/std_srvs/5.9.2-3 + tag: release/lyrical/std_srvs/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.9.2 + version: 5.9.3 steering_controllers_library: - tag: release/lyrical/steering_controllers_library/6.7.0-1 + tag: release/lyrical/steering_controllers_library/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 steering_functions: tag: release/lyrical/steering_functions/0.3.0-3 url: https://github.com/ros2-gbp/steering_functions-release.git version: 0.3.0 stereo_image_proc: - tag: release/lyrical/stereo_image_proc/7.1.6-1 + tag: release/lyrical/stereo_image_proc/7.1.7-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 7.1.6 + version: 7.1.7 stereo_msgs: - tag: release/lyrical/stereo_msgs/5.9.2-3 + tag: release/lyrical/stereo_msgs/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.9.2 + version: 5.9.3 stomp: tag: release/lyrical/stomp/0.1.2-5 url: https://github.com/ros2-gbp/stomp-release.git @@ -5336,9 +6040,9 @@ swri_transform_util: url: https://github.com/ros2-gbp/marti_common-release.git version: 3.9.0 sync_tooling_msgs: - tag: release/lyrical/sync_tooling_msgs/0.2.10-1 + tag: release/lyrical/sync_tooling_msgs/0.2.11-1 url: https://github.com/ros2-gbp/sync_tooling_msgs-release.git - version: 0.2.10 + version: 0.2.11 system_fingerprint: tag: release/lyrical/system_fingerprint/0.7.0-5 url: https://github.com/ros2-gbp/ros_system_fingerprint-release.git @@ -5404,57 +6108,57 @@ test_msgs: url: https://github.com/ros2-gbp/rcl_interfaces-release.git version: 2.4.5 tf2: - tag: release/lyrical/tf2/0.45.7-3 + tag: release/lyrical/tf2/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 tf2_2d: tag: release/lyrical/tf2_2d/1.6.1-3 url: https://github.com/ros2-gbp/tf2_2d-release.git version: 1.6.1 tf2_bullet: - tag: release/lyrical/tf2_bullet/0.45.7-3 + tag: release/lyrical/tf2_bullet/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 tf2_eigen: - tag: release/lyrical/tf2_eigen/0.45.7-3 + tag: release/lyrical/tf2_eigen/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 tf2_eigen_kdl: - tag: release/lyrical/tf2_eigen_kdl/0.45.7-3 + tag: release/lyrical/tf2_eigen_kdl/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 tf2_geometry_msgs: - tag: release/lyrical/tf2_geometry_msgs/0.45.7-3 + tag: release/lyrical/tf2_geometry_msgs/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 tf2_kdl: - tag: release/lyrical/tf2_kdl/0.45.7-3 + tag: release/lyrical/tf2_kdl/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 tf2_msgs: - tag: release/lyrical/tf2_msgs/0.45.7-3 + tag: release/lyrical/tf2_msgs/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 tf2_py: - tag: release/lyrical/tf2_py/0.45.7-3 + tag: release/lyrical/tf2_py/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 tf2_ros: - tag: release/lyrical/tf2_ros/0.45.7-3 + tag: release/lyrical/tf2_ros/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 tf2_ros_py: - tag: release/lyrical/tf2_ros_py/0.45.7-3 + tag: release/lyrical/tf2_ros_py/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 tf2_sensor_msgs: - tag: release/lyrical/tf2_sensor_msgs/0.45.7-3 + tag: release/lyrical/tf2_sensor_msgs/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 tf2_tools: - tag: release/lyrical/tf2_tools/0.45.7-3 + tag: release/lyrical/tf2_tools/0.45.9-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.45.7 + version: 0.45.9 tf2_web_republisher: tag: release/lyrical/tf2_web_republisher/1.0.0-3 url: https://github.com/ros2-gbp/tf2_web_republisher-release.git @@ -5472,9 +6176,13 @@ tf_tree_terminal: url: https://github.com/ros2-gbp/tf_tree_terminal-release.git version: 2.0.0 theora_image_transport: - tag: release/lyrical/theora_image_transport/6.2.5-1 + tag: release/lyrical/theora_image_transport/6.2.6-1 url: https://github.com/ros2-gbp/image_transport_plugins-release.git - version: 6.2.5 + version: 6.2.6 +tile_map: + tag: release/lyrical/tile_map/3.1.0-1 + url: https://github.com/ros2-gbp/mapviz-release.git + version: 3.1.0 tinyspline_vendor: tag: release/lyrical/tinyspline_vendor/0.6.1-3 url: https://github.com/ros2-gbp/tinyspline_vendor-release.git @@ -5496,13 +6204,13 @@ tlsf_cpp: url: https://github.com/ros2-gbp/realtime_support-release.git version: 0.20.1 topic_monitor: - tag: release/lyrical/topic_monitor/0.37.8-3 + tag: release/lyrical/topic_monitor/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 topic_statistics_demo: - tag: release/lyrical/topic_statistics_demo/0.37.8-3 + tag: release/lyrical/topic_statistics_demo/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git - version: 0.37.8 + version: 0.37.9 topic_tools: tag: release/lyrical/topic_tools/1.5.0-1 url: https://github.com/ros2-gbp/topic_tools-release.git @@ -5512,9 +6220,9 @@ topic_tools_interfaces: url: https://github.com/ros2-gbp/topic_tools-release.git version: 1.5.0 toppra: - tag: release/lyrical/toppra/0.6.8-1 + tag: release/lyrical/toppra/0.6.9-1 url: https://github.com/ros2-gbp/toppra-release.git - version: 0.6.8 + version: 0.6.9 torch_conversions: tag: release/lyrical/torch_conversions/0.1.2-1 url: https://github.com/ros2-gbp/rosidl_buffer_backends-release.git @@ -5544,9 +6252,9 @@ tracetools_analysis: url: https://github.com/ros2-gbp/tracetools_analysis-release.git version: 3.1.0 tracetools_image_pipeline: - tag: release/lyrical/tracetools_image_pipeline/7.1.6-1 + tag: release/lyrical/tracetools_image_pipeline/7.1.7-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 7.1.6 + version: 7.1.7 tracetools_launch: tag: release/lyrical/tracetools_launch/8.10.2-1 url: https://github.com/ros2-gbp/ros2_tracing-release.git @@ -5564,21 +6272,21 @@ tracetools_trace: url: https://github.com/ros2-gbp/ros2_tracing-release.git version: 8.10.2 trajectory_msgs: - tag: release/lyrical/trajectory_msgs/5.9.2-3 + tag: release/lyrical/trajectory_msgs/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.9.2 + version: 5.9.3 transmission_interface: - tag: release/lyrical/transmission_interface/6.7.1-1 + tag: release/lyrical/transmission_interface/6.8.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.8.0 tricycle_controller: - tag: release/lyrical/tricycle_controller/6.7.0-1 + tag: release/lyrical/tricycle_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 tricycle_steering_controller: - tag: release/lyrical/tricycle_steering_controller/6.7.0-1 + tag: release/lyrical/tricycle_steering_controller/6.8.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.8.0 tsid: tag: release/lyrical/tsid/1.10.0-1 url: https://github.com/ros2-gbp/tsid-release.git @@ -5712,13 +6420,13 @@ ublox: url: https://github.com/ros2-gbp/ublox-release.git version: 3.0.0 ublox_dgnss: - tag: release/lyrical/ublox_dgnss/0.7.4-3 + tag: release/lyrical/ublox_dgnss/0.7.5-1 url: https://github.com/ros2-gbp/ublox_dgnss-release.git - version: 0.7.4 + version: 0.7.5 ublox_dgnss_node: - tag: release/lyrical/ublox_dgnss_node/0.7.4-3 + tag: release/lyrical/ublox_dgnss_node/0.7.5-1 url: https://github.com/ros2-gbp/ublox_dgnss-release.git - version: 0.7.4 + version: 0.7.5 ublox_gps: tag: release/lyrical/ublox_gps/3.0.0-3 url: https://github.com/ros2-gbp/ublox-release.git @@ -5728,21 +6436,21 @@ ublox_msgs: url: https://github.com/ros2-gbp/ublox-release.git version: 3.0.0 ublox_nav_sat_fix_hp_node: - tag: release/lyrical/ublox_nav_sat_fix_hp_node/0.7.4-3 + tag: release/lyrical/ublox_nav_sat_fix_hp_node/0.7.5-1 url: https://github.com/ros2-gbp/ublox_dgnss-release.git - version: 0.7.4 + version: 0.7.5 ublox_serialization: tag: release/lyrical/ublox_serialization/3.0.0-3 url: https://github.com/ros2-gbp/ublox-release.git version: 3.0.0 ublox_ubx_interfaces: - tag: release/lyrical/ublox_ubx_interfaces/0.7.4-3 + tag: release/lyrical/ublox_ubx_interfaces/0.7.5-1 url: https://github.com/ros2-gbp/ublox_dgnss-release.git - version: 0.7.4 + version: 0.7.5 ublox_ubx_msgs: - tag: release/lyrical/ublox_ubx_msgs/0.7.4-3 + tag: release/lyrical/ublox_ubx_msgs/0.7.5-1 url: https://github.com/ros2-gbp/ublox_dgnss-release.git - version: 0.7.4 + version: 0.7.5 udp_driver: tag: release/lyrical/udp_driver/1.2.0-5 url: https://github.com/ros2-gbp/transport_drivers-release.git @@ -5763,14 +6471,18 @@ ur: tag: release/lyrical/ur/6.0.0-1 url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git version: 6.0.0 +ur10_inverse_dynamics_solver: + tag: release/lyrical/ur10_inverse_dynamics_solver/3.0.0-1 + url: https://github.com/ros2-gbp/inverse_dynamics_solver-release.git + version: 3.0.0 ur_calibration: tag: release/lyrical/ur_calibration/6.0.0-1 url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git version: 6.0.0 ur_client_library: - tag: release/lyrical/ur_client_library/2.12.0-1 + tag: release/lyrical/ur_client_library/2.14.0-1 url: https://github.com/ros2-gbp/Universal_Robots_Client_Library-release.git - version: 2.12.0 + version: 2.14.0 ur_controllers: tag: release/lyrical/ur_controllers/6.0.0-1 url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git @@ -5788,9 +6500,9 @@ ur_moveit_config: url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git version: 6.0.0 ur_msgs: - tag: release/lyrical/ur_msgs/2.5.0-3 + tag: release/lyrical/ur_msgs/2.6.0-1 url: https://github.com/ros2-gbp/ur_msgs-release.git - version: 2.5.0 + version: 2.6.0 ur_robot_driver: tag: release/lyrical/ur_robot_driver/6.0.0-1 url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git @@ -5848,9 +6560,9 @@ usb_cam: url: https://github.com/ros2-gbp/usb_cam-release.git version: 0.8.1 v4l2_camera: - tag: release/lyrical/v4l2_camera/0.8.0-3 + tag: release/lyrical/v4l2_camera/0.8.1-1 url: https://github.com/ros2-gbp/ros2_v4l2_camera-release.git - version: 0.8.0 + version: 0.8.1 velodyne: tag: release/lyrical/velodyne/2.5.1-3 url: https://github.com/ros2-gbp/velodyne-release.git @@ -5871,6 +6583,10 @@ velodyne_pointcloud: tag: release/lyrical/velodyne_pointcloud/2.5.1-3 url: https://github.com/ros2-gbp/velodyne-release.git version: 2.5.1 +video_to_image_msg_publisher: + tag: release/lyrical/video_to_image_msg_publisher/0.9.5-2 + url: https://github.com/ros2-gbp/video_to_image_msg_publisher-release.git + version: 0.9.5 vision_msgs: tag: release/lyrical/vision_msgs/4.2.0-3 url: https://github.com/ros2-gbp/vision_msgs-release.git @@ -5892,9 +6608,9 @@ visp: url: https://github.com/ros2-gbp/visp-release.git version: 3.7.0 visualization_msgs: - tag: release/lyrical/visualization_msgs/5.9.2-3 + tag: release/lyrical/visualization_msgs/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.9.2 + version: 5.9.3 vitis_common: tag: release/lyrical/vitis_common/0.4.2-5 url: https://github.com/ros2-gbp/vitis_common-release.git @@ -5912,9 +6628,9 @@ warehouse_ros: url: https://github.com/ros2-gbp/warehouse_ros-release.git version: 2.0.6 warehouse_ros_sqlite: - tag: release/lyrical/warehouse_ros_sqlite/1.0.7-3 + tag: release/lyrical/warehouse_ros_sqlite/1.0.8-1 url: https://github.com/ros2-gbp/warehouse_ros_sqlite-release.git - version: 1.0.7 + version: 1.0.8 web_video_server: tag: release/lyrical/web_video_server/3.1.1-1 url: https://github.com/ros2-gbp/web_video_server-release.git @@ -5983,54 +6699,66 @@ wiimote_msgs: tag: release/lyrical/wiimote_msgs/3.3.0-4 url: https://github.com/ros2-gbp/joystick_drivers-release.git version: 3.3.0 +wireless_msgs: + tag: release/lyrical/wireless_msgs/3.0.1-1 + url: https://github.com/clearpath-gbp/wireless-release.git + version: 3.0.1 +wireless_watcher: + tag: release/lyrical/wireless_watcher/3.0.1-1 + url: https://github.com/clearpath-gbp/wireless-release.git + version: 3.0.1 xacro: tag: release/lyrical/xacro/2.1.1-3 url: https://github.com/ros2-gbp/xacro-release.git version: 2.1.1 +yaets: + tag: release/lyrical/yaets/1.1.0-1 + url: https://github.com/fmrico/yaets-release.git + version: 1.1.0 yaml_cpp_vendor: tag: release/lyrical/yaml_cpp_vendor/9.2.1-3 url: https://github.com/ros2-gbp/yaml_cpp_vendor-release.git version: 9.2.1 yasmin: - tag: release/lyrical/yasmin/5.0.0-3 + tag: release/lyrical/yasmin/6.1.0-3 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.0 yasmin_cli: - tag: release/lyrical/yasmin_cli/5.0.0-3 + tag: release/lyrical/yasmin_cli/6.1.0-3 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.0 yasmin_demos: - tag: release/lyrical/yasmin_demos/5.0.0-3 + tag: release/lyrical/yasmin_demos/6.1.0-3 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.0 yasmin_editor: - tag: release/lyrical/yasmin_editor/5.0.0-3 + tag: release/lyrical/yasmin_editor/6.1.0-3 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.0 yasmin_factory: - tag: release/lyrical/yasmin_factory/5.0.0-3 + tag: release/lyrical/yasmin_factory/6.1.0-3 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.0 yasmin_msgs: - tag: release/lyrical/yasmin_msgs/5.0.0-3 + tag: release/lyrical/yasmin_msgs/6.1.0-3 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.0 yasmin_pcl: - tag: release/lyrical/yasmin_pcl/5.0.0-3 + tag: release/lyrical/yasmin_pcl/6.1.0-3 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.0 yasmin_plugins_manager: - tag: release/lyrical/yasmin_plugins_manager/5.0.0-3 + tag: release/lyrical/yasmin_plugins_manager/6.1.0-3 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.0 yasmin_ros: - tag: release/lyrical/yasmin_ros/5.0.0-3 + tag: release/lyrical/yasmin_ros/6.1.0-3 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.0 yasmin_viewer: - tag: release/lyrical/yasmin_viewer/5.0.0-3 + tag: release/lyrical/yasmin_viewer/6.1.0-3 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.0 zbar_ros: tag: release/lyrical/zbar_ros/0.7.0-3 url: https://github.com/ros2-gbp/zbar_ros-release.git @@ -6052,13 +6780,13 @@ zenoh_bridge_dds: url: https://github.com/ros2-gbp/zenoh_bridge_dds-release.git version: 0.5.0 zenoh_cpp_vendor: - tag: release/lyrical/zenoh_cpp_vendor/0.10.4-1 + tag: release/lyrical/zenoh_cpp_vendor/0.10.5-1 url: https://github.com/ros2-gbp/rmw_zenoh-release.git - version: 0.10.4 + version: 0.10.5 zenoh_security_tools: - tag: release/lyrical/zenoh_security_tools/0.10.4-1 + tag: release/lyrical/zenoh_security_tools/0.10.5-1 url: https://github.com/ros2-gbp/rmw_zenoh-release.git - version: 0.10.4 + version: 0.10.5 zlib_point_cloud_transport: tag: release/lyrical/zlib_point_cloud_transport/6.2.0-1 url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git @@ -6072,9 +6800,9 @@ zstd_cmake_module: url: https://github.com/ros2-gbp/rosbag2-release.git version: 0.33.3 zstd_image_transport: - tag: release/lyrical/zstd_image_transport/6.2.5-1 + tag: release/lyrical/zstd_image_transport/6.2.6-1 url: https://github.com/ros2-gbp/image_transport_plugins-release.git - version: 6.2.5 + version: 6.2.6 zstd_point_cloud_transport: tag: release/lyrical/zstd_point_cloud_transport/6.2.0-1 url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git From 23c08d7eada2092eaa46f6036a5eec63555a6404 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sun, 2 Aug 2026 00:52:10 +0200 Subject: [PATCH 02/48] Refresh patches for updated Lyrical packages --- patch/ros-lyrical-foxglove-bridge.osx.patch | 177 ---------------- patch/ros-lyrical-foxglove-bridge.patch | 18 +- patch/ros-lyrical-foxglove-bridge.win.patch | 17 +- patch/ros-lyrical-geometric-shapes.patch | 34 --- patch/ros-lyrical-geometric-shapes.win.patch | 12 -- patch/ros-lyrical-random-numbers.win.patch | 13 -- patch/ros-lyrical-rviz-rendering.osx.patch | 10 +- patch/ros-lyrical-sbg-driver.patch | 79 ------- patch/ros-lyrical-sbg-driver.win.patch | 21 -- patch/ros-lyrical-slam-toolbox.win.patch | 212 ------------------- 10 files changed, 23 insertions(+), 570 deletions(-) delete mode 100644 patch/ros-lyrical-foxglove-bridge.osx.patch delete mode 100644 patch/ros-lyrical-geometric-shapes.patch delete mode 100644 patch/ros-lyrical-geometric-shapes.win.patch delete mode 100644 patch/ros-lyrical-random-numbers.win.patch delete mode 100644 patch/ros-lyrical-sbg-driver.patch delete mode 100644 patch/ros-lyrical-sbg-driver.win.patch delete mode 100644 patch/ros-lyrical-slam-toolbox.win.patch diff --git a/patch/ros-lyrical-foxglove-bridge.osx.patch b/patch/ros-lyrical-foxglove-bridge.osx.patch deleted file mode 100644 index 9a0b8c7..0000000 --- a/patch/ros-lyrical-foxglove-bridge.osx.patch +++ /dev/null @@ -1,177 +0,0 @@ -diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp -index 601db6c..fc18e1c 100644 ---- a/src/ros2_foxglove_bridge.cpp -+++ b/src/ros2_foxglove_bridge.cpp -@@ -492,7 +492,7 @@ void FoxgloveBridge::updateAdvertisedTopics( - const TopicAndDatatype topicAndSchemaName = {topic, schemaName}; - if (latestTopics.find(topicAndSchemaName) == latestTopics.end()) { - const auto channelId = channel.id(); -- RCLCPP_INFO(this->get_logger(), "Removing channel %lu for topic \"%s\" (%s)", channelId, -+ RCLCPP_INFO(this->get_logger(), "Removing channel %llu for topic \"%s\" (%s)", channelId, - topic.c_str(), schemaName.c_str()); - // Remove any active subscriptions for this channel - _subscriptions.erase(channelId); -@@ -562,7 +562,7 @@ void FoxgloveBridge::updateAdvertisedTopics( - } - - const ChannelId channelId = channelResult.value().id(); -- RCLCPP_INFO(this->get_logger(), "Advertising new channel %lu for topic \"%s\"", channelId, -+ RCLCPP_INFO(this->get_logger(), "Advertising new channel %llu for topic \"%s\"", channelId, - topic.c_str()); - _channels.insert({channelId, std::move(channelResult.value())}); - } -@@ -827,7 +827,7 @@ void FoxgloveBridge::subscribeConnectionGraph(bool subscribe) { - } - - void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetadata& client) { -- RCLCPP_INFO(this->get_logger(), "received subscribe request for channel %lu from client %u", -+ RCLCPP_INFO(this->get_logger(), "received subscribe request for channel %llu from client %u", - channelId, client.id); - createOrIncrementSubscription(channelId, client.id, false, client.sink_id); - } -@@ -880,7 +880,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl - std::optional sinkId) { - auto channelIt = _channels.find(channelId); - if (channelIt == _channels.end()) { -- RCLCPP_ERROR(this->get_logger(), "received subscribe request for unknown channel: %lu", -+ RCLCPP_ERROR(this->get_logger(), "received subscribe request for unknown channel: %llu", - channelId); - return; - } -@@ -911,7 +911,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl - auto [it, inserted] = _subscriptions.emplace(channelId, std::move(channelSub)); - subIt = it; - -- RCLCPP_INFO(this->get_logger(), "Created ROS subscription on %s (%s) for channel %lu", -+ RCLCPP_INFO(this->get_logger(), "Created ROS subscription on %s (%s) for channel %llu", - topic.c_str(), datatype.c_str(), channelId); - } - -@@ -935,7 +935,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl - } - - void FoxgloveBridge::unsubscribe(ChannelId channelId, const foxglove::ClientMetadata& client) { -- RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %lu from client %u", -+ RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %llu from client %u", - channelId, client.id); - removeOrDecrementSubscription(channelId, client.id, false); - } -@@ -951,7 +951,7 @@ void FoxgloveBridge::removeOrDecrementSubscriptionLocked(ChannelId channelId, Cl - auto subIt = _subscriptions.find(channelId); - if (subIt == _subscriptions.end()) { - RCLCPP_ERROR(this->get_logger(), -- "Client %u tried unsubscribing from channel %lu but no subscription exists", -+ "Client %u tried unsubscribing from channel %llu but no subscription exists", - clientId, channelId); - return; - } -@@ -966,7 +966,7 @@ void FoxgloveBridge::removeOrDecrementSubscriptionLocked(ChannelId channelId, Cl - // If no more subscribers, destroy the ROS subscription - if (subIt->second.wsClientIds.empty() && subIt->second.gatewayClientIds.empty()) { - RCLCPP_INFO(this->get_logger(), -- "Cleaned up ROS subscription for channel %lu (no more subscribers)", channelId); -+ "Cleaned up ROS subscription for channel %llu (no more subscribers)", channelId); - _subscriptions.erase(subIt); - } - } -@@ -1105,7 +1105,7 @@ void FoxgloveBridge::clientUnadvertise(ClientId clientId, ChannelId clientChanne - - const auto& publisher = it->second.publisher; - RCLCPP_INFO(this->get_logger(), -- "Client ID %u is no longer advertising %s (%zu subscribers) on channel %lu", clientId, -+ "Client ID %u is no longer advertising %s (%zu subscribers) on channel %llu", clientId, - publisher->get_topic_name(), publisher->get_subscription_count(), clientChannelId); - - _clientAdvertisedTopics.erase(it); -@@ -1585,13 +1585,13 @@ void FoxgloveBridge::gatewaySubscribe(uint32_t clientId, - auto sinkId = _gateway->sinkId(); - if (!sinkId.has_value()) { - RCLCPP_WARN(this->get_logger(), -- "Gateway: subscribe request for channel %lu (\"%s\") from client %u " -+ "Gateway: subscribe request for channel %llu (\"%s\") from client %u " - "but gateway session has no sink ID (reconnecting?); " - "cached transient_local messages will not be replayed", - channel.id(), std::string(channel.topic()).c_str(), clientId); - } - RCLCPP_INFO(this->get_logger(), -- "Gateway: received subscribe request for channel %lu (\"%s\") from client %u", -+ "Gateway: received subscribe request for channel %llu (\"%s\") from client %u", - channel.id(), std::string(channel.topic()).c_str(), clientId); - createOrIncrementSubscription(channel.id(), clientId, true, sinkId); - } -@@ -1599,7 +1599,7 @@ void FoxgloveBridge::gatewaySubscribe(uint32_t clientId, - void FoxgloveBridge::gatewayUnsubscribe(uint32_t clientId, - const foxglove::ChannelDescriptor& channel) { - RCLCPP_INFO(this->get_logger(), -- "Gateway: received unsubscribe request for channel %lu (\"%s\") from client %u", -+ "Gateway: received unsubscribe request for channel %llu (\"%s\") from client %u", - channel.id(), std::string(channel.topic()).c_str(), clientId); - removeOrDecrementSubscription(channel.id(), clientId, true); - } -@@ -1614,7 +1614,7 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId, - - ChannelAndClientId key = {channelId, clientId}; - if (_gatewayClientAdvertisedTopics.find(key) != _gatewayClientAdvertisedTopics.end()) { -- RCLCPP_WARN(this->get_logger(), "Gateway: client %u already advertised channel %lu (\"%s\")", -+ RCLCPP_WARN(this->get_logger(), "Gateway: client %u already advertised channel %llu (\"%s\")", - clientId, channelId, topicName.c_str()); - return; - } -@@ -1631,7 +1631,7 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId, - - if (topicType.empty()) { - RCLCPP_ERROR(this->get_logger(), -- "Gateway: client %u advertised channel %lu (\"%s\") with empty schema name", -+ "Gateway: client %u advertised channel %llu (\"%s\") with empty schema name", - clientId, channelId, topicName.c_str()); - return; - } -@@ -1639,12 +1639,12 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId, - try { - auto ad = createClientPublisher(topicName, topicType, encoding, schemaData, schemaLen); - RCLCPP_INFO(this->get_logger(), -- "Gateway: client %u is advertising channel %lu \"%s\" (%s) with encoding \"%s\"", -+ "Gateway: client %u is advertising channel %llu \"%s\" (%s) with encoding \"%s\"", - clientId, channelId, topicName.c_str(), topicType.c_str(), encoding.c_str()); - _gatewayClientAdvertisedTopics.emplace(key, std::move(ad)); - } catch (const std::exception& ex) { - RCLCPP_ERROR(this->get_logger(), -- "Gateway: failed to create publisher for client %u channel %lu (\"%s\"): %s", -+ "Gateway: failed to create publisher for client %u channel %llu (\"%s\"): %s", - clientId, channelId, topicName.c_str(), ex.what()); - } - } -@@ -1658,13 +1658,13 @@ void FoxgloveBridge::gatewayClientUnadvertise(uint32_t clientId, - - auto it = _gatewayClientAdvertisedTopics.find(key); - if (it == _gatewayClientAdvertisedTopics.end()) { -- RCLCPP_WARN(this->get_logger(), "Gateway: client %u unadvertised unknown channel %lu (\"%s\")", -+ RCLCPP_WARN(this->get_logger(), "Gateway: client %u unadvertised unknown channel %llu (\"%s\")", - clientId, channelId, std::string(channel.topic()).c_str()); - return; - } - - RCLCPP_INFO(this->get_logger(), -- "Gateway: client %u is no longer advertising channel %lu (\"%s\")", clientId, -+ "Gateway: client %u is no longer advertising channel %llu (\"%s\")", clientId, - channelId, it->second.topicName.c_str()); - _gatewayClientAdvertisedTopics.erase(it); - -@@ -1688,7 +1688,7 @@ void FoxgloveBridge::gatewayClientMessage(uint32_t clientId, - auto it = _gatewayClientAdvertisedTopics.find(key); - if (it == _gatewayClientAdvertisedTopics.end()) { - RCLCPP_ERROR(this->get_logger(), -- "Gateway: dropping message from client %u for unknown channel %lu", clientId, -+ "Gateway: dropping message from client %u for unknown channel %llu", clientId, - channelId); - return; - } -@@ -1699,7 +1699,7 @@ void FoxgloveBridge::gatewayClientMessage(uint32_t clientId, - try { - publishClientData(ad, data, dataLen); - } catch (const std::exception& ex) { -- RCLCPP_ERROR(this->get_logger(), "Gateway: dropping message from client %u for channel %lu: %s", -+ RCLCPP_ERROR(this->get_logger(), "Gateway: dropping message from client %u for channel %llu: %s", - clientId, channelId, ex.what()); - } - } diff --git a/patch/ros-lyrical-foxglove-bridge.patch b/patch/ros-lyrical-foxglove-bridge.patch index ce120db..905ceb1 100644 --- a/patch/ros-lyrical-foxglove-bridge.patch +++ b/patch/ros-lyrical-foxglove-bridge.patch @@ -1,27 +1,27 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 8ee07c2..7426013 100644 +index 6171894..f285973 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -98,6 +98,18 @@ if (CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarc +@@ -97,6 +97,18 @@ if (CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarc elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64") set(FOXGLOVE_SDK_PLATFORM "x86_64-unknown-linux-gnu") - set(FOXGLOVE_SDK_SHA "0b9d348df3a8e98d2c2cee2360cc9f52e83bb3445044debd771d1b46dc358be4") + set(FOXGLOVE_SDK_SHA "8fb03b061127788ad708918d186d74d4fdb58718b11cff97c9d605513ab57cc6") +elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64") + set(FOXGLOVE_SDK_PLATFORM "aarch64-apple-darwin") -+ set(FOXGLOVE_SDK_SHA "c9dfa5061d72795af2620c2840a85e695b9dacce19475eaec8caf0102c4940ef") ++ set(FOXGLOVE_SDK_SHA "aae2ccfebcce4b6ff72e366912a92d6576f6100e79cdf71d79e4288977add0f0") +elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64") + set(FOXGLOVE_SDK_PLATFORM "x86_64-apple-darwin") -+ set(FOXGLOVE_SDK_SHA "3531502efd958be3f9dca06a099c167512dd3006b98ac3eecf8250d376eaa16b") ++ set(FOXGLOVE_SDK_SHA "4e592b4fe447b9fab912706f863a75833cf6bedc5c17d3ea474d4531eec722ae") +elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "ARM64") + set(FOXGLOVE_SDK_PLATFORM "aarch64-pc-windows-msvc") -+ set(FOXGLOVE_SDK_SHA "da293bf4dac2b973b7c72d1d368932f7f4f989fcac9311d529b93c7d2b84eae9") ++ set(FOXGLOVE_SDK_SHA "aaafd94b67ce9de06eea616f247e49c0b11a2f78cf26b7cb1e1ae45f264a4067") +elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64") + set(FOXGLOVE_SDK_PLATFORM "x86_64-pc-windows-msvc") -+ set(FOXGLOVE_SDK_SHA "09d2ff5dbb6a5216a303f9470fbec186c0ebd849713570d6b8145a9d22d804af") ++ set(FOXGLOVE_SDK_SHA "335fcaa4d2637a529d6a47739feb944defcd393b9ccdb8a2fe2901747dbff863") else() message(FATAL_ERROR "Unsupported platform/architecture combination: ${CMAKE_SYSTEM_PROCESSOR}-${CMAKE_SYSTEM_NAME}") endif() -@@ -202,6 +214,12 @@ target_link_libraries(foxglove_bridge_component +@@ -201,6 +213,12 @@ target_link_libraries(foxglove_bridge_component rosx_introspection::rosx_introspection ) @@ -35,7 +35,7 @@ index 8ee07c2..7426013 100644 enable_strict_compiler_warnings(foxglove_bridge_component) set_target_properties(foxglove_bridge_component PROPERTIES diff --git a/src/message_definition_cache.cpp b/src/message_definition_cache.cpp -index ef72c9c..ed85745 100644 +index cf2864e..9124c80 100644 --- a/src/message_definition_cache.cpp +++ b/src/message_definition_cache.cpp @@ -3,6 +3,7 @@ diff --git a/patch/ros-lyrical-foxglove-bridge.win.patch b/patch/ros-lyrical-foxglove-bridge.win.patch index d9c0c1e..575d47e 100644 --- a/patch/ros-lyrical-foxglove-bridge.win.patch +++ b/patch/ros-lyrical-foxglove-bridge.win.patch @@ -1,5 +1,5 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 7426013..72e281d 100644 +index f285973..28652e5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -61,7 +61,7 @@ endif() @@ -11,7 +11,7 @@ index 7426013..72e281d 100644 elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang") target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal -Wmost -Wunused-exception-parameter) else() -@@ -122,6 +122,75 @@ FetchContent_Declare( +@@ -121,6 +121,75 @@ FetchContent_Declare( URL_HASH SHA256=${FOXGLOVE_SDK_SHA} ) FetchContent_MakeAvailable(foxglove_sdk) @@ -87,7 +87,7 @@ index 7426013..72e281d 100644 # The dist's CMake package config defines IMPORTED targets for the prebuilt C libraries # (foxglove-static, foxglove-shared) and the foxglove_sdk_add_cpp_library() helper, which -@@ -136,6 +205,16 @@ if (FOXGLOVE_BRIDGE_REMOTE_ACCESS) +@@ -135,6 +204,16 @@ if (FOXGLOVE_BRIDGE_REMOTE_ACCESS) else() foxglove_sdk_add_cpp_library(foxglove_cpp_shared TYPE SHARED REMOTE_ACCESS OFF) endif() @@ -105,11 +105,12 @@ index 7426013..72e281d 100644 BUILD_WITH_INSTALL_RPATH TRUE ) diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp -index 601db6c..cc4e4f5 100644 +index b7fc123..fa78588 100644 --- a/src/ros2_foxglove_bridge.cpp +++ b/src/ros2_foxglove_bridge.cpp -@@ -1,3 +1,4 @@ +@@ -1,3 +1,5 @@ +#define _CRT_SECURE_NO_WARNINGS - #include - #include - #include ++ + #include + #include + #include diff --git a/patch/ros-lyrical-geometric-shapes.patch b/patch/ros-lyrical-geometric-shapes.patch deleted file mode 100644 index 6319d0a..0000000 --- a/patch/ros-lyrical-geometric-shapes.patch +++ /dev/null @@ -1,34 +0,0 @@ -From d236b8e9172705076e1c0aba34940307a925d3e2 Mon Sep 17 00:00:00 2001 -From: Silvio Traversaro -Date: Wed, 18 Dec 2024 13:50:38 +0100 -Subject: [PATCH] Adjust octomap lookup and fix FCL assert include - ---- - CMakeLists.txt | 2 +- - src/aabb.cpp | 1 + - 2 files changed, 2 insertions(+), 1 deletion(-) - -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 8c46189..277356c 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -45,7 +45,7 @@ find_package(eigen_stl_containers REQUIRED) - find_package(geometry_msgs REQUIRED) - # Enforce the system package version on Ubuntu jammy and noble which is also used by libfcl-dev - # The version is fixed to prevent ABI conflicts with ros-octomap --find_package(octomap 1.9.7...<1.10.0 REQUIRED) -+find_package(octomap REQUIRED) - find_package(QHULL REQUIRED) - find_package(random_numbers REQUIRED) - find_package(rclcpp REQUIRED) -diff --git a/src/aabb.cpp b/src/aabb.cpp -index 115028c..37f24cb 100644 ---- a/src/aabb.cpp -+++ b/src/aabb.cpp -@@ -28,6 +28,7 @@ - /* Author: Martin Pecka */ - - #include -+#include - - #include diff --git a/patch/ros-lyrical-geometric-shapes.win.patch b/patch/ros-lyrical-geometric-shapes.win.patch deleted file mode 100644 index 5541bee..0000000 --- a/patch/ros-lyrical-geometric-shapes.win.patch +++ /dev/null @@ -1,12 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 3e70189..ef0ebad 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -39,6 +39,7 @@ find_package(Eigen3 REQUIRED) - - find_package(ament_cmake REQUIRED) - find_package(assimp REQUIRED) -+find_package(Boost REQUIRED COMPONENTS thread) - find_package(console_bridge REQUIRED) - find_package(console_bridge_vendor REQUIRED) - find_package(eigen_stl_containers REQUIRED) diff --git a/patch/ros-lyrical-random-numbers.win.patch b/patch/ros-lyrical-random-numbers.win.patch deleted file mode 100644 index a6da781..0000000 --- a/patch/ros-lyrical-random-numbers.win.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index b532d3b..4232532 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -11,7 +11,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC - $ - $ - ) --target_link_libraries(${PROJECT_NAME} PUBLIC Boost::random) -+target_link_libraries(${PROJECT_NAME} PUBLIC Boost::random Boost::thread) - ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) - - set_target_properties(${PROJECT_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS TRUE) diff --git a/patch/ros-lyrical-rviz-rendering.osx.patch b/patch/ros-lyrical-rviz-rendering.osx.patch index b7a8ede..72ea2a7 100644 --- a/patch/ros-lyrical-rviz-rendering.osx.patch +++ b/patch/ros-lyrical-rviz-rendering.osx.patch @@ -1,10 +1,10 @@ diff --git a/src/rviz_rendering/ogre_render_window_impl.cpp b/src/rviz_rendering/ogre_render_window_impl.cpp -index 466e1d1e4..8fcd56d57 100644 +index 27ff2ce..38ade73 100644 --- a/src/rviz_rendering/ogre_render_window_impl.cpp +++ b/src/rviz_rendering/ogre_render_window_impl.cpp -@@ -235,12 +235,21 @@ void - RenderWindowImpl::resize(size_t width, size_t height) - { +@@ -243,12 +243,21 @@ RenderWindowImpl::resize(size_t width, size_t height) + return; + } if (ogre_render_window_) { - this->setCameraAspectRatio(); - ogre_render_window_->resize( @@ -31,7 +31,7 @@ index 466e1d1e4..8fcd56d57 100644 this->renderLater(); } diff --git a/src/rviz_rendering/ogre_render_window_impl.hpp b/src/rviz_rendering/ogre_render_window_impl.hpp -index 7bd7b2238..8391498fe 100644 +index 7bd7b22..8391498 100644 --- a/src/rviz_rendering/ogre_render_window_impl.hpp +++ b/src/rviz_rendering/ogre_render_window_impl.hpp @@ -150,6 +150,9 @@ protected: diff --git a/patch/ros-lyrical-sbg-driver.patch b/patch/ros-lyrical-sbg-driver.patch deleted file mode 100644 index efd2b07..0000000 --- a/patch/ros-lyrical-sbg-driver.patch +++ /dev/null @@ -1,79 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index a4a3964..4063ea2 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -23,17 +23,17 @@ find_package(builtin_interfaces REQUIRED) - ## Generate messages in the 'msg' folder - - set (USED_LIBRARIES -- rclcpp -- sensor_msgs -- std_msgs -- std_srvs -- geometry_msgs -- nav_msgs -- rtcm_msgs -- tf2_ros -- tf2_msgs -- tf2_geometry_msgs -- nmea_msgs -+ rclcpp::rclcpp -+ ${sensor_msgs_TARGETS} -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ ${geometry_msgs_TARGETS} -+ ${nav_msgs_TARGETS} -+ ${rtcm_msgs_TARGETS} -+ tf2_ros::tf2_ros -+ ${tf2_msgs_TARGETS} -+ ${tf2_geometry_msgs_TARGETS} -+ ${nmea_msgs_TARGETS} - ) - - set (msg_files -@@ -125,8 +125,8 @@ endif() - target_link_libraries(sbg_device sbgECom) - target_link_libraries(sbg_device_mag sbgECom) - --ament_target_dependencies(sbg_device ${USED_LIBRARIES}) --ament_target_dependencies(sbg_device_mag ${USED_LIBRARIES}) -+target_link_libraries(sbg_device ${USED_LIBRARIES}) -+target_link_libraries(sbg_device_mag ${USED_LIBRARIES}) - - rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp") - target_link_libraries(sbg_device "${cpp_typesupport_target}") -diff --git a/include/sbg_driver/sbg_vector3.h b/include/sbg_driver/sbg_vector3.h -index 0bc5b80..0b1b02c 100644 ---- a/include/sbg_driver/sbg_vector3.h -+++ b/include/sbg_driver/sbg_vector3.h -@@ -115,7 +115,7 @@ public: - * \param[in] p_raw_data Pointer to data array. - * \param[in] array_size Array size (Should be defined as 3). - */ -- SbgVector3(const T* p_raw_data, size_t array_size) -+ SbgVector3(const T* p_raw_data, [[maybe_unused]] size_t array_size) - { - assert(array_size == 3); - -diff --git a/src/sbg_device.cpp b/src/sbg_device.cpp -index 820322e..b802365 100644 ---- a/src/sbg_device.cpp -+++ b/src/sbg_device.cpp -@@ -5,6 +5,8 @@ - #include - #include - #include -+#include -+#include - - // SbgECom headers - #include -@@ -118,7 +120,7 @@ void SbgDevice::onLogReceived(SbgEComClass msg_class, SbgEComMsgId msg, const Sb - log_replay_last_timestamp_ = timestamp; - } - -- usleep(time_to_sleep); -+ std::this_thread::sleep_for(std::chrono::microseconds(time_to_sleep)); - } - - // diff --git a/patch/ros-lyrical-sbg-driver.win.patch b/patch/ros-lyrical-sbg-driver.win.patch deleted file mode 100644 index 25251e9..0000000 --- a/patch/ros-lyrical-sbg-driver.win.patch +++ /dev/null @@ -1,21 +0,0 @@ -diff --git a/src/sbg_utm.cpp b/src/sbg_utm.cpp -index b49e84c..e0791e7 100644 ---- a/src/sbg_utm.cpp -+++ b/src/sbg_utm.cpp -@@ -1,2 +1,4 @@ -+#define _USE_MATH_DEFINES -+ - // File header - -diff --git a/src/message_wrapper.cpp b/src/message_wrapper.cpp -index d0c0b6d..2a646b9 100644 ---- a/src/message_wrapper.cpp -+++ b/src/message_wrapper.cpp -@@ -19,3 +19,7 @@ -+#ifndef M_SQRT2 -+#define M_SQRT2 1.41421356237309504880 /* sqrt(2) */ -+#endif -+ - /*! - * Class to wrap the SBG logs into ROS messages. - */ diff --git a/patch/ros-lyrical-slam-toolbox.win.patch b/patch/ros-lyrical-slam-toolbox.win.patch deleted file mode 100644 index 3245b1f..0000000 --- a/patch/ros-lyrical-slam-toolbox.win.patch +++ /dev/null @@ -1,212 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 3880aa7..90ee2a6 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -147,6 +147,11 @@ rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typ - target_link_libraries(ceres_solver_plugin "${cpp_typesupport_target}") - pluginlib_export_plugin_description_file(slam_toolbox solver_plugins.xml) - -+if(MSVC) -+ add_compile_definitions(_USE_MATH_DEFINES) -+ set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) -+endif() -+ - #### Tool lib for mapping - add_library(toolbox_common src/slam_toolbox_common.cpp src/map_saver.cpp src/loop_closure_assistant.cpp src/laser_utils.cpp src/slam_mapper.cpp) - ament_target_dependencies(toolbox_common -@@ -155,26 +160,43 @@ ament_target_dependencies(toolbox_common - target_link_libraries(toolbox_common kartoSlamToolbox ${Boost_LIBRARIES}) - rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp") - target_link_libraries(toolbox_common "${cpp_typesupport_target}") -+set_target_properties(toolbox_common PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON) - - #### Mapping executibles - add_library(async_slam_toolbox src/slam_toolbox_async.cpp) -+set_target_properties(async_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON) - target_link_libraries(async_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES}) - add_executable(async_slam_toolbox_node src/slam_toolbox_async_node.cpp) -+if(MSVC) -+ target_compile_options(async_slam_toolbox_node PRIVATE "/F 40000000") -+endif() - target_link_libraries(async_slam_toolbox_node async_slam_toolbox) - - add_library(sync_slam_toolbox src/slam_toolbox_sync.cpp) -+set_target_properties(sync_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON) - target_link_libraries(sync_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES}) - add_executable(sync_slam_toolbox_node src/slam_toolbox_sync_node.cpp) -+if(MSVC) -+ target_compile_options(sync_slam_toolbox_node PRIVATE "/F 40000000") -+endif() - target_link_libraries(sync_slam_toolbox_node sync_slam_toolbox) - - add_library(localization_slam_toolbox src/slam_toolbox_localization.cpp) -+set_target_properties(localization_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON) - target_link_libraries(localization_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES}) - add_executable(localization_slam_toolbox_node src/slam_toolbox_localization_node.cpp) -+if(MSVC) -+ target_compile_options(localization_slam_toolbox_node PRIVATE "/F 40000000") -+endif() - target_link_libraries(localization_slam_toolbox_node localization_slam_toolbox) - - add_library(lifelong_slam_toolbox src/experimental/slam_toolbox_lifelong.cpp) -+set_target_properties(lifelong_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON) - target_link_libraries(lifelong_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES}) - add_executable(lifelong_slam_toolbox_node src/experimental/slam_toolbox_lifelong_node.cpp) -+if(MSVC) -+ target_compile_options(lifelong_slam_toolbox_node PRIVATE "/F 40000000") -+endif() - target_link_libraries(lifelong_slam_toolbox_node lifelong_slam_toolbox) - - add_library(map_and_localization_slam_toolbox src/experimental/slam_toolbox_map_and_localization.cpp) -diff --git a/include/slam_toolbox/merge_maps_kinematic.hpp b/include/slam_toolbox/merge_maps_kinematic.hpp -index 95c9931..c159ab8 100644 ---- a/include/slam_toolbox/merge_maps_kinematic.hpp -+++ b/include/slam_toolbox/merge_maps_kinematic.hpp -@@ -21,7 +21,9 @@ - - #include - #include -+#ifndef _WIN32 - #include -+#endif - #include - #include - #include -diff --git a/include/slam_toolbox/slam_toolbox_common.hpp b/include/slam_toolbox/slam_toolbox_common.hpp -index 96bd049..d6e9630 100644 ---- a/include/slam_toolbox/slam_toolbox_common.hpp -+++ b/include/slam_toolbox/slam_toolbox_common.hpp -@@ -19,7 +19,9 @@ - #ifndef SLAM_TOOLBOX__SLAM_TOOLBOX_COMMON_HPP_ - #define SLAM_TOOLBOX__SLAM_TOOLBOX_COMMON_HPP_ - -+#ifndef _WIN32 - #include -+#endif - #include - #include - #include -@@ -35,7 +37,7 @@ - #include "bond/msg/constants.hpp" - #include "rclcpp_lifecycle/lifecycle_node.hpp" - #include "rclcpp_lifecycle/lifecycle_publisher.hpp" --#include "message_filters/subscriber.h" -+#include "message_filters/subscriber.hpp" - #include "tf2_ros/transform_broadcaster.h" - #include "tf2_ros/transform_listener.h" - #include "tf2_ros/create_timer_ros.h" -diff --git a/lib/karto_sdk/CMakeLists.txt b/lib/karto_sdk/CMakeLists.txt -index a620bfd..196aab5 100644 ---- a/lib/karto_sdk/CMakeLists.txt -+++ b/lib/karto_sdk/CMakeLists.txt -@@ -5,7 +5,9 @@ if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - endif() - set(CMAKE_BUILD_TYPE Release) #None, Debug, Release, RelWithDebInfo, MinSizeRel --set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-backtrace-limit=0") -+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") -+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-backtrace-limit=0") -+endif() - set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/") - - find_package(ament_cmake REQUIRED) -@@ -29,6 +31,7 @@ add_definitions(${EIGEN3_DEFINITIONS}) - - include_directories(include ${EIGEN3_INCLUDE_DIRS} ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) - add_library(kartoSlamToolbox SHARED src/Karto.cpp src/Mapper.cpp) -+target_compile_definitions(kartoSlamToolbox PRIVATE KARTO_DYNAMIC) - ament_target_dependencies(kartoSlamToolbox ${dependencies}) - target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} TBB::tbb) - -diff --git a/lib/karto_sdk/src/Mapper.cpp b/lib/karto_sdk/src/Mapper.cpp -index e969404..d87d33f 100644 ---- a/lib/karto_sdk/src/Mapper.cpp -+++ b/lib/karto_sdk/src/Mapper.cpp -@@ -405,7 +405,7 @@ void MapperSensorManager::SetRunningScanBufferSize(kt_int32u rScanBufferSize) - m_RunningBufferMaximumSize = rScanBufferSize; - - std::vector names = GetSensorNames(); -- for (uint i = 0; i != names.size(); i++) { -+ for (unsigned int i = 0; i != names.size(); i++) { - GetScanManager(names[i])->SetRunningScanBufferSize(rScanBufferSize); - } - } -@@ -415,7 +415,7 @@ void MapperSensorManager::SetRunningScanBufferMaximumDistance(kt_double rScanBuf - m_RunningBufferMaximumDistance = rScanBufferMaxDistance; - - std::vector names = GetSensorNames(); -- for (uint i = 0; i != names.size(); i++) { -+ for (unsigned int i = 0; i != names.size(); i++) { - GetScanManager(names[i])->SetRunningScanBufferMaximumDistance(rScanBufferMaxDistance); - } - } -@@ -1868,7 +1868,7 @@ std::vector *> MapperGraph::FindNearByVertices( - - std::vector *> rtn_vertices; - rtn_vertices.reserve(ret_matches.size()); -- for (uint i = 0; i != ret_matches.size(); i++) { -+ for (unsigned int i = 0; i != ret_matches.size(); i++) { - rtn_vertices.push_back(vertices_to_search[ret_matches[i].first]); - } - return rtn_vertices; -@@ -2984,7 +2984,7 @@ void Mapper::ClearLocalizationBuffer() - } - - std::vector names = m_pMapperSensorManager->GetSensorNames(); -- for (uint i = 0; i != names.size(); i++) -+ for (unsigned int i = 0; i != names.size(); i++) - { - m_pMapperSensorManager->ClearRunningScans(names[i]); - m_pMapperSensorManager->ClearLastScan(names[i]); -diff --git a/rviz_plugin/slam_toolbox_rviz_plugin.hpp b/rviz_plugin/slam_toolbox_rviz_plugin.hpp -index dafa5d0..905d515 100644 ---- a/rviz_plugin/slam_toolbox_rviz_plugin.hpp -+++ b/rviz_plugin/slam_toolbox_rviz_plugin.hpp -@@ -32,6 +32,7 @@ - #include - #include - #include -+#undef NO_ERROR - // STL - #include - #include -diff --git a/src/merge_maps_kinematic.cpp b/src/merge_maps_kinematic.cpp -index 3ee0bde..cc8e505 100644 ---- a/src/merge_maps_kinematic.cpp -+++ b/src/merge_maps_kinematic.cpp -@@ -105,7 +105,11 @@ bool MergeMapsKinematic::addSubmapCallback( - "/map_" + std::to_string(num_submaps_), rclcpp::QoS(1))); - sstmS_.push_back(this->create_publisher( - "/map_metadata_" + std::to_string(num_submaps_), rclcpp::QoS(1))); -+#ifdef _WIN32 -+ Sleep(1000); -+#else - sleep(1.0); -+#endif - - nav_msgs::srv::GetMap::Response map; - nav_msgs::msg::OccupancyGrid & og = map.map; -diff --git a/src/slam_toolbox_common.cpp b/src/slam_toolbox_common.cpp -index 916a207..18c2fa2 100644 ---- a/src/slam_toolbox_common.cpp -+++ b/src/slam_toolbox_common.cpp -@@ -52,6 +52,11 @@ SlamToolbox::SlamToolbox(rclcpp::NodeOptions options) - this->declare_parameter( - "stack_size_to_use", rclcpp::ParameterType::PARAMETER_INTEGER, descriptor); - if (this->get_parameter("stack_size_to_use", stack_size)) { -+#ifdef _WIN32 -+ if (stack_size != 40'000'000) { -+ RCLCPP_WARN(get_logger(), "Can't dynamically change stack size on Windows to %i. Node using stack size 40000000", (int)stack_size); -+ } -+#else - RCLCPP_INFO(get_logger(), "Node using stack size %i", (int)stack_size); - const rlim_t max_stack_size = stack_size; - struct rlimit stack_limit; -@@ -60,6 +65,7 @@ SlamToolbox::SlamToolbox(rclcpp::NodeOptions options) - stack_limit.rlim_cur = stack_size; - } - setrlimit(RLIMIT_STACK, &stack_limit); -+#endif - } - } - // server side never times out from lifecycle manager From ae0d777757a21d3402188bf012826c2eeccb9e0f Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sun, 2 Aug 2026 08:55:36 +0200 Subject: [PATCH 03/48] Fix slam-toolbox after snapshot update --- patch/dependencies.yaml | 5 ++++- patch/ros-lyrical-slam-toolbox.patch | 12 ++++++++++++ 2 files changed, 16 insertions(+), 1 deletion(-) create mode 100644 patch/ros-lyrical-slam-toolbox.patch diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index d712cde..98c72bb 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -163,7 +163,10 @@ rqt_image_overlay: add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"] slam_toolbox: add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"] - add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel", "ceres-solver * cpu*"] + add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel", "ceres-solver * cpu*", "qt6-main"] + add_run: ["qt6-main"] + remove_host: ["qt-main"] + remove_run: ["qt-main"] vision_msgs_rviz_plugins: add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"] add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"] diff --git a/patch/ros-lyrical-slam-toolbox.patch b/patch/ros-lyrical-slam-toolbox.patch new file mode 100644 index 0000000..44d0826 --- /dev/null +++ b/patch/ros-lyrical-slam-toolbox.patch @@ -0,0 +1,12 @@ +diff --git a/lib/karto_sdk/CMakeLists.txt b/lib/karto_sdk/CMakeLists.txt +index fd2d403..f23fc5f 100644 +--- a/lib/karto_sdk/CMakeLists.txt ++++ b/lib/karto_sdk/CMakeLists.txt +@@ -35,6 +35,7 @@ include_directories(include ${EIGEN3_INCLUDE_DIRS} ${TBB_INCLUDE_DIRS} ${Boost_I + add_library(kartoSlamToolbox SHARED src/Karto.cpp src/Mapper.cpp) + target_compile_definitions(kartoSlamToolbox PRIVATE KARTO_DYNAMIC) + target_link_libraries(kartoSlamToolbox PUBLIC ++ Eigen3::Eigen + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + ) From 4533e2ac57d0a76f4832f31450dc9590f4fe273a Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sun, 2 Aug 2026 11:15:05 +0200 Subject: [PATCH 04/48] Turn snapshot refresh into full rebuild --- .github/workflows/testpr.yml | 2 +- conda_build_config.yaml | 12 ++++++------ rosdistro_snapshot.yaml | 2 +- vinca.yaml | 6 +++--- 4 files changed, 11 insertions(+), 11 deletions(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 9be3126..0b55c2c 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -8,7 +8,7 @@ env: # Change to 'true' to enable the cache upload as artifacts SAVE_CACHE_AS_ARTIFACT: 'true' # Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging - IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true' jobs: build: diff --git a/conda_build_config.yaml b/conda_build_config.yaml index 23ef0a0..6c255e9 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -28,15 +28,15 @@ graphviz: # Mitigation for # https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380 libcap: - - 2.77 + - 2.78 fmt: - 12.1 lua: - 5.4 tbb: - - '2022' + - '2023' tbb_devel: - - '2022' + - '2023' # Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697 cmake: @@ -60,7 +60,7 @@ c_compiler: - vs2022 # [win] c_compiler_version: # [unix] - 14 # [linux] - - 18 # [osx] + - 19 # [osx] c_stdlib: - sysroot # [linux] - macosx_deployment_target # [osx] @@ -75,7 +75,7 @@ cxx_compiler: - vs2022 # [win] cxx_compiler_version: # [unix] - 14 # [linux] - - 18 # [osx] + - 19 # [osx] libzenohc: - 1.9.0 @@ -83,4 +83,4 @@ libzenohcxx: - 1.9.0 libhwloc: - - 2.12.2 + - 2.13.0 diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml index e67a5bb..b6f5b4e 100644 --- a/rosdistro_snapshot.yaml +++ b/rosdistro_snapshot.yaml @@ -1,4 +1,4 @@ -# Snapshot generated by vinca-snapshot on 2026-08-01T22:36:49Z UTC for distro lyrical +# Snapshot generated by vinca-snapshot on 2026-08-02T09:13:30Z UTC for distro lyrical acado_vendor: tag: release/lyrical/acado_vendor/1.0.0-8 url: https://github.com/ros2-gbp/acado_vendor-release.git diff --git a/vinca.yaml b/vinca.yaml index 8bbced8..0e03659 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -5,12 +5,12 @@ conda_index: - robostack.yaml - packages-ignore.yaml -# Reminder for next full rebuild, the next build number should be 23 -build_number: 22 +# Reminder for next full rebuild, the next build number should be 24 +build_number: 23 mutex_package: name: "ros2-distro-mutex" - version: "0.18.0" + version: "0.19.0" upper_bound: "x.x" run_constraints: - libboost 1.90.* From 84b8e0ad5b500b7a45da021cbaacd5116b2ac422 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sun, 2 Aug 2026 11:58:49 +0200 Subject: [PATCH 05/48] Fix initial full rebuild dependency ordering --- check_patches_clean_apply.py | 6 ++++++ patch/dependencies.yaml | 4 ++++ 2 files changed, 10 insertions(+) diff --git a/check_patches_clean_apply.py b/check_patches_clean_apply.py index 646d888..38cb4b1 100644 --- a/check_patches_clean_apply.py +++ b/check_patches_clean_apply.py @@ -189,6 +189,12 @@ def run_rattler_build_individually(recipes: List[Path]) -> None: print("\n Running:", " ".join(cmd), "\n", flush=True) try: proc = subprocess.run(cmd, text=True, capture_output=True, errors="replace", encoding="utf-8") + # rattler-build's shared Git source cache can occasionally retain + # tag refs whose objects were not fetched. Retry from a clean Git + # cache rather than reporting a spurious patch failure. + if proc.returncode != 0 and "Git error: Git fetch failed" in proc.stderr: + shutil.rmtree(ROOT_DIR / "output" / "src_cache" / "git", ignore_errors=True) + proc = subprocess.run(cmd, text=True, capture_output=True, errors="replace", encoding="utf-8") success = proc.returncode == 0 results.append( { diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 98c72bb..6d5312e 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -1,5 +1,9 @@ ament_package: add_host: ['importlib_resources'] +# Keep the full-rebuild scheduler from testing this metapackage before its +# runtime-only linter dependencies have been rebuilt for the new mutex. +ament_lint_common: + add_host: ["ros-lyrical-ament-cmake-copyright", "ros-lyrical-ament-cmake-cppcheck", "ros-lyrical-ament-cmake-cpplint", "ros-lyrical-ament-cmake-flake8", "ros-lyrical-ament-cmake-lint-cmake", "ros-lyrical-ament-cmake-pep257", "ros-lyrical-ament-cmake-uncrustify", "ros-lyrical-ament-cmake-xmllint"] foxglove_bridge: add_host: ["ros-lyrical-ament-cmake"] ros_ign_interfaces: From 6e8c70e6aab48f85324e1b9bac30b00fc01f1807 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sun, 2 Aug 2026 19:21:52 +0200 Subject: [PATCH 06/48] Build full rebuilds in dependency-tolerant passes --- .github/workflows/testpr.yml | 13 +++++++++++++ patch/dependencies.yaml | 4 ---- 2 files changed, 13 insertions(+), 4 deletions(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 0b55c2c..fadc8cb 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -115,6 +115,19 @@ jobs: - name: Build recipes shell: bash -l {0} run: | + if [[ "${IGNORE_CACHE_AND_DO_FULL_REBUILD}" == "true" ]]; then + # Runtime-only dependencies are not part of rattler-build's build + # ordering. Build in tolerant passes so those packages are present + # under the new mutex before the final strict pass. Resetting only + # the Git source cache also works around intermittent incomplete tag + # objects when many packages share one ROS release repository. + for pass in 1 2 3; do + echo "Full rebuild pass ${pass}" + rm -rf ${{ matrix.folder_cache }}/../src_cache/git + pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --continue-on-failure --skip-existing && break + done + rm -rf ${{ matrix.folder_cache }}/../src_cache/git + fi pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing - name: See packages that will be saved in cache diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 6d5312e..98c72bb 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -1,9 +1,5 @@ ament_package: add_host: ['importlib_resources'] -# Keep the full-rebuild scheduler from testing this metapackage before its -# runtime-only linter dependencies have been rebuilt for the new mutex. -ament_lint_common: - add_host: ["ros-lyrical-ament-cmake-copyright", "ros-lyrical-ament-cmake-cppcheck", "ros-lyrical-ament-cmake-cpplint", "ros-lyrical-ament-cmake-flake8", "ros-lyrical-ament-cmake-lint-cmake", "ros-lyrical-ament-cmake-pep257", "ros-lyrical-ament-cmake-uncrustify", "ros-lyrical-ament-cmake-xmllint"] foxglove_bridge: add_host: ["ros-lyrical-ament-cmake"] ros_ign_interfaces: From 6297d94c70067efb655084e65a2b47fec8ee8892 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sun, 2 Aug 2026 21:41:07 +0200 Subject: [PATCH 07/48] Use immutable source archives for full rebuilds --- .github/workflows/testpr.yml | 3 +++ use_github_source_archives.py | 36 +++++++++++++++++++++++++++++++++++ 2 files changed, 39 insertions(+) create mode 100644 use_github_source_archives.py diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index fadc8cb..bcb7f8a 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -77,6 +77,9 @@ jobs: run: | mkdir -p recipes pixi run -v vinca --platform ${{ matrix.platform }} -m -n + if [[ "${IGNORE_CACHE_AND_DO_FULL_REBUILD}" == "true" ]]; then + python use_github_source_archives.py + fi - name: Check patches shell: bash -l {0} diff --git a/use_github_source_archives.py b/use_github_source_archives.py new file mode 100644 index 0000000..dd651a9 --- /dev/null +++ b/use_github_source_archives.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +"""Replace GitHub tag clones in generated recipes with archive downloads. + +ROS release repositories contain hundreds of package tags. Reusing one mutable +Git clone cache for those tags can leave refs without objects, especially on +macOS. GitHub's immutable tag archives avoid that cache failure entirely. +""" + +from pathlib import Path +import re + +RECIPES = Path("recipes") +SOURCE = re.compile( + r"^(?P\s*)git: (?Phttps://github\.com/[^\s]+?)(?:\.git)?\n" + r"(?P=indent)tag: (?P[^\n]+)$", + re.MULTILINE, +) + +converted = 0 +for recipe in RECIPES.rglob("recipe.yaml"): + text = recipe.read_text(encoding="utf-8") + + def replace(match: re.Match[str]) -> str: + global converted + converted += 1 + url = match.group("url").removesuffix(".git") + return ( + f'{match.group("indent")}url: ' + f'{url}/archive/refs/tags/{match.group("tag")}.tar.gz' + ) + + updated = SOURCE.sub(replace, text) + if updated != text: + recipe.write_text(updated, encoding="utf-8") + +print(f"Converted {converted} GitHub tag sources to archives") From 7480aeaba5e4601c8d47b4345fbb024736b7cbdb Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sun, 2 Aug 2026 22:04:50 +0200 Subject: [PATCH 08/48] Run source conversion through the pixi environment --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index bcb7f8a..8dddc53 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -78,7 +78,7 @@ jobs: mkdir -p recipes pixi run -v vinca --platform ${{ matrix.platform }} -m -n if [[ "${IGNORE_CACHE_AND_DO_FULL_REBUILD}" == "true" ]]; then - python use_github_source_archives.py + pixi run python use_github_source_archives.py fi - name: Check patches From 9b075e60a65ac8b46e4e89f7d3b772644833df2b Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sun, 2 Aug 2026 23:12:20 +0200 Subject: [PATCH 09/48] Run every dependency-tolerant rebuild pass --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 8dddc53..402faf8 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -127,7 +127,7 @@ jobs: for pass in 1 2 3; do echo "Full rebuild pass ${pass}" rm -rf ${{ matrix.folder_cache }}/../src_cache/git - pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --continue-on-failure --skip-existing && break + pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --continue-on-failure --skip-existing done rm -rf ${{ matrix.folder_cache }}/../src_cache/git fi From bd68338e7e810922ccab79dd36b27dd95cad7e83 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Mon, 3 Aug 2026 11:46:58 +0200 Subject: [PATCH 10/48] Fix remaining full rebuild blockers --- .github/workflows/testpr.yml | 2 +- patch/dependencies.yaml | 2 +- patch/ros-lyrical-rmf-utils.patch | 14 ++++++++++++++ 3 files changed, 16 insertions(+), 2 deletions(-) create mode 100644 patch/ros-lyrical-rmf-utils.patch diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 402faf8..26e11fa 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -124,7 +124,7 @@ jobs: # under the new mutex before the final strict pass. Resetting only # the Git source cache also works around intermittent incomplete tag # objects when many packages share one ROS release repository. - for pass in 1 2 3; do + for pass in 1 2 3 4; do echo "Full rebuild pass ${pass}" rm -rf ${{ matrix.folder_cache }}/../src_cache/git pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --continue-on-failure --skip-existing diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 98c72bb..3f42e84 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -286,7 +286,7 @@ grid_map_octomap: add_host: ["octomap"] add_run: ["octomap"] py_trees: - add_host: ["poetry-core"] + add_host: ["hatchling"] py_trees_js: add_host: ["poetry-core"] py_trees_ros: diff --git a/patch/ros-lyrical-rmf-utils.patch b/patch/ros-lyrical-rmf-utils.patch new file mode 100644 index 0000000..2d804cc --- /dev/null +++ b/patch/ros-lyrical-rmf-utils.patch @@ -0,0 +1,14 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 125a926..59fa385 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -14,6 +14,9 @@ include(GNUInstallDirs) + + file(GLOB_RECURSE lib_srcs "src/rmf_utils/*.cpp") + add_library(rmf_utils SHARED ${lib_srcs}) ++if(WIN32) ++ set_target_properties(rmf_utils PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON) ++endif() + + target_include_directories(rmf_utils + PUBLIC From 748bd1df302b38132415eb0d7afc094daa093dbb Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Mon, 3 Aug 2026 15:19:01 +0200 Subject: [PATCH 11/48] Fix remaining ARM full rebuild blockers --- patch/dependencies.yaml | 3 +++ patch/ros-lyrical-geometric-shapes.patch | 12 ++++++++++++ 2 files changed, 15 insertions(+) create mode 100644 patch/ros-lyrical-geometric-shapes.patch diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 3f42e84..0c25e12 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -155,6 +155,9 @@ force_torque_sensor_broadcaster: add_host: ["typeguard", "jinja2"] ros_gz_sim: add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros-lyrical-gz-sensors-vendor"] +ament_cmake_ros: + # Break the test-only runtime cycle so a new mutex migration can bootstrap. + remove_run: ["ros-lyrical-rmw-test-fixture-implementation"] geometric_shapes: add_host: ["libboost-devel", "octomap"] ros_image_to_qimage: diff --git a/patch/ros-lyrical-geometric-shapes.patch b/patch/ros-lyrical-geometric-shapes.patch new file mode 100644 index 0000000..51384f3 --- /dev/null +++ b/patch/ros-lyrical-geometric-shapes.patch @@ -0,0 +1,12 @@ +diff --git a/src/aabb.cpp b/src/aabb.cpp +index 115028c..37f24cb 100644 +--- a/src/aabb.cpp ++++ b/src/aabb.cpp +@@ -28,6 +28,7 @@ + /* Author: Martin Pecka */ + + #include ++#include + + #include + From 4b2aef7864e288373de9499d1e4a1145c958b70e Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Mon, 3 Aug 2026 22:07:05 +0200 Subject: [PATCH 12/48] Reuse full rebuild cache for final validation --- .github/workflows/testpr.yml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 26e11fa..9eda50c 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -8,7 +8,7 @@ env: # Change to 'true' to enable the cache upload as artifacts SAVE_CACHE_AS_ARTIFACT: 'true' # Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging - IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false' jobs: build: @@ -77,9 +77,9 @@ jobs: run: | mkdir -p recipes pixi run -v vinca --platform ${{ matrix.platform }} -m -n - if [[ "${IGNORE_CACHE_AND_DO_FULL_REBUILD}" == "true" ]]; then - pixi run python use_github_source_archives.py - fi + # Avoid concurrent Git clone cache corruption when many ROS packages + # share the same release repository. + pixi run python use_github_source_archives.py - name: Check patches shell: bash -l {0} From d3be37954fbb2a5dbedb0261cc04c2b4e1838b72 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Mon, 3 Aug 2026 23:37:57 +0200 Subject: [PATCH 13/48] Bootstrap runtime cycles and fix iceoryx on Windows --- .github/workflows/testpr.yml | 12 +++++++++ patch/ros-lyrical-iceoryx-posh.patch | 38 ++++++++++++++++++++++++++++ 2 files changed, 50 insertions(+) create mode 100644 patch/ros-lyrical-iceoryx-posh.patch diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 9eda50c..c302c9b 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -131,6 +131,18 @@ jobs: done rm -rf ${{ matrix.folder_cache }}/../src_cache/git fi + + # Bootstrap packages that are hidden behind runtime-only dependency + # cycles before asking rattler-build to solve the complete recipe set. + for recipe in \ + ros-lyrical-test-msgs \ + ros-lyrical-rcl-action \ + ros-lyrical-rcl-lifecycle \ + ros-lyrical-rclpy \ + ros-lyrical-zstd-image-transport; do + pixi run rattler-build build --recipe "recipes/${recipe}/recipe.yaml" --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing + done + pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing - name: See packages that will be saved in cache diff --git a/patch/ros-lyrical-iceoryx-posh.patch b/patch/ros-lyrical-iceoryx-posh.patch new file mode 100644 index 0000000..94177c8 --- /dev/null +++ b/patch/ros-lyrical-iceoryx-posh.patch @@ -0,0 +1,38 @@ +diff --git a/cmake/cpptoml/CMakeLists.txt b/cmake/cpptoml/CMakeLists.txt +index 42e79d9..d8c1306 100644 +--- a/cmake/cpptoml/CMakeLists.txt ++++ b/cmake/cpptoml/CMakeLists.txt +@@ -72,25 +72,14 @@ if(DEFINED CMAKE_TOOLCHAIN_FILE) + set(cpptoml_DIR ${cpptoml_DIR} CACHE PATH "" FORCE) + endif() + +-execute_process( +- COMMAND git apply -R -p1 --ignore-space-change --whitespace=nowarn --check +- INPUT_FILE "${CMAKE_CURRENT_LIST_DIR}/0001-cpptoml-cmake-version.patch" +- WORKING_DIRECTORY "${SOURCE_DIR}" +- OUTPUT_QUIET +- ERROR_QUIET +- RESULT_VARIABLE result) +-if(result) +- message(STATUS "Applying patch for minimal cmake version to cpptoml") +- +- execute_process( +- COMMAND git apply -p1 --ignore-space-change --whitespace=nowarn +- INPUT_FILE "${CMAKE_CURRENT_LIST_DIR}/0001-cpptoml-cmake-version.patch" +- WORKING_DIRECTORY "${SOURCE_DIR}" +- RESULT_VARIABLE result) +- if(result) +- message(FATAL_ERROR "CMake step [patch] for '${PROJECT_NAME}' failed! Error code: ${result}!") +- endif() +-endif() ++# Avoid `git apply` here: source archives may use platform-native line endings, ++# which makes the embedded patch fail to parse on Windows. ++file(READ "${SOURCE_DIR}/CMakeLists.txt" cpptoml_cmake) ++string(REPLACE ++ "cmake_minimum_required(VERSION 3.1.0)" ++ "cmake_minimum_required(VERSION 3.16)" ++ cpptoml_cmake "${cpptoml_cmake}") ++file(WRITE "${SOURCE_DIR}/CMakeLists.txt" "${cpptoml_cmake}") + + execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" "-DENABLE_LIBCXX=off" "-DCPPTOML_BUILD_EXAMPLES=off" "-DCMAKE_INSTALL_PREFIX=${INSTALL_DIR}" "${SOURCE_DIR}" ${CMAKE_ADDITIONAL_OPTIONS} + RESULT_VARIABLE result From 349bc038367c583661aeb02198572805dcb26f4e Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Tue, 4 Aug 2026 07:24:52 +0200 Subject: [PATCH 14/48] Unvendor iceoryx and complete mutex bootstrap --- .github/workflows/testpr.yml | 9 ++++++- patch/dependencies.yaml | 10 ++++++++ patch/ros-lyrical-iceoryx-posh.patch | 38 ---------------------------- vinca.yaml | 6 +++++ 4 files changed, 24 insertions(+), 39 deletions(-) delete mode 100644 patch/ros-lyrical-iceoryx-posh.patch diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index c302c9b..90c00f9 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -84,7 +84,10 @@ jobs: - name: Check patches shell: bash -l {0} run: | - pixi run check-patches + # Recipes were already generated for the matrix platform and their Git + # sources converted to archives. Do not use the Pixi task here because + # its generate-recipes dependency would overwrite both changes. + pixi run python check_patches_clean_apply.py - name: Restore build cache id: cache-restore @@ -135,10 +138,14 @@ jobs: # Bootstrap packages that are hidden behind runtime-only dependency # cycles before asking rattler-build to solve the complete recipe set. for recipe in \ + ros-lyrical-rosidl-default-generators \ + ros-lyrical-type-description-interfaces \ ros-lyrical-test-msgs \ + ros-lyrical-tracetools \ ros-lyrical-rcl-action \ ros-lyrical-rcl-lifecycle \ ros-lyrical-rclpy \ + ros-lyrical-image-transport \ ros-lyrical-zstd-image-transport; do pixi run rattler-build build --recipe "recipes/${recipe}/recipe.yaml" --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing done diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 0c25e12..e89f468 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -158,6 +158,16 @@ ros_gz_sim: ament_cmake_ros: # Break the test-only runtime cycle so a new mutex migration can bootstrap. remove_run: ["ros-lyrical-rmw-test-fixture-implementation"] +cyclonedds: + add_host: ["libiceoryx-hoofs-devel", "libiceoryx-posh-devel"] + add_run: ["libiceoryx-hoofs", "libiceoryx-posh"] + remove_host: ["ros-lyrical-iceoryx-hoofs", "ros-lyrical-iceoryx-posh"] + remove_run: ["ros-lyrical-iceoryx-hoofs", "ros-lyrical-iceoryx-posh"] +rmw_cyclonedds_cpp: + add_host: ["libiceoryx-binding-c-devel"] + add_run: ["libiceoryx-binding-c"] + remove_host: ["ros-lyrical-iceoryx-binding-c"] + remove_run: ["ros-lyrical-iceoryx-binding-c"] geometric_shapes: add_host: ["libboost-devel", "octomap"] ros_image_to_qimage: diff --git a/patch/ros-lyrical-iceoryx-posh.patch b/patch/ros-lyrical-iceoryx-posh.patch deleted file mode 100644 index 94177c8..0000000 --- a/patch/ros-lyrical-iceoryx-posh.patch +++ /dev/null @@ -1,38 +0,0 @@ -diff --git a/cmake/cpptoml/CMakeLists.txt b/cmake/cpptoml/CMakeLists.txt -index 42e79d9..d8c1306 100644 ---- a/cmake/cpptoml/CMakeLists.txt -+++ b/cmake/cpptoml/CMakeLists.txt -@@ -72,25 +72,14 @@ if(DEFINED CMAKE_TOOLCHAIN_FILE) - set(cpptoml_DIR ${cpptoml_DIR} CACHE PATH "" FORCE) - endif() - --execute_process( -- COMMAND git apply -R -p1 --ignore-space-change --whitespace=nowarn --check -- INPUT_FILE "${CMAKE_CURRENT_LIST_DIR}/0001-cpptoml-cmake-version.patch" -- WORKING_DIRECTORY "${SOURCE_DIR}" -- OUTPUT_QUIET -- ERROR_QUIET -- RESULT_VARIABLE result) --if(result) -- message(STATUS "Applying patch for minimal cmake version to cpptoml") -- -- execute_process( -- COMMAND git apply -p1 --ignore-space-change --whitespace=nowarn -- INPUT_FILE "${CMAKE_CURRENT_LIST_DIR}/0001-cpptoml-cmake-version.patch" -- WORKING_DIRECTORY "${SOURCE_DIR}" -- RESULT_VARIABLE result) -- if(result) -- message(FATAL_ERROR "CMake step [patch] for '${PROJECT_NAME}' failed! Error code: ${result}!") -- endif() --endif() -+# Avoid `git apply` here: source archives may use platform-native line endings, -+# which makes the embedded patch fail to parse on Windows. -+file(READ "${SOURCE_DIR}/CMakeLists.txt" cpptoml_cmake) -+string(REPLACE -+ "cmake_minimum_required(VERSION 3.1.0)" -+ "cmake_minimum_required(VERSION 3.16)" -+ cpptoml_cmake "${cpptoml_cmake}") -+file(WRITE "${SOURCE_DIR}/CMakeLists.txt" "${cpptoml_cmake}") - - execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" "-DENABLE_LIBCXX=off" "-DCPPTOML_BUILD_EXAMPLES=off" "-DCMAKE_INSTALL_PREFIX=${INSTALL_DIR}" "${SOURCE_DIR}" ${CMAKE_ADDITIONAL_OPTIONS} - RESULT_VARIABLE result diff --git a/vinca.yaml b/vinca.yaml index 0e03659..4916fa4 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -31,6 +31,12 @@ packages_skip_by_deps: packages_remove_from_deps: + # Use the conda-forge iceoryx 2.0.6 packages instead of rebuilding the ROS + # release copies. + - iceoryx_binding_c + - iceoryx_hoofs + - iceoryx_posh + - if: not linux then: - pendulum_control From dc29dce242ba08fd4d6eb7cfa5bfdff9a3bc5335 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Tue, 4 Aug 2026 08:58:54 +0200 Subject: [PATCH 15/48] Refresh RMF patches and bootstrap core runtime packages --- .github/workflows/testpr.yml | 3 ++ patch/dependencies.yaml | 3 -- ...lyrical-rmf-visualization-floorplans.patch | 28 --------------- patch/ros-lyrical-rmf-websocket.patch | 34 ------------------- 4 files changed, 3 insertions(+), 65 deletions(-) delete mode 100644 patch/ros-lyrical-rmf-visualization-floorplans.patch delete mode 100644 patch/ros-lyrical-rmf-websocket.patch diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 90c00f9..4b24924 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -142,9 +142,12 @@ jobs: ros-lyrical-type-description-interfaces \ ros-lyrical-test-msgs \ ros-lyrical-tracetools \ + ros-lyrical-rcl \ ros-lyrical-rcl-action \ ros-lyrical-rcl-lifecycle \ + ros-lyrical-rmw-implementation \ ros-lyrical-rclpy \ + ros-lyrical-sensor-msgs \ ros-lyrical-image-transport \ ros-lyrical-zstd-image-transport; do pixi run rattler-build build --recipe "recipes/${recipe}/recipe.yaml" --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index ea81f81..834ba16 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -49,9 +49,6 @@ rmf_visualization_schedule: rmf_fleet_adapter: add_host: ["eigen-abi-devel"] remove_host: ["eigen"] -rmf_websocket: - add_host: ["asio", "websocketpp"] - add_run: ["asio", "websocketpp"] behaviortree_cpp: add_host: ["libboost-devel", "cppzmq", "zeromq", "sqlite"] add_run: ["libboost"] diff --git a/patch/ros-lyrical-rmf-visualization-floorplans.patch b/patch/ros-lyrical-rmf-visualization-floorplans.patch deleted file mode 100644 index 08dbfcd..0000000 --- a/patch/ros-lyrical-rmf-visualization-floorplans.patch +++ /dev/null @@ -1,28 +0,0 @@ -diff --git a/src/FloorplanVisualizer.cpp b/src/FloorplanVisualizer.cpp -index 15c07c0..4e78ad9 100644 ---- a/src/FloorplanVisualizer.cpp -+++ b/src/FloorplanVisualizer.cpp -@@ -73,8 +73,11 @@ FloorplanVisualizer::FloorplanVisualizer(const rclcpp::NodeOptions& options) - if (map_name.empty() || level.images.empty()) - continue; - -+ const auto& first_data = level.images[0].data; - cv::Mat cv_img = cv::imdecode( -- cv::Mat(level.images[0].data), cv::IMREAD_GRAYSCALE); -+ cv::Mat(1, static_cast(first_data.size()), CV_8UC1, -+ const_cast(first_data.data())), -+ cv::IMREAD_GRAYSCALE); - auto it = level.images.begin(); - ++it; - // We blend all the other images into the first image -@@ -84,7 +87,9 @@ FloorplanVisualizer::FloorplanVisualizer(const rclcpp::NodeOptions& options) - for (; it != level.images.end(); ++it) - { - cv::Mat next_img = cv::imdecode( -- cv::Mat(it->data), cv::IMREAD_GRAYSCALE); -+ cv::Mat(1, static_cast(it->data.size()), CV_8UC1, -+ const_cast(it->data.data())), -+ cv::IMREAD_GRAYSCALE); - cv::addWeighted(cv_img, 0.7, next_img, 0.3, 0.0, cv_img); - } - const auto& image = level.images[0]; diff --git a/patch/ros-lyrical-rmf-websocket.patch b/patch/ros-lyrical-rmf-websocket.patch deleted file mode 100644 index d421a88..0000000 --- a/patch/ros-lyrical-rmf-websocket.patch +++ /dev/null @@ -1,34 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 0368593..c9efb1c 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -4,0 +5,3 @@ project(rmf_websocket) -+# websocketpp 0.8.2 requires Asio APIs that Boost 1.90 removed. The recipe -+# provides a compatible standalone Asio release. -+add_compile_definitions(ASIO_STANDALONE) -@@ -23,3 +27,2 @@ find_package(nlohmann_json_schema_validator REQUIRED) - find_package(websocketpp REQUIRED) --find_package(Boost COMPONENTS system REQUIRED) - find_package(Threads) -@@ -41,3 +44,2 @@ target_link_libraries(rmf_websocket - PRIVATE -- Boost::system - Threads::Threads -diff --git a/src/rmf_websocket/BroadcastClient.cpp b/src/rmf_websocket/BroadcastClient.cpp -index 01d3ac1..250f5b1 100644 ---- a/src/rmf_websocket/BroadcastClient.cpp -+++ b/src/rmf_websocket/BroadcastClient.cpp -@@ -219,3 +219,3 @@ private: - std::string _uri; -- boost::asio::io_service _io_service; -+ asio::io_service _io_service; - std::shared_ptr _node; -diff --git a/src/rmf_websocket/client/ClientWebSocketEndpoint.hpp b/src/rmf_websocket/client/ClientWebSocketEndpoint.hpp -index 55f7105..6c0cd4b 100644 ---- a/src/rmf_websocket/client/ClientWebSocketEndpoint.hpp -+++ b/src/rmf_websocket/client/ClientWebSocketEndpoint.hpp -@@ -103,3 +103,3 @@ public: - std::shared_ptr node, -- boost::asio::io_service* io_service, -+ asio::io_service* io_service, - ConnectionCallback cb); From 388174e9492b1f1d71166eea9b4ddd89f49422ea Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Tue, 4 Aug 2026 09:21:59 +0200 Subject: [PATCH 16/48] Break RCL bootstrap cycle and seed middleware stack --- .github/workflows/testpr.yml | 8 +++++++- patch/dependencies.yaml | 5 +++++ 2 files changed, 12 insertions(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 4b24924..1fdafe7 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -138,14 +138,20 @@ jobs: # Bootstrap packages that are hidden behind runtime-only dependency # cycles before asking rattler-build to solve the complete recipe set. for recipe in \ + ros2-distro-mutex \ ros-lyrical-rosidl-default-generators \ ros-lyrical-type-description-interfaces \ ros-lyrical-test-msgs \ ros-lyrical-tracetools \ ros-lyrical-rcl \ + ros-lyrical-rmw-fastrtps-cpp \ + ros-lyrical-rmw-fastrtps-dynamic-cpp \ + ros-lyrical-rmw-zenoh-cpp \ + ros-lyrical-rmw-implementation \ ros-lyrical-rcl-action \ ros-lyrical-rcl-lifecycle \ - ros-lyrical-rmw-implementation \ + ros-lyrical-rclcpp \ + ros-lyrical-rclcpp-lifecycle \ ros-lyrical-rclpy \ ros-lyrical-sensor-msgs \ ros-lyrical-image-transport \ diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 834ba16..eb57dff 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -290,6 +290,11 @@ autoware_behavior_velocity_planner_common: add_host: ["cpp-expected"] autoware_behavior_velocity_stop_line_module: add_host: ["cpp-expected"] +rcl: + # rmw_implementation is a test-only host dependency here, but it depends on + # concrete RMW backends. Removing it breaks the mutex-migration bootstrap + # cycle while retaining the runtime dependency. + remove_host: ["ros-lyrical-rmw-implementation"] rclpy: add_host: ["typing_extensions"] add_run: ["typing_extensions"] From bb2868519fee7c1798d4f168e3590d138be066ca Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 10:36:04 +0200 Subject: [PATCH 17/48] Refresh snapshot for Navigation2 release --- .github/workflows/testpr.yml | 6 +- patch/dependencies.yaml | 10 +- rosdistro_snapshot.yaml | 294 +++++++++++++++++++++++++++++++---- 3 files changed, 268 insertions(+), 42 deletions(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 1fdafe7..4431ae7 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -8,7 +8,7 @@ env: # Change to 'true' to enable the cache upload as artifacts SAVE_CACHE_AS_ARTIFACT: 'true' # Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging - IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true' jobs: build: @@ -143,11 +143,9 @@ jobs: ros-lyrical-type-description-interfaces \ ros-lyrical-test-msgs \ ros-lyrical-tracetools \ - ros-lyrical-rcl \ ros-lyrical-rmw-fastrtps-cpp \ - ros-lyrical-rmw-fastrtps-dynamic-cpp \ - ros-lyrical-rmw-zenoh-cpp \ ros-lyrical-rmw-implementation \ + ros-lyrical-rcl \ ros-lyrical-rcl-action \ ros-lyrical-rcl-lifecycle \ ros-lyrical-rclcpp \ diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index eb57dff..5e4398a 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -290,11 +290,11 @@ autoware_behavior_velocity_planner_common: add_host: ["cpp-expected"] autoware_behavior_velocity_stop_line_module: add_host: ["cpp-expected"] -rcl: - # rmw_implementation is a test-only host dependency here, but it depends on - # concrete RMW backends. Removing it breaks the mutex-migration bootstrap - # cycle while retaining the runtime dependency. - remove_host: ["ros-lyrical-rmw-implementation"] +rmw_implementation: + # These backends are only used by the disabled test suite. Keeping them all + # as host dependencies creates a bootstrap cycle during mutex migrations; + # the default Fast DDS backend is sufficient to configure the package. + remove_host: ["ros-lyrical-rmw-connextdds", "ros-lyrical-rmw-cyclonedds-cpp", "ros-lyrical-rmw-fastrtps-dynamic-cpp", "ros-lyrical-rmw-zenoh-cpp"] rclpy: add_host: ["typing_extensions"] add_run: ["typing_extensions"] diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml index b6f5b4e..2c01edc 100644 --- a/rosdistro_snapshot.yaml +++ b/rosdistro_snapshot.yaml @@ -1,4 +1,4 @@ -# Snapshot generated by vinca-snapshot on 2026-08-02T09:13:30Z UTC for distro lyrical +# Snapshot generated by vinca-snapshot on 2026-08-08T08:25:26Z UTC for distro lyrical acado_vendor: tag: release/lyrical/acado_vendor/1.0.0-8 url: https://github.com/ros2-gbp/acado_vendor-release.git @@ -859,6 +859,10 @@ controller_manager_msgs: tag: release/lyrical/controller_manager_msgs/6.8.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git version: 6.8.0 +costmap_queue: + tag: release/lyrical/costmap_queue/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 cras_bag_tools: tag: release/lyrical/cras_bag_tools/3.0.2-3 url: https://github.com/ros2-gbp/cras_ros_utils-release.git @@ -1151,6 +1155,22 @@ dummy_sensors: tag: release/lyrical/dummy_sensors/0.37.9-1 url: https://github.com/ros2-gbp/demos-release.git version: 0.37.9 +dwb_core: + tag: release/lyrical/dwb_core/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +dwb_critics: + tag: release/lyrical/dwb_critics/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +dwb_msgs: + tag: release/lyrical/dwb_msgs/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +dwb_plugins: + tag: release/lyrical/dwb_plugins/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 dynamixel_hardware: tag: release/lyrical/dynamixel_hardware/0.6.1-2 url: https://github.com/ros2-gbp/dynamixel_hardware-release.git @@ -1908,9 +1928,9 @@ gpsd_client: url: https://github.com/ros2-gbp/gps_umd-release.git version: 3.1.0 graph_msgs: - tag: release/lyrical/graph_msgs/0.2.0-7 + tag: release/lyrical/graph_msgs/0.2.1-1 url: https://github.com/ros2-gbp/graph_msgs-release.git - version: 0.2.0 + version: 0.2.1 grasping_msgs: tag: release/lyrical/grasping_msgs/0.5.0-3 url: https://github.com/ros2-gbp/grasping_msgs-release.git @@ -2216,13 +2236,13 @@ joint_state_broadcaster: url: https://github.com/ros2-gbp/ros2_controllers-release.git version: 6.8.0 joint_state_publisher: - tag: release/lyrical/joint_state_publisher/2.4.2-1 + tag: release/lyrical/joint_state_publisher/2.4.3-1 url: https://github.com/ros2-gbp/joint_state_publisher-release.git - version: 2.4.2 + version: 2.4.3 joint_state_publisher_gui: - tag: release/lyrical/joint_state_publisher_gui/2.4.2-1 + tag: release/lyrical/joint_state_publisher_gui/2.4.3-1 url: https://github.com/ros2-gbp/joint_state_publisher-release.git - version: 2.4.2 + version: 2.4.3 joint_state_topic_hardware_interface: tag: release/lyrical/joint_state_topic_hardware_interface/1.1.0-1 url: https://github.com/ros2-gbp/topic_based_hardware-release.git @@ -2251,6 +2271,22 @@ jrl_cmakemodules: tag: release/lyrical/jrl_cmakemodules/2.0.0-1 url: https://github.com/ros2-gbp/jrl_cmakemodules-release.git version: 2.0.0 +jsk_common_msgs: + tag: release/lyrical/jsk_common_msgs/5.0.1-2 + url: https://github.com/tork-a/jsk_common_msgs-release.git + version: 5.0.1 +jsk_footstep_msgs: + tag: release/lyrical/jsk_footstep_msgs/5.0.1-2 + url: https://github.com/tork-a/jsk_common_msgs-release.git + version: 5.0.1 +jsk_gui_msgs: + tag: release/lyrical/jsk_gui_msgs/5.0.1-2 + url: https://github.com/tork-a/jsk_common_msgs-release.git + version: 5.0.1 +jsk_hark_msgs: + tag: release/lyrical/jsk_hark_msgs/5.0.1-2 + url: https://github.com/tork-a/jsk_common_msgs-release.git + version: 5.0.1 kartech_linear_actuator_msgs: tag: release/lyrical/kartech_linear_actuator_msgs/4.0.0-5 url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git @@ -3176,9 +3212,9 @@ moveit_task_constructor_visualization: url: https://github.com/ros2-gbp/moveit_task_constructor-release.git version: 0.1.5 moveit_visual_tools: - tag: release/lyrical/moveit_visual_tools/4.1.2-3 + tag: release/lyrical/moveit_visual_tools/4.2.0-1 url: https://github.com/ros2-gbp/moveit_visual_tools-release.git - version: 4.1.2 + version: 4.2.0 mp2p_icp: tag: release/lyrical/mp2p_icp/2.12.0-1 url: https://github.com/ros2-gbp/mp2p_icp-release.git @@ -3543,6 +3579,70 @@ nao_sensor_msgs: tag: release/lyrical/nao_sensor_msgs/1.0.0-4 url: https://github.com/ros2-gbp/nao_interfaces-release.git version: 1.0.0 +nav2_amcl: + tag: release/lyrical/nav2_amcl/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_behavior_tree: + tag: release/lyrical/nav2_behavior_tree/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_behaviors: + tag: release/lyrical/nav2_behaviors/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_bringup: + tag: release/lyrical/nav2_bringup/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_bt_navigator: + tag: release/lyrical/nav2_bt_navigator/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_collision_monitor: + tag: release/lyrical/nav2_collision_monitor/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_common: + tag: release/lyrical/nav2_common/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_constrained_smoother: + tag: release/lyrical/nav2_constrained_smoother/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_controller: + tag: release/lyrical/nav2_controller/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_core: + tag: release/lyrical/nav2_core/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_costmap_2d: + tag: release/lyrical/nav2_costmap_2d/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_dwb_controller: + tag: release/lyrical/nav2_dwb_controller/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_graceful_controller: + tag: release/lyrical/nav2_graceful_controller/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_lifecycle_manager: + tag: release/lyrical/nav2_lifecycle_manager/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_loopback_sim: + tag: release/lyrical/nav2_loopback_sim/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_map_server: + tag: release/lyrical/nav2_map_server/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 nav2_minimal_tb3_sim: tag: release/lyrical/nav2_minimal_tb3_sim/1.3.0-1 url: https://github.com/ros2-gbp/nav2_minimal_turtlebot_simulation-release.git @@ -3555,10 +3655,94 @@ nav2_minimal_tb4_sim: tag: release/lyrical/nav2_minimal_tb4_sim/1.3.0-1 url: https://github.com/ros2-gbp/nav2_minimal_turtlebot_simulation-release.git version: 1.3.0 +nav2_mppi_controller: + tag: release/lyrical/nav2_mppi_controller/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_msgs: + tag: release/lyrical/nav2_msgs/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_navfn_planner: + tag: release/lyrical/nav2_navfn_planner/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_planner: + tag: release/lyrical/nav2_planner/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_regulated_pure_pursuit_controller: + tag: release/lyrical/nav2_regulated_pure_pursuit_controller/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_ros_common: + tag: release/lyrical/nav2_ros_common/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_rotation_shim_controller: + tag: release/lyrical/nav2_rotation_shim_controller/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_route: + tag: release/lyrical/nav2_route/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_rviz_plugins: + tag: release/lyrical/nav2_rviz_plugins/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_simple_commander: + tag: release/lyrical/nav2_simple_commander/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_smac_planner: + tag: release/lyrical/nav2_smac_planner/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_smoother: + tag: release/lyrical/nav2_smoother/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_system_tests: + tag: release/lyrical/nav2_system_tests/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_theta_star_planner: + tag: release/lyrical/nav2_theta_star_planner/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_util: + tag: release/lyrical/nav2_util/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_velocity_smoother: + tag: release/lyrical/nav2_velocity_smoother/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_voxel_grid: + tag: release/lyrical/nav2_voxel_grid/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav2_waypoint_follower: + tag: release/lyrical/nav2_waypoint_follower/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav_2d_msgs: + tag: release/lyrical/nav_2d_msgs/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +nav_2d_utils: + tag: release/lyrical/nav_2d_utils/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 nav_msgs: tag: release/lyrical/nav_msgs/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git version: 5.9.3 +navigation2: + tag: release/lyrical/navigation2/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 navmap_core: tag: release/lyrical/navmap_core/0.5.1-1 url: https://github.com/EasyNavigation/NavMap-release.git @@ -3795,6 +3979,22 @@ openeb_vendor: tag: release/lyrical/openeb_vendor/2.0.3-1 url: https://github.com/ros2-gbp/openeb_vendor-release.git version: 2.0.3 +opennav_docking: + tag: release/lyrical/opennav_docking/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +opennav_docking_bt: + tag: release/lyrical/opennav_docking_bt/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +opennav_docking_core: + tag: release/lyrical/opennav_docking_core/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 +opennav_following: + tag: release/lyrical/opennav_following/1.5.0-1 + url: https://github.com/ros2-gbp/navigation2-release.git + version: 1.5.0 openni2_camera: tag: release/lyrical/openni2_camera/2.3.0-3 url: https://github.com/ros2-gbp/openni2_camera-release.git @@ -3964,9 +4164,9 @@ phidgets_temperature: url: https://github.com/ros2-gbp/phidgets_drivers-release.git version: 2.4.0 pick_ik: - tag: release/lyrical/pick_ik/1.1.1-3 + tag: release/lyrical/pick_ik/1.1.3-1 url: https://github.com/ros2-gbp/pick_ik-release.git - version: 1.1.1 + version: 1.1.3 picknik_ament_copyright: tag: release/lyrical/picknik_ament_copyright/0.0.2-6 url: https://github.com/ros2-gbp/picknik_ament_copyright-release.git @@ -4159,6 +4359,10 @@ pose_cov_ops: tag: release/lyrical/pose_cov_ops/0.4.0-3 url: https://github.com/ros2-gbp/pose_cov_ops-release.git version: 0.4.0 +posedetection_msgs: + tag: release/lyrical/posedetection_msgs/5.0.1-2 + url: https://github.com/tork-a/jsk_common_msgs-release.git + version: 5.0.1 protobuf_comm: tag: release/lyrical/protobuf_comm/0.9.4-1 url: https://github.com/ros2-gbp/protobuf_comm-release.git @@ -4768,37 +4972,57 @@ rmw_zenoh_cpp: url: https://github.com/ros2-gbp/rmw_zenoh-release.git version: 0.10.5 roboplan: - tag: release/lyrical/roboplan/0.5.1-1 + tag: release/lyrical/roboplan/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.5.1 + version: 0.6.0 roboplan_cartesian_planning: - tag: release/lyrical/roboplan_cartesian_planning/0.5.1-1 + tag: release/lyrical/roboplan_cartesian_planning/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.5.1 + version: 0.6.0 roboplan_example_models: - tag: release/lyrical/roboplan_example_models/0.5.1-1 + tag: release/lyrical/roboplan_example_models/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.5.1 + version: 0.6.0 roboplan_examples: - tag: release/lyrical/roboplan_examples/0.5.1-1 + tag: release/lyrical/roboplan_examples/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.5.1 + version: 0.6.0 roboplan_oink: - tag: release/lyrical/roboplan_oink/0.5.1-1 + tag: release/lyrical/roboplan_oink/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.5.1 + version: 0.6.0 +roboplan_ros_cpp: + tag: release/lyrical/roboplan_ros_cpp/0.6.0-1 + url: https://github.com/ros2-gbp/roboplan_ros-release.git + version: 0.6.0 +roboplan_ros_examples: + tag: release/lyrical/roboplan_ros_examples/0.6.0-1 + url: https://github.com/ros2-gbp/roboplan_ros-release.git + version: 0.6.0 +roboplan_ros_franka: + tag: release/lyrical/roboplan_ros_franka/0.6.0-1 + url: https://github.com/ros2-gbp/roboplan_ros-release.git + version: 0.6.0 +roboplan_ros_py: + tag: release/lyrical/roboplan_ros_py/0.6.0-1 + url: https://github.com/ros2-gbp/roboplan_ros-release.git + version: 0.6.0 +roboplan_ros_visualization: + tag: release/lyrical/roboplan_ros_visualization/0.6.0-1 + url: https://github.com/ros2-gbp/roboplan_ros-release.git + version: 0.6.0 roboplan_rrt: - tag: release/lyrical/roboplan_rrt/0.5.1-1 + tag: release/lyrical/roboplan_rrt/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.5.1 + version: 0.6.0 roboplan_simple_ik: - tag: release/lyrical/roboplan_simple_ik/0.5.1-1 + tag: release/lyrical/roboplan_simple_ik/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.5.1 + version: 0.6.0 roboplan_toppra: - tag: release/lyrical/roboplan_toppra/0.5.1-1 + tag: release/lyrical/roboplan_toppra/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.5.1 + version: 0.6.0 robot_arm_demo: tag: release/lyrical/robot_arm_demo/0.1.0-1 url: https://github.com/ros2-gbp/rosidl_buffer_backends_tutorials-release.git @@ -5740,9 +5964,9 @@ rviz_visual_testing_framework: url: https://github.com/ros2-gbp/rviz-release.git version: 15.2.5 rviz_visual_tools: - tag: release/lyrical/rviz_visual_tools/4.1.4-5 + tag: release/lyrical/rviz_visual_tools/4.2.0-1 url: https://github.com/ros2-gbp/rviz_visual_tools-release.git - version: 4.1.4 + version: 4.2.0 sbg_driver: tag: release/lyrical/sbg_driver/3.4.0-1 url: https://github.com/SBG-Systems/sbg_ros2-release.git @@ -5927,6 +6151,10 @@ spdlog_vendor: tag: release/lyrical/spdlog_vendor/1.8.0-3 url: https://github.com/ros2-gbp/spdlog_vendor-release.git version: 1.8.0 +speech_recognition_msgs: + tag: release/lyrical/speech_recognition_msgs/5.0.1-2 + url: https://github.com/tork-a/jsk_common_msgs-release.git + version: 5.0.1 spinnaker_camera_driver: tag: release/lyrical/spinnaker_camera_driver/3.0.5-1 url: https://github.com/ros2-gbp/flir_camera_driver-release.git @@ -6624,13 +6852,13 @@ vrpn_mocap: url: https://github.com/ros2-gbp/vrpn_mocap-release.git version: 1.1.0 warehouse_ros: - tag: release/lyrical/warehouse_ros/2.0.6-3 + tag: release/lyrical/warehouse_ros/2.0.7-1 url: https://github.com/ros2-gbp/warehouse_ros-release.git - version: 2.0.6 + version: 2.0.7 warehouse_ros_sqlite: - tag: release/lyrical/warehouse_ros_sqlite/1.0.8-1 + tag: release/lyrical/warehouse_ros_sqlite/1.0.9-1 url: https://github.com/ros2-gbp/warehouse_ros_sqlite-release.git - version: 1.0.8 + version: 1.0.9 web_video_server: tag: release/lyrical/web_video_server/3.1.1-1 url: https://github.com/ros2-gbp/web_video_server-release.git From 918613ecd2d0971a594eacb259f77484f09884d6 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 10:36:11 +0200 Subject: [PATCH 18/48] Remove patches included in updated releases --- patch/ros-lyrical-moveit-visual-tools.patch | 55 ------ patch/ros-lyrical-nav2-behavior-tree.patch | 13 -- patch/ros-lyrical-nav2-costmap-2d.patch | 56 ------ patch/ros-lyrical-nav2-util.patch | 22 --- patch/ros-lyrical-pick-ik.patch | 110 ----------- patch/ros-lyrical-rviz-visual-tools.patch | 184 ------------------- patch/ros-lyrical-warehouse-ros-sqlite.patch | 34 ---- 7 files changed, 474 deletions(-) delete mode 100644 patch/ros-lyrical-moveit-visual-tools.patch delete mode 100644 patch/ros-lyrical-nav2-behavior-tree.patch delete mode 100644 patch/ros-lyrical-nav2-costmap-2d.patch delete mode 100644 patch/ros-lyrical-nav2-util.patch delete mode 100644 patch/ros-lyrical-pick-ik.patch delete mode 100644 patch/ros-lyrical-rviz-visual-tools.patch delete mode 100644 patch/ros-lyrical-warehouse-ros-sqlite.patch diff --git a/patch/ros-lyrical-moveit-visual-tools.patch b/patch/ros-lyrical-moveit-visual-tools.patch deleted file mode 100644 index 036a5dd..0000000 --- a/patch/ros-lyrical-moveit-visual-tools.patch +++ /dev/null @@ -1,55 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 2e08aa6..49bdf1e 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -5,7 +5,7 @@ find_package(moveit_common REQUIRED) - moveit_package() - - # Load all dependencies required for this package --find_package(Boost REQUIRED system) -+find_package(Boost REQUIRED COMPONENTS filesystem) - find_package(Eigen3 REQUIRED) - find_package(geometry_msgs REQUIRED) - find_package(graph_msgs REQUIRED) -@@ -33,6 +33,23 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS - tf2_ros - trajectory_msgs - visualization_msgs -+ interactive_markers -+) -+ -+set(THIS_PACKAGE_INCLUDE_TARGET_DEPENDS -+ Boost::filesystem -+ ${geometry_msgs_TARGETS} -+ ${graph_msgs_TARGETS} -+ moveit_core::moveit_core -+ moveit_ros_planning::moveit_ros_planning -+ rclcpp::rclcpp -+ rviz_visual_tools::rviz_visual_tools -+ ${std_msgs_TARGETS} -+ tf2_eigen::tf2_eigen -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS} -+ ${visualization_msgs_TARGETS} -+ interactive_markers::interactive_markers - ) - - # Visualization Tools Library -@@ -46,7 +63,7 @@ target_include_directories(${PROJECT_NAME} - PUBLIC $ - PUBLIC $ - ) --ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_TARGET_DEPENDS}) - - # Demo executable - add_executable(${PROJECT_NAME}_demo -@@ -55,7 +72,7 @@ add_executable(${PROJECT_NAME}_demo - target_link_libraries(${PROJECT_NAME}_demo - ${PROJECT_NAME} - ) --ament_target_dependencies(${PROJECT_NAME}_demo ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries(${PROJECT_NAME}_demo ${THIS_PACKAGE_INCLUDE_TARGET_DEPENDS}) - - - # Exports diff --git a/patch/ros-lyrical-nav2-behavior-tree.patch b/patch/ros-lyrical-nav2-behavior-tree.patch deleted file mode 100644 index f36146c..0000000 --- a/patch/ros-lyrical-nav2-behavior-tree.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/include/nav2_behavior_tree/utils/loop_rate.hpp b/include/nav2_behavior_tree/utils/loop_rate.hpp -index d7ebd5b4a..265771427 100644 ---- a/include/nav2_behavior_tree/utils/loop_rate.hpp -+++ b/include/nav2_behavior_tree/utils/loop_rate.hpp -@@ -61,7 +61,7 @@ public: - auto time_to_sleep = next_interval - now; - std::chrono::nanoseconds time_to_sleep_ns(time_to_sleep.nanoseconds()); - // Sleep (can get interrupted by emitWakeUpSignal()) -- tree_->sleep(time_to_sleep_ns); -+ tree_->sleep(std::chrono::duration_cast(time_to_sleep_ns)); - return true; - } - diff --git a/patch/ros-lyrical-nav2-costmap-2d.patch b/patch/ros-lyrical-nav2-costmap-2d.patch deleted file mode 100644 index 974334d..0000000 --- a/patch/ros-lyrical-nav2-costmap-2d.patch +++ /dev/null @@ -1,56 +0,0 @@ -diff --git a/include/nav2_costmap_2d/plugin_container_layer.hpp b/include/nav2_costmap_2d/plugin_container_layer.hpp -index e98c7b813..fb1d23e2e 100644 ---- a/include/nav2_costmap_2d/plugin_container_layer.hpp -+++ b/include/nav2_costmap_2d/plugin_container_layer.hpp -@@ -46,7 +46,7 @@ public: - /** - * @brief Initialization process of layer on startup - */ -- virtual void onInitialize(); -+ virtual void onInitialize() override; - /** - * @brief Update the bounds of the master costmap by this layer's update - *dimensions -@@ -65,7 +65,7 @@ public: - double * min_x, - double * min_y, - double * max_x, -- double * max_y); -+ double * max_y) override; - /** - * @brief Update the costs in the master costmap in the window - * @param master_grid The master costmap grid to update -@@ -79,26 +79,26 @@ public: - int min_i, - int min_j, - int max_i, -- int max_j); -- virtual void onFootprintChanged(); -+ int max_j) override; -+ virtual void onFootprintChanged() override; - /** @brief Update the footprint to match size of the parent costmap. */ -- virtual void matchSize(); -+ virtual void matchSize() override; - /** - * @brief Deactivate the layer - */ -- virtual void deactivate(); -+ virtual void deactivate() override; - /** - * @brief Activate the layer - */ -- virtual void activate(); -+ virtual void activate() override; - /** - * @brief Reset this costmap - */ -- virtual void reset(); -+ virtual void reset() override; - /** - * @brief If clearing operations should be processed on this layer or not - */ -- virtual bool isClearable(); -+ virtual bool isClearable() override; - /** - * @brief Clear an area in the constituent costmaps with the given dimension - * if invert, then clear everything except these dimensions diff --git a/patch/ros-lyrical-nav2-util.patch b/patch/ros-lyrical-nav2-util.patch deleted file mode 100644 index babfabc..0000000 --- a/patch/ros-lyrical-nav2-util.patch +++ /dev/null @@ -1,22 +0,0 @@ -diff --git a/src/node_utils.cpp b/src/node_utils.cpp -index 993eaf53b..83ab5ebaa 100644 ---- a/src/node_utils.cpp -+++ b/src/node_utils.cpp -@@ -92,6 +92,9 @@ rclcpp::Node::SharedPtr generate_internal_node(const std::string & prefix) - - void setSoftRealTimePriority() - { -+#if defined(__APPLE__) || defined(_WIN32) -+ throw std::runtime_error("Cannot set as real-time thread if not on Linux!"); -+#else - sched_param sch; - sch.sched_priority = 49; - if (sched_setscheduler(0, SCHED_FIFO, &sch) == -1) { -@@ -101,6 +104,7 @@ void setSoftRealTimePriority() - "realtime prioritization! Error: "); - throw std::runtime_error(errmsg + std::strerror(errno)); - } -+#endif - } - - } // namespace nav2_util diff --git a/patch/ros-lyrical-pick-ik.patch b/patch/ros-lyrical-pick-ik.patch deleted file mode 100644 index 2916833..0000000 --- a/patch/ros-lyrical-pick-ik.patch +++ /dev/null @@ -1,110 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index e0c448b..e4dbba0 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -17,7 +17,7 @@ find_package(rclcpp REQUIRED) - find_package(rsl REQUIRED) - find_package(tf2_geometry_msgs REQUIRED) - find_package(tf2_kdl REQUIRED) --find_package(tl_expected REQUIRED) -+find_package(tl-expected REQUIRED) - - generate_parameter_library( - pick_ik_parameters -@@ -41,7 +41,7 @@ target_link_libraries(pick_ik_plugin - moveit_core::moveit_robot_model - tf2_geometry_msgs::tf2_geometry_msgs - tf2_kdl::tf2_kdl -- tl_expected::tl_expected -+ tl::expected - rsl::rsl - PRIVATE - fmt::fmt -@@ -84,6 +84,6 @@ ament_export_dependencies( - rsl - tf2_geometry_msgs - tf2_kdl -- tl_expected -+ tl-expected - ) - ament_package() -diff --git a/include/pick_ik/forward_kinematics.hpp b/include/pick_ik/forward_kinematics.hpp -index 834f5b7..f6c2426 100644 ---- a/include/pick_ik/forward_kinematics.hpp -+++ b/include/pick_ik/forward_kinematics.hpp -@@ -3,7 +3,7 @@ - #include - #include - #include --#include -+#include - #include - - namespace pick_ik { -diff --git a/include/pick_ik/robot.hpp b/include/pick_ik/robot.hpp -index 5c92c5e..d34511c 100644 ---- a/include/pick_ik/robot.hpp -+++ b/include/pick_ik/robot.hpp -@@ -1,6 +1,6 @@ - #pragma once - --#include -+#include - - #include - #include -diff --git a/package.xml b/package.xml -index 5704712..69a2f51 100644 ---- a/package.xml -+++ b/package.xml -@@ -17,9 +17,10 @@ - range-v3 - rclcpp - rsl -+ tf2 - tf2_geometry_msgs - tf2_kdl -- tl_expected -+ libexpected-dev - - moveit_resources_panda_moveit_config - -diff --git a/src/forward_kinematics.cpp b/src/forward_kinematics.cpp -index fb03ed1..db773fd 100644 ---- a/src/forward_kinematics.cpp -+++ b/src/forward_kinematics.cpp -@@ -5,7 +5,7 @@ - #include - #include - #include --#include -+#include - #include - - namespace pick_ik { -diff --git a/src/pick_ik_plugin.cpp b/src/pick_ik_plugin.cpp -index d586092..ea8c170 100644 ---- a/src/pick_ik_plugin.cpp -+++ b/src/pick_ik_plugin.cpp -@@ -4,7 +4,7 @@ - #include - #include - --#include -+#include - #include - #include - -diff --git a/src/robot.cpp b/src/robot.cpp -index 7581746..437921b 100644 ---- a/src/robot.cpp -+++ b/src/robot.cpp -@@ -3,7 +3,7 @@ - #include - #include - #include --#include -+#include - - #include - #include diff --git a/patch/ros-lyrical-rviz-visual-tools.patch b/patch/ros-lyrical-rviz-visual-tools.patch deleted file mode 100644 index da46c2a..0000000 --- a/patch/ros-lyrical-rviz-visual-tools.patch +++ /dev/null @@ -1,184 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 8b45187..f24262d 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -77,14 +77,15 @@ set(HEADER_FILES - ) - - add_library(${PROJECT_NAME}_gui SHARED ${SOURCE_FILES} ${HEADER_FILES}) --ament_target_dependencies(${PROJECT_NAME}_gui PUBLIC -- rclcpp -- rviz_common -- rviz_rendering -- rviz_default_plugins -- rviz_ogre_vendor -+target_link_libraries(${PROJECT_NAME}_gui PUBLIC -+ rclcpp::rclcpp -+ rviz_common::rviz_common -+ rviz_rendering::rviz_rendering -+ rviz_default_plugins::rviz_default_plugins -+ rviz_ogre_vendor::OgreMain -+ rviz_ogre_vendor::OgreOverlay - ) --target_link_libraries(${PROJECT_NAME}_gui PUBLIC Qt5::Widgets) -+target_link_libraries(${PROJECT_NAME}_gui PUBLIC Qt6::Widgets) - - # prevent pluginlib from using boost - target_compile_definitions(${PROJECT_NAME}_gui PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") -@@ -98,18 +99,18 @@ add_library(${PROJECT_NAME}_remote_control SHARED - # Needed for M_PI on Windows - target_compile_definitions(${PROJECT_NAME}_remote_control PRIVATE _USE_MATH_DEFINES) - --ament_target_dependencies(${PROJECT_NAME}_remote_control -- rclcpp -- rclcpp_components -- visualization_msgs -- tf2 -- tf2_eigen -- tf2_geometry_msgs -- sensor_msgs -- shape_msgs -- std_msgs -- trajectory_msgs -- eigen_stl_containers -+target_link_libraries(${PROJECT_NAME}_remote_control -+ rclcpp::rclcpp -+ rclcpp_components::component -+ ${visualization_msgs_TARGETS} -+ tf2::tf2 -+ tf2_eigen::tf2_eigen -+ ${tf2_geometry_msgs_TARGETS} -+ ${sensor_msgs_TARGETS} -+ ${shape_msgs_TARGETS} -+ ${std_msgs_TARGETS} -+ ${trajectory_msgs_TARGETS} -+ eigen_stl_containers::eigen_stl_containers - ) - - # Visualization Tools Library -@@ -118,22 +119,22 @@ add_library(${PROJECT_NAME} SHARED - src/tf_visual_tools.cpp - ) - target_compile_definitions(${PROJECT_NAME} PRIVATE _USE_MATH_DEFINES) --ament_target_dependencies(${PROJECT_NAME} PUBLIC Eigen3) -+target_link_libraries(${PROJECT_NAME} Eigen3::Eigen) - target_link_libraries(${PROJECT_NAME} - ${PROJECT_NAME}_remote_control - ) --ament_target_dependencies(${PROJECT_NAME} -- rclcpp -- rclcpp_components -- visualization_msgs -- tf2 -- tf2_eigen -- tf2_geometry_msgs -- sensor_msgs -- shape_msgs -- std_msgs -- trajectory_msgs -- eigen_stl_containers -+target_link_libraries(${PROJECT_NAME} -+ rclcpp::rclcpp -+ rclcpp_components::component -+ ${visualization_msgs_TARGETS} -+ tf2::tf2 -+ tf2_eigen::tf2_eigen -+ ${tf2_geometry_msgs_TARGETS} -+ ${sensor_msgs_TARGETS} -+ ${shape_msgs_TARGETS} -+ ${std_msgs_TARGETS} -+ ${trajectory_msgs_TARGETS} -+ eigen_stl_containers::eigen_stl_containers - ) - - # Library -@@ -144,14 +145,14 @@ target_compile_definitions(${PROJECT_NAME}_imarker_simple PRIVATE _USE_MATH_DEFI - target_link_libraries(${PROJECT_NAME}_imarker_simple - ${PROJECT_NAME} - ) --ament_target_dependencies(${PROJECT_NAME}_imarker_simple -- rclcpp -- interactive_markers -- geometry_msgs -- visualization_msgs -- sensor_msgs -- eigen_stl_containers -- Eigen3 -+target_link_libraries(${PROJECT_NAME}_imarker_simple -+ rclcpp::rclcpp -+ interactive_markers::interactive_markers -+ ${geometry_msgs_TARGETS} -+ ${visualization_msgs_TARGETS} -+ ${sensor_msgs_TARGETS} -+ eigen_stl_containers::eigen_stl_containers -+ Eigen3::Eigen - ) - - # Demo executable -@@ -162,10 +163,10 @@ target_compile_definitions(${PROJECT_NAME}_demo PRIVATE _USE_MATH_DEFINES) - target_link_libraries(${PROJECT_NAME}_demo - ${PROJECT_NAME} - ) --ament_target_dependencies(${PROJECT_NAME}_demo -- rclcpp -- geometry_msgs -- std_msgs -+target_link_libraries(${PROJECT_NAME}_demo -+ rclcpp::rclcpp -+ ${geometry_msgs_TARGETS} -+ ${std_msgs_TARGETS} - ) - - # Demo executable -@@ -175,8 +176,8 @@ target_compile_definitions(${PROJECT_NAME}_imarker_simple_demo PRIVATE _USE_MATH - target_link_libraries(${PROJECT_NAME}_imarker_simple_demo - ${PROJECT_NAME}_imarker_simple - ) --ament_target_dependencies(${PROJECT_NAME}_imarker_simple_demo -- rclcpp -+target_link_libraries(${PROJECT_NAME}_imarker_simple_demo -+ rclcpp::rclcpp - ) - - ############# -@@ -248,8 +249,8 @@ if (BUILD_TESTING) - tests/rvt_test.cpp - TIMEOUT 180) - target_compile_definitions(${PROJECT_NAME}_rvt_test PRIVATE _USE_MATH_DEFINES) -- ament_target_dependencies(${PROJECT_NAME}_rvt_test -- rclcpp -+ target_link_libraries(${PROJECT_NAME}_rvt_test -+ rclcpp::rclcpp - ) - target_link_libraries(${PROJECT_NAME}_rvt_test - ${PROJECT_NAME} -diff --git a/src/rviz_visual_tools.cpp b/src/rviz_visual_tools.cpp -index d4a83bf..da9eda5 100644 ---- a/src/rviz_visual_tools.cpp -+++ b/src/rviz_visual_tools.cpp -@@ -42,9 +42,9 @@ - #include - - // Conversions --#include --#include --#include -+#include -+#include -+#include - #if __has_include() - #include - #include -diff --git a/src/tf_visual_tools.cpp b/src/tf_visual_tools.cpp -index 99d7aca..acf429a 100644 ---- a/src/tf_visual_tools.cpp -+++ b/src/tf_visual_tools.cpp -@@ -39,7 +39,7 @@ - #endif - - // TF --#include -+#include - - // C++ - #include diff --git a/patch/ros-lyrical-warehouse-ros-sqlite.patch b/patch/ros-lyrical-warehouse-ros-sqlite.patch deleted file mode 100644 index 0528af0..0000000 --- a/patch/ros-lyrical-warehouse-ros-sqlite.patch +++ /dev/null @@ -1,34 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -7,7 +7,7 @@ endif() - - find_package(ament_cmake REQUIRED) - find_package(SQLite3 REQUIRED) --find_package(Boost REQUIRED COMPONENTS filesystem system thread) -+find_package(Boost REQUIRED COMPONENTS filesystem thread) - find_package(class_loader REQUIRED) - find_package(OpenSSL REQUIRED) - find_package(rclcpp REQUIRED) -@@ -35,6 +35,7 @@ set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 14) - - target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${Boost_INCLUDE_DIRS}) - target_link_libraries(${PROJECT_NAME} PUBLIC -+ Boost::headers - class_loader::class_loader - rclcpp::rclcpp - warehouse_ros::warehouse_ros -@@ -65,11 +66,11 @@ if(BUILD_TESTING) - - ament_add_gtest(TestLoader test/TestLoader.cpp) - target_link_libraries(TestLoader ${PROJECT_NAME}) -- target_link_libraries(TestLoader ${Boost_LIBRARIES}) -+ target_link_libraries(TestLoader Boost::filesystem Boost::thread) - - ament_add_gtest(BusyHandler test/BusyHandler.cpp) - target_link_libraries(BusyHandler ${PROJECT_NAME}) -- target_link_libraries(BusyHandler ${Boost_LIBRARIES}) -+ target_link_libraries(BusyHandler Boost::filesystem Boost::thread) - - find_package(ament_lint_auto REQUIRED) - list(APPEND AMENT_LINT_AUTO_EXCLUDE From 4499c0bb118e8ec958fe52443d2242cbbcb70688 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 10:41:14 +0200 Subject: [PATCH 19/48] Remove obsolete Navigation2 platform patches --- patch/ros-lyrical-nav2-map-server.win.patch | 13 -- ...ros-lyrical-nav2-mppi-controller.osx.patch | 16 --- patch/ros-lyrical-nav2-smac-planner.win.patch | 131 ------------------ 3 files changed, 160 deletions(-) delete mode 100644 patch/ros-lyrical-nav2-map-server.win.patch delete mode 100644 patch/ros-lyrical-nav2-mppi-controller.osx.patch delete mode 100644 patch/ros-lyrical-nav2-smac-planner.win.patch diff --git a/patch/ros-lyrical-nav2-map-server.win.patch b/patch/ros-lyrical-nav2-map-server.win.patch deleted file mode 100644 index c6e1b2b..0000000 --- a/patch/ros-lyrical-nav2-map-server.win.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/src/map_io.cpp b/src/map_io.cpp -index b26b09be38..251985f487 100644 ---- a/src/map_io.cpp -+++ b/src/map_io.cpp -@@ -86,7 +86,7 @@ char * dirname(char * path) - /* This assignment is ill-designed but the XPG specs require to - return a string containing "." in any case no directory part is - found and so a static and constant string is required. */ -- path = reinterpret_cast(dot); -+ path = (char *)dot; - } - - return path; diff --git a/patch/ros-lyrical-nav2-mppi-controller.osx.patch b/patch/ros-lyrical-nav2-mppi-controller.osx.patch deleted file mode 100644 index 1cfe6e7..0000000 --- a/patch/ros-lyrical-nav2-mppi-controller.osx.patch +++ /dev/null @@ -1,16 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 3f2b40688..fe7df25ce 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -80,7 +80,10 @@ add_library(mppi_critics SHARED - src/critics/twirling_critic.cpp - src/critics/velocity_deadband_critic.cpp - ) --target_compile_options(mppi_critics PUBLIC -fconcepts -O3) -+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") -+ target_compile_options(mppi_critics PUBLIC -fconcepts) -+endif() -+target_compile_options(mppi_critics PUBLIC -O3) - target_include_directories(mppi_critics - PUBLIC - "$" diff --git a/patch/ros-lyrical-nav2-smac-planner.win.patch b/patch/ros-lyrical-nav2-smac-planner.win.patch deleted file mode 100644 index 6a06fe0..0000000 --- a/patch/ros-lyrical-nav2-smac-planner.win.patch +++ /dev/null @@ -1,131 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 4ae1a98ad..24317d4d6 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -42,9 +42,17 @@ add_library(${library_name}_common SHARED - src/node_lattice.cpp - src/smoother.cpp - ) -+# Add GenerateExportHeader support for symbol visibility, as we are using -+# static members we need to explicitly export them on Windows, as -+# CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS does not work with static members. -+include(GenerateExportHeader) -+generate_export_header(${library_name}_common -+ EXPORT_FILE_NAME "${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/${library_name}_common_visibility_control.hpp" -+) - target_include_directories(${library_name}_common - PUBLIC - "$" -+ "$" - "$" - ${OMPL_INCLUDE_DIRS} - ) -@@ -167,6 +175,10 @@ install(TARGETS ${library_name}_common ${library_name} ${library_name}_2d ${libr - install(DIRECTORY include/ - DESTINATION include/${PROJECT_NAME} - ) -+install(FILES -+ "${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/${library_name}_common_visibility_control.hpp" -+ DESTINATION include/${PROJECT_NAME} -+) - - install(DIRECTORY lattice_primitives/sample_primitives DESTINATION share/${PROJECT_NAME}) - -diff --git a/include/nav2_smac_planner/node_hybrid.hpp b/include/nav2_smac_planner/node_hybrid.hpp -index ee3a4bf23..2585a581b 100644 ---- a/include/nav2_smac_planner/node_hybrid.hpp -+++ b/include/nav2_smac_planner/node_hybrid.hpp -@@ -26,6 +26,7 @@ - #include "nav2_smac_planner/types.hpp" - #include "nav2_smac_planner/collision_checker.hpp" - #include "nav2_smac_planner/costmap_downsampler.hpp" -+#include "nav2_smac_planner/nav2_smac_planner_common_visibility_control.hpp" - #include "nav2_costmap_2d/costmap_2d_ros.hpp" - #include "nav2_costmap_2d/inflation_layer.hpp" - -@@ -473,16 +474,16 @@ public: - Coordinates pose; - - // Constants required across all nodes but don't want to allocate more than once -- static float travel_distance_cost; -- static HybridMotionTable motion_table; -+ NAV2_SMAC_PLANNER_COMMON_EXPORT static float travel_distance_cost; -+ NAV2_SMAC_PLANNER_COMMON_EXPORT static HybridMotionTable motion_table; - // Wavefront lookup and queue for continuing to expand as needed -- static LookupTable obstacle_heuristic_lookup_table; -- static ObstacleHeuristicQueue obstacle_heuristic_queue; -+ NAV2_SMAC_PLANNER_COMMON_EXPORT static LookupTable obstacle_heuristic_lookup_table; -+ NAV2_SMAC_PLANNER_COMMON_EXPORT static ObstacleHeuristicQueue obstacle_heuristic_queue; - -- static std::shared_ptr costmap_ros; -+ NAV2_SMAC_PLANNER_COMMON_EXPORT static std::shared_ptr costmap_ros; - // Dubin / Reeds-Shepp lookup and size for dereferencing -- static LookupTable dist_heuristic_lookup_table; -- static float size_lookup; -+ NAV2_SMAC_PLANNER_COMMON_EXPORT static LookupTable dist_heuristic_lookup_table; -+ NAV2_SMAC_PLANNER_COMMON_EXPORT static float size_lookup; - - private: - float _cell_cost; -diff --git a/include/nav2_smac_planner/node_lattice.hpp b/include/nav2_smac_planner/node_lattice.hpp -index 824b43544..899ae11e4 100644 ---- a/include/nav2_smac_planner/node_lattice.hpp -+++ b/include/nav2_smac_planner/node_lattice.hpp -@@ -27,6 +27,7 @@ - #include "nav2_smac_planner/collision_checker.hpp" - #include "nav2_smac_planner/node_hybrid.hpp" - #include "nav2_smac_planner/utils.hpp" -+#include "nav2_smac_planner/nav2_smac_planner_common_visibility_control.hpp" - - namespace nav2_smac_planner - { -@@ -415,10 +416,10 @@ public: - - NodeLattice * parent; - Coordinates pose; -- static LatticeMotionTable motion_table; -+ NAV2_SMAC_PLANNER_COMMON_EXPORT static LatticeMotionTable motion_table; - // Dubin / Reeds-Shepp lookup and size for dereferencing -- static LookupTable dist_heuristic_lookup_table; -- static float size_lookup; -+ NAV2_SMAC_PLANNER_COMMON_EXPORT static LookupTable dist_heuristic_lookup_table; -+ NAV2_SMAC_PLANNER_COMMON_EXPORT static float size_lookup; - - private: - float _cell_cost; -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 4ae1a98ad..3a574800b 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -20,6 +20,10 @@ find_package(tf2 REQUIRED) - find_package(tf2_ros REQUIRED) - find_package(visualization_msgs REQUIRED) - -+find_package(ode REQUIRED) -+list(REMOVE_ITEM OMPL_LIBRARIES "ode_double") -+list(APPEND OMPL_LIBRARIES "ODE::ODE") -+ - nav2_package() - - if(MSVC) -diff --git a/include/nav2_smac_planner/a_star.hpp b/include/nav2_smac_planner/a_star.hpp -index 8b127960c..a5dbbc262 100644 ---- a/include/nav2_smac_planner/a_star.hpp -+++ b/include/nav2_smac_planner/a_star.hpp -@@ -26,7 +26,6 @@ - #include "nav2_costmap_2d/costmap_2d.hpp" - #include "nav2_core/planner_exceptions.hpp" - --#include "nav2_smac_planner/thirdparty/robin_hood.h" - #include "nav2_smac_planner/analytic_expansion.hpp" - #include "nav2_smac_planner/node_2d.hpp" - #include "nav2_smac_planner/node_hybrid.hpp" -@@ -47,7 +46,7 @@ class AStarAlgorithm - { - public: - typedef NodeT * NodePtr; -- typedef robin_hood::unordered_node_map Graph; -+ typedef std::unordered_map Graph; - typedef std::vector NodeVector; - typedef std::pair> NodeElement; - typedef typename NodeT::Coordinates Coordinates; From 1d26d950e9b0565fd1ddb7d315025894dc7c3437 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 12:58:27 +0200 Subject: [PATCH 20/48] Install complete iceoryx host package for CycloneDDS --- .github/workflows/testpr.yml | 2 +- patch/dependencies.yaml | 4 +++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 4431ae7..1debd4a 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -8,7 +8,7 @@ env: # Change to 'true' to enable the cache upload as artifacts SAVE_CACHE_AS_ARTIFACT: 'true' # Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging - IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false' jobs: build: diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 5e4398a..18fcb33 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -167,7 +167,9 @@ ament_cmake_ros: # Break the test-only runtime cycle so a new mutex migration can bootstrap. remove_run: ["ros-lyrical-rmw-test-fixture-implementation"] cyclonedds: - add_host: ["libiceoryx-hoofs-devel", "libiceoryx-posh-devel"] + # The posh CMake targets reference the iox-roudi executable shipped by the + # top-level iceoryx package, so the split devel packages alone are incomplete. + add_host: ["iceoryx", "libiceoryx-hoofs-devel", "libiceoryx-posh-devel"] add_run: ["libiceoryx-hoofs", "libiceoryx-posh"] remove_host: ["ros-lyrical-iceoryx-hoofs", "ros-lyrical-iceoryx-posh"] remove_run: ["ros-lyrical-iceoryx-hoofs", "ros-lyrical-iceoryx-posh"] From bf03edbbfbded404e87ef6338b5b59f959ffc491 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 13:18:51 +0200 Subject: [PATCH 21/48] Fix RMF validator target and mutex bootstrap --- .github/workflows/testpr.yml | 12 ++++++++++++ patch/dependencies.yaml | 5 +++++ 2 files changed, 17 insertions(+) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 1debd4a..c41b4be 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -139,6 +139,18 @@ jobs: # cycles before asking rattler-build to solve the complete recipe set. for recipe in \ ros2-distro-mutex \ + ros-lyrical-ament-copyright \ + ros-lyrical-ament-cmake-core \ + ros-lyrical-ament-cmake-test \ + ros-lyrical-ament-cmake-lint-cmake \ + ros-lyrical-ament-cmake-copyright \ + ros-lyrical-ament-cmake-cppcheck \ + ros-lyrical-ament-cmake-cpplint \ + ros-lyrical-ament-cmake-flake8 \ + ros-lyrical-ament-cmake-pep257 \ + ros-lyrical-ament-cmake-uncrustify \ + ros-lyrical-ament-cmake-xmllint \ + ros-lyrical-ament-lint-common \ ros-lyrical-rosidl-default-generators \ ros-lyrical-type-description-interfaces \ ros-lyrical-test-msgs \ diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 18fcb33..af121a5 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -292,6 +292,11 @@ autoware_behavior_velocity_planner_common: add_host: ["cpp-expected"] autoware_behavior_velocity_stop_line_module: add_host: ["cpp-expected"] +rmf_task_sequence: + # The vendor package's ament config does not load the imported validator + # target. Make the conda-forge CMake package directly available. + add_host: ["json_schema_validator"] + add_run: ["json_schema_validator"] rmw_implementation: # These backends are only used by the disabled test suite. Keeping them all # as host dependencies creates a bootstrap cycle during mutex migrations; From 169cc748795fe1638b01dc809c5a30d919094ed3 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 13:28:22 +0200 Subject: [PATCH 22/48] Bootstrap ament lint and RMW test fixture stacks --- .github/workflows/testpr.yml | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index c41b4be..807a073 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -139,9 +139,20 @@ jobs: # cycles before asking rattler-build to solve the complete recipe set. for recipe in \ ros2-distro-mutex \ + ros-lyrical-ament-package \ + ros-lyrical-ament-lint \ + ros-lyrical-ament-flake8 \ + ros-lyrical-ament-pep257 \ ros-lyrical-ament-copyright \ + ros-lyrical-ament-xmllint \ + ros-lyrical-ament-pycodestyle \ + ros-lyrical-ament-cppcheck \ + ros-lyrical-ament-cpplint \ + ros-lyrical-ament-uncrustify \ ros-lyrical-ament-cmake-core \ + ros-lyrical-ament-cmake-python \ ros-lyrical-ament-cmake-test \ + ros-lyrical-ament-lint-cmake \ ros-lyrical-ament-cmake-lint-cmake \ ros-lyrical-ament-cmake-copyright \ ros-lyrical-ament-cmake-cppcheck \ @@ -157,6 +168,8 @@ jobs: ros-lyrical-tracetools \ ros-lyrical-rmw-fastrtps-cpp \ ros-lyrical-rmw-implementation \ + ros-lyrical-rmw-test-fixture \ + ros-lyrical-rmw-test-fixture-implementation \ ros-lyrical-rcl \ ros-lyrical-rcl-action \ ros-lyrical-rcl-lifecycle \ From e7eda8ed9e4a2a4198b30b4a7975c865dd8eaf78 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 13:28:40 +0200 Subject: [PATCH 23/48] Fail fast when a bootstrap package fails --- .github/workflows/testpr.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 807a073..c052eb8 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -121,6 +121,7 @@ jobs: - name: Build recipes shell: bash -l {0} run: | + set -e if [[ "${IGNORE_CACHE_AND_DO_FULL_REBUILD}" == "true" ]]; then # Runtime-only dependencies are not part of rattler-build's build # ordering. Build in tolerant passes so those packages are present From 260f721e6d3d75ce14f623f6500f623e32f4f449 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 13:40:40 +0200 Subject: [PATCH 24/48] Complete foundational mutex bootstrap ordering --- .github/workflows/testpr.yml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index c052eb8..229c310 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -140,6 +140,8 @@ jobs: # cycles before asking rattler-build to solve the complete recipe set. for recipe in \ ros2-distro-mutex \ + ros-lyrical-ros-environment \ + ros-lyrical-ros-workspace \ ros-lyrical-ament-package \ ros-lyrical-ament-lint \ ros-lyrical-ament-flake8 \ @@ -149,6 +151,7 @@ jobs: ros-lyrical-ament-pycodestyle \ ros-lyrical-ament-cppcheck \ ros-lyrical-ament-cpplint \ + ros-lyrical-uncrustify-vendor \ ros-lyrical-ament-uncrustify \ ros-lyrical-ament-cmake-core \ ros-lyrical-ament-cmake-python \ @@ -169,6 +172,7 @@ jobs: ros-lyrical-tracetools \ ros-lyrical-rmw-fastrtps-cpp \ ros-lyrical-rmw-implementation \ + ros-lyrical-libstatistics-collector \ ros-lyrical-rmw-test-fixture \ ros-lyrical-rmw-test-fixture-implementation \ ros-lyrical-rcl \ From e1a10b12e3a3f4af10261b6ed6b50c01b456a58a Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 14:59:58 +0200 Subject: [PATCH 25/48] Bootstrap service messages and RCL components --- .github/workflows/testpr.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 229c310..fab1431 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -166,6 +166,7 @@ jobs: ros-lyrical-ament-cmake-uncrustify \ ros-lyrical-ament-cmake-xmllint \ ros-lyrical-ament-lint-common \ + ros-lyrical-service-msgs \ ros-lyrical-rosidl-default-generators \ ros-lyrical-type-description-interfaces \ ros-lyrical-test-msgs \ @@ -179,6 +180,7 @@ jobs: ros-lyrical-rcl-action \ ros-lyrical-rcl-lifecycle \ ros-lyrical-rclcpp \ + ros-lyrical-rclcpp-components \ ros-lyrical-rclcpp-lifecycle \ ros-lyrical-rclpy \ ros-lyrical-sensor-msgs \ From aa57c54e812ae3e0da891a8208b48aaff96911a3 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 15:07:12 +0200 Subject: [PATCH 26/48] Replace manual bootstrap with dependency-tolerant passes --- .github/workflows/testpr.yml | 74 ++++++------------------------------ 1 file changed, 12 insertions(+), 62 deletions(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index fab1431..f3ee69e 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -122,73 +122,23 @@ jobs: shell: bash -l {0} run: | set -e + # rattler-build orders build and host dependencies, but runtime-only + # dependencies do not create build-graph edges. A mutex migration makes + # old runtime packages unusable, so run tolerant passes to populate the + # new mutex generation before the final strict validation. This is more + # robust than maintaining a platform-dependent manual bootstrap list. + pass_count=2 if [[ "${IGNORE_CACHE_AND_DO_FULL_REBUILD}" == "true" ]]; then - # Runtime-only dependencies are not part of rattler-build's build - # ordering. Build in tolerant passes so those packages are present - # under the new mutex before the final strict pass. Resetting only - # the Git source cache also works around intermittent incomplete tag - # objects when many packages share one ROS release repository. - for pass in 1 2 3 4; do - echo "Full rebuild pass ${pass}" - rm -rf ${{ matrix.folder_cache }}/../src_cache/git - pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --continue-on-failure --skip-existing - done - rm -rf ${{ matrix.folder_cache }}/../src_cache/git + pass_count=4 fi - # Bootstrap packages that are hidden behind runtime-only dependency - # cycles before asking rattler-build to solve the complete recipe set. - for recipe in \ - ros2-distro-mutex \ - ros-lyrical-ros-environment \ - ros-lyrical-ros-workspace \ - ros-lyrical-ament-package \ - ros-lyrical-ament-lint \ - ros-lyrical-ament-flake8 \ - ros-lyrical-ament-pep257 \ - ros-lyrical-ament-copyright \ - ros-lyrical-ament-xmllint \ - ros-lyrical-ament-pycodestyle \ - ros-lyrical-ament-cppcheck \ - ros-lyrical-ament-cpplint \ - ros-lyrical-uncrustify-vendor \ - ros-lyrical-ament-uncrustify \ - ros-lyrical-ament-cmake-core \ - ros-lyrical-ament-cmake-python \ - ros-lyrical-ament-cmake-test \ - ros-lyrical-ament-lint-cmake \ - ros-lyrical-ament-cmake-lint-cmake \ - ros-lyrical-ament-cmake-copyright \ - ros-lyrical-ament-cmake-cppcheck \ - ros-lyrical-ament-cmake-cpplint \ - ros-lyrical-ament-cmake-flake8 \ - ros-lyrical-ament-cmake-pep257 \ - ros-lyrical-ament-cmake-uncrustify \ - ros-lyrical-ament-cmake-xmllint \ - ros-lyrical-ament-lint-common \ - ros-lyrical-service-msgs \ - ros-lyrical-rosidl-default-generators \ - ros-lyrical-type-description-interfaces \ - ros-lyrical-test-msgs \ - ros-lyrical-tracetools \ - ros-lyrical-rmw-fastrtps-cpp \ - ros-lyrical-rmw-implementation \ - ros-lyrical-libstatistics-collector \ - ros-lyrical-rmw-test-fixture \ - ros-lyrical-rmw-test-fixture-implementation \ - ros-lyrical-rcl \ - ros-lyrical-rcl-action \ - ros-lyrical-rcl-lifecycle \ - ros-lyrical-rclcpp \ - ros-lyrical-rclcpp-components \ - ros-lyrical-rclcpp-lifecycle \ - ros-lyrical-rclpy \ - ros-lyrical-sensor-msgs \ - ros-lyrical-image-transport \ - ros-lyrical-zstd-image-transport; do - pixi run rattler-build build --recipe "recipes/${recipe}/recipe.yaml" --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing + for pass in $(seq 1 "${pass_count}"); do + echo "Dependency-tolerant build pass ${pass}/${pass_count}" + rm -rf ${{ matrix.folder_cache }}/../src_cache/git + pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --continue-on-failure --skip-existing || true done + rm -rf ${{ matrix.folder_cache }}/../src_cache/git pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing - name: See packages that will be saved in cache From 6ce51ee07da068e3f24509e64277e1171b8ddb9a Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 18:41:39 +0200 Subject: [PATCH 27/48] Propagate angles runtime dependency from nav2-util --- patch/dependencies.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index af121a5..3cc86ce 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -100,6 +100,9 @@ nav2_smac_planner: add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode"] nav2_util: add_host: ["libboost-devel"] + # nav2_util exports angles from its CMake config, so downstream consumers + # need it in the runtime environment as well. + add_run: ["ros-lyrical-angles"] nav2_constrained_smoother: add_host: ["${{ 'openblas' if win }}", "ceres-solver * cpu*"] nav2_mppi_controller: From d51f8a86c61d0e865ade5cdce45f5c17b4e508a8 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 19:01:40 +0200 Subject: [PATCH 28/48] Invalidate nav2-util cache after dependency fix --- .github/workflows/testpr.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index f3ee69e..72f3ed8 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -109,7 +109,9 @@ jobs: - name: Delete specific outdated cache entries shell: bash -l {0} run: | - # rm -rf ${{ matrix.folder_cache }}/ros-lyrical-pcl-conversions* 2>/dev/null || true + # nav2-util was cached before its exported angles dependency was + # propagated; force replacement without discarding the full rebuild. + rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-util-* 2>/dev/null || true mkdir -p ${{ matrix.folder_cache }} pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force From ead9fec0d16d7804062d60404b9e08c3851b5bfc Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 19:49:20 +0200 Subject: [PATCH 29/48] Fix exported Nav2 dependencies and macOS macro clash --- .github/workflows/testpr.yml | 2 ++ patch/dependencies.yaml | 3 +++ patch/ros-lyrical-nav2-ros-common.patch | 17 +++++++++++++++++ 3 files changed, 22 insertions(+) create mode 100644 patch/ros-lyrical-nav2-ros-common.patch diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 72f3ed8..e1a5a2d 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -112,6 +112,8 @@ jobs: # nav2-util was cached before its exported angles dependency was # propagated; force replacement without discarding the full rebuild. rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-util-* 2>/dev/null || true + rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-route-* 2>/dev/null || true + rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-ros-common-* 2>/dev/null || true mkdir -p ${{ matrix.folder_cache }} pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 3cc86ce..6e5500c 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -98,6 +98,9 @@ backward_ros: nav2_smac_planner: add_build: ["${{ 'llvm-openmp' if osx }}"] add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode"] +nav2_route: + # Both dependencies are exported by nav2_routeConfig.cmake. + add_run: ["nanoflann", "nlohmann_json"] nav2_util: add_host: ["libboost-devel"] # nav2_util exports angles from its CMake config, so downstream consumers diff --git a/patch/ros-lyrical-nav2-ros-common.patch b/patch/ros-lyrical-nav2-ros-common.patch new file mode 100644 index 0000000..f689a1b --- /dev/null +++ b/patch/ros-lyrical-nav2-ros-common.patch @@ -0,0 +1,17 @@ +diff --git a/include/nav2_ros_common/validate_messages.hpp b/include/nav2_ros_common/validate_messages.hpp +index b8b9d2f..cd31f9a 100644 +--- a/include/nav2_ros_common/validate_messages.hpp ++++ b/include/nav2_ros_common/validate_messages.hpp +@@ -82,10 +82,10 @@ bool validateMsg(const geometry_msgs::msg::Quaternion & msg) + return true; + } + +-const int NSEC_PER_SEC = 1e9; // 1 second = 1e9 nanosecond ++constexpr int NANOSECONDS_PER_SECOND = 1e9; + bool validateMsg(const builtin_interfaces::msg::Time & msg) + { +- if (msg.nanosec >= NSEC_PER_SEC) { ++ if (msg.nanosec >= NANOSECONDS_PER_SECOND) { + return false; // invalid nanosec-stamp + } + return true; From 54b58a8e360348210908061d31b91cd566dbfb4b Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 20:11:31 +0200 Subject: [PATCH 30/48] Fix remaining cached rebuild failures --- patch/dependencies.yaml | 11 ++++++++++- patch/ros-lyrical-rmf-websocket.patch | 26 ++++++++++++++++++++++++++ use_github_source_archives.py | 5 +++++ 3 files changed, 41 insertions(+), 1 deletion(-) create mode 100644 patch/ros-lyrical-rmf-websocket.patch diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 6e5500c..f231ebd 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -97,7 +97,16 @@ backward_ros: add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros-lyrical-ament-cmake-libraries"] nav2_smac_planner: add_build: ["${{ 'llvm-openmp' if osx }}"] - add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode"] + # omplConfig.cmake exports Boost as a dependency. + add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode", "libboost-devel"] +nav2_map_server: + # rosdep does not resolve libuuid on macOS, though conda-forge provides it. + add_host: ["libuuid"] + add_run: ["libuuid"] +nav2_rviz_plugins: + # Qt 6 provides its StateMachine component through the qt6-scxml package. + add_host: ["qt6-scxml"] + add_run: ["qt6-scxml"] nav2_route: # Both dependencies are exported by nav2_routeConfig.cmake. add_run: ["nanoflann", "nlohmann_json"] diff --git a/patch/ros-lyrical-rmf-websocket.patch b/patch/ros-lyrical-rmf-websocket.patch new file mode 100644 index 0000000..f692019 --- /dev/null +++ b/patch/ros-lyrical-rmf-websocket.patch @@ -0,0 +1,26 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index e5f0711..7c96e59 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -22,6 +22,12 @@ find_package(Boost REQUIRED) + find_package(Threads) + find_package(backward_ros REQUIRED) + ++if(TARGET nlohmann_json_schema_validator::validator) ++ set(json_schema_validator_target nlohmann_json_schema_validator::validator) ++else() ++ set(json_schema_validator_target nlohmann_json_schema_validator) ++endif() ++ + add_subdirectory(websocketpp) + + add_library(rmf_websocket SHARED +@@ -35,7 +41,7 @@ target_link_libraries(rmf_websocket + ${rclcpp_LIBRARIES} + rmf_utils::rmf_utils + nlohmann_json::nlohmann_json +- nlohmann_json_schema_validator::validator ++ ${json_schema_validator_target} + PRIVATE + ${Boost_LIBRARIES} + Threads::Threads diff --git a/use_github_source_archives.py b/use_github_source_archives.py index dd651a9..5ab5e76 100644 --- a/use_github_source_archives.py +++ b/use_github_source_archives.py @@ -20,6 +20,11 @@ for recipe in RECIPES.rglob("recipe.yaml"): text = recipe.read_text(encoding="utf-8") + # rslidar_sdk requires the rs_driver Git submodule, which GitHub source + # archives intentionally omit. Keep this one as a recursive Git checkout. + if recipe.parent.name == "ros-lyrical-rslidar-sdk": + continue + def replace(match: re.Match[str]) -> str: global converted converted += 1 From 77a47310a3588643961f97b71d772f4ae58170c5 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 20:47:01 +0200 Subject: [PATCH 31/48] Fix RMF validator target and libc++ atomic support --- patch/ros-lyrical-nav2-costmap-2d.patch | 35 +++++++++++++++++++++++++ patch/ros-lyrical-rmf-task-ros2.patch | 25 ++++++++++++++++++ 2 files changed, 60 insertions(+) create mode 100644 patch/ros-lyrical-nav2-costmap-2d.patch create mode 100644 patch/ros-lyrical-rmf-task-ros2.patch diff --git a/patch/ros-lyrical-nav2-costmap-2d.patch b/patch/ros-lyrical-nav2-costmap-2d.patch new file mode 100644 index 0000000..507342b --- /dev/null +++ b/patch/ros-lyrical-nav2-costmap-2d.patch @@ -0,0 +1,35 @@ +diff --git a/include/nav2_costmap_2d/layered_costmap.hpp b/include/nav2_costmap_2d/layered_costmap.hpp +index 335c079..330d1a2 100644 +--- a/include/nav2_costmap_2d/layered_costmap.hpp ++++ b/include/nav2_costmap_2d/layered_costmap.hpp +@@ -190,7 +190,7 @@ public: + /** @brief Returns the latest footprint stored with setFootprint(). */ + const std::vector & getFootprint() + { +- return *footprint_.load(); ++ return *std::atomic_load(&footprint_); + } + + /** @brief Returns the inscribed radius of the robot. */ +@@ -231,7 +231,7 @@ private: + bool initialized_; + bool size_locked_; + std::atomic circumscribed_radius_, inscribed_radius_; +- std::atomic>> footprint_; ++ std::shared_ptr> footprint_; + }; + + } // namespace nav2_costmap_2d +diff --git a/src/layered_costmap.cpp b/src/layered_costmap.cpp +index 6ad6d88..2ed537e 100644 +--- a/src/layered_costmap.cpp ++++ b/src/layered_costmap.cpp +@@ -301,7 +301,7 @@ void LayeredCostmap::setFootprint(const std::vector & + footprint_spec); + // use atomic store here since footprint is used by various planners/controllers + // and not otherwise locked +- footprint_.store( ++ std::atomic_store(&footprint_, + std::make_shared>(footprint_spec)); + inscribed_radius_.store(std::get<0>(inside_outside)); + circumscribed_radius_.store(std::get<1>(inside_outside)); diff --git a/patch/ros-lyrical-rmf-task-ros2.patch b/patch/ros-lyrical-rmf-task-ros2.patch new file mode 100644 index 0000000..4e4aae3 --- /dev/null +++ b/patch/ros-lyrical-rmf-task-ros2.patch @@ -0,0 +1,25 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 17c4c87..ec932bd 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -26,6 +26,12 @@ find_package(nlohmann_json_schema_validator_vendor REQUIRED) + find_package(nlohmann_json_schema_validator REQUIRED) + ++if(TARGET nlohmann_json_schema_validator::validator) ++ set(json_schema_validator_target nlohmann_json_schema_validator::validator) ++else() ++ set(json_schema_validator_target nlohmann_json_schema_validator) ++endif() ++ + file(GLOB_RECURSE core_lib_srcs "src/rmf_task_ros2/*.cpp") + add_library(rmf_task_ros2 SHARED ${core_lib_srcs}) + +@@ -40,7 +46,7 @@ target_link_libraries(rmf_task_ros2 + ${rmf_task_msgs_LIBRARIES} + ${rclcpp_LIBRARIES} + nlohmann_json::nlohmann_json +- nlohmann_json_schema_validator::validator ++ ${json_schema_validator_target} + ) + + target_include_directories(rmf_task_ros2 From bcfe0b90c900f1e1e83950c84363b1f2a8cce447 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 21:01:18 +0200 Subject: [PATCH 32/48] Complete portable atomic and RMF target fixes --- patch/ros-lyrical-nav2-costmap-2d.patch | 43 ++++++++++++++++--------- patch/ros-lyrical-rmf-task-ros2.patch | 18 ++--------- 2 files changed, 30 insertions(+), 31 deletions(-) diff --git a/patch/ros-lyrical-nav2-costmap-2d.patch b/patch/ros-lyrical-nav2-costmap-2d.patch index 507342b..adb231f 100644 --- a/patch/ros-lyrical-nav2-costmap-2d.patch +++ b/patch/ros-lyrical-nav2-costmap-2d.patch @@ -1,35 +1,46 @@ +diff --git a/include/nav2_costmap_2d/footprint_subscriber.hpp b/include/nav2_costmap_2d/footprint_subscriber.hpp +index ef14eb6..e1255c2 100644 +--- a/include/nav2_costmap_2d/footprint_subscriber.hpp ++++ b/include/nav2_costmap_2d/footprint_subscriber.hpp +@@ -95,3 +95,3 @@ protected: + std::atomic_bool footprint_received_{false}; +- std::atomic footprint_; ++ geometry_msgs::msg::PolygonStamped::ConstSharedPtr footprint_; + nav2::Subscription::SharedPtr footprint_sub_; diff --git a/include/nav2_costmap_2d/layered_costmap.hpp b/include/nav2_costmap_2d/layered_costmap.hpp -index 335c079..330d1a2 100644 +index 6c59c16..89a5491 100644 --- a/include/nav2_costmap_2d/layered_costmap.hpp +++ b/include/nav2_costmap_2d/layered_costmap.hpp -@@ -190,7 +190,7 @@ public: - /** @brief Returns the latest footprint stored with setFootprint(). */ - const std::vector & getFootprint() +@@ -192,3 +192,3 @@ public: { - return *footprint_.load(); + return *std::atomic_load(&footprint_); } - - /** @brief Returns the inscribed radius of the robot. */ -@@ -231,7 +231,7 @@ private: - bool initialized_; - bool size_locked_; +@@ -233,3 +233,3 @@ private: std::atomic circumscribed_radius_, inscribed_radius_; - std::atomic>> footprint_; + std::shared_ptr> footprint_; }; +diff --git a/src/footprint_subscriber.cpp b/src/footprint_subscriber.cpp +index d1eedef..95b03a2 100644 +--- a/src/footprint_subscriber.cpp ++++ b/src/footprint_subscriber.cpp +@@ -33,3 +33,3 @@ FootprintSubscriber::getFootprintRaw( - } // namespace nav2_costmap_2d +- auto current_footprint = footprint_.load(); ++ auto current_footprint = std::atomic_load(&footprint_); + if (!current_footprint) { +@@ -79,3 +79,3 @@ FootprintSubscriber::footprint_callback( + { +- footprint_.store(msg); ++ std::atomic_store(&footprint_, msg); + if (!footprint_received_.load()) { diff --git a/src/layered_costmap.cpp b/src/layered_costmap.cpp -index 6ad6d88..2ed537e 100644 +index cd42f85..b74559a 100644 --- a/src/layered_costmap.cpp +++ b/src/layered_costmap.cpp -@@ -301,7 +301,7 @@ void LayeredCostmap::setFootprint(const std::vector & - footprint_spec); - // use atomic store here since footprint is used by various planners/controllers +@@ -303,3 +303,3 @@ void LayeredCostmap::setFootprint(const std::vector & // and not otherwise locked - footprint_.store( + std::atomic_store(&footprint_, std::make_shared>(footprint_spec)); - inscribed_radius_.store(std::get<0>(inside_outside)); - circumscribed_radius_.store(std::get<1>(inside_outside)); diff --git a/patch/ros-lyrical-rmf-task-ros2.patch b/patch/ros-lyrical-rmf-task-ros2.patch index 4e4aae3..b9c73de 100644 --- a/patch/ros-lyrical-rmf-task-ros2.patch +++ b/patch/ros-lyrical-rmf-task-ros2.patch @@ -1,25 +1,13 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 17c4c87..ec932bd 100644 +index 17c4c87..f8a2051 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -26,6 +26,12 @@ find_package(nlohmann_json_schema_validator_vendor REQUIRED) - find_package(nlohmann_json_schema_validator REQUIRED) - -+if(TARGET nlohmann_json_schema_validator::validator) -+ set(json_schema_validator_target nlohmann_json_schema_validator::validator) -+else() -+ set(json_schema_validator_target nlohmann_json_schema_validator) -+endif() -+ - file(GLOB_RECURSE core_lib_srcs "src/rmf_task_ros2/*.cpp") - add_library(rmf_task_ros2 SHARED ${core_lib_srcs}) - -@@ -40,7 +46,7 @@ target_link_libraries(rmf_task_ros2 +@@ -40,7 +40,7 @@ target_link_libraries(rmf_task_ros2 ${rmf_task_msgs_LIBRARIES} ${rclcpp_LIBRARIES} nlohmann_json::nlohmann_json - nlohmann_json_schema_validator::validator -+ ${json_schema_validator_target} ++ nlohmann_json_schema_validator ) target_include_directories(rmf_task_ros2 From e12290c6c7eaeb8c177172f011f89c992862afad Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 8 Aug 2026 22:27:39 +0200 Subject: [PATCH 33/48] Remove obsolete Nav2 MPPI clang constraint --- patch/dependencies.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index f231ebd..b3bf991 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -117,8 +117,6 @@ nav2_util: add_run: ["ros-lyrical-angles"] nav2_constrained_smoother: add_host: ["${{ 'openblas' if win }}", "ceres-solver * cpu*"] -nav2_mppi_controller: - add_build: ["${{ 'clang <19' if osx }}"] ompl: add_host: ["ompl"] pybind11_json_vendor: From d1f1d0359914dcd82d4228e844e7f7c407948a5a Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sun, 9 Aug 2026 09:13:01 +0200 Subject: [PATCH 34/48] Continue rebuild from refreshed platform caches From 805fb3fa216080d4c52e92b3f9d0c57e5bed60db Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Mon, 10 Aug 2026 20:12:49 +0200 Subject: [PATCH 35/48] Handle Nav2 real-time utilities on Windows --- patch/ros-lyrical-nav2-ros-common.patch | 28 ++++++++++++++++++++++--- 1 file changed, 25 insertions(+), 3 deletions(-) diff --git a/patch/ros-lyrical-nav2-ros-common.patch b/patch/ros-lyrical-nav2-ros-common.patch index f689a1b..b8d97a1 100644 --- a/patch/ros-lyrical-nav2-ros-common.patch +++ b/patch/ros-lyrical-nav2-ros-common.patch @@ -1,13 +1,35 @@ +diff --git a/include/nav2_ros_common/node_utils.hpp b/include/nav2_ros_common/node_utils.hpp +index 333c598..b029d52 100644 +--- a/include/nav2_ros_common/node_utils.hpp ++++ b/include/nav2_ros_common/node_utils.hpp +@@ -35,7 +35,7 @@ + #include + #include + #include +-#else ++#elif !defined(_WIN32) + #include + #include + #endif +@@ -377,6 +377,8 @@ inline void setSoftRealTimePriority() + std::to_string(result); + throw std::runtime_error(errmsg); + } ++#elif defined(_WIN32) ++ throw std::runtime_error("Soft real-time prioritization is not supported on Windows"); + #else + // Linux: True real-time scheduling (requires privileges) + sched_param sch; diff --git a/include/nav2_ros_common/validate_messages.hpp b/include/nav2_ros_common/validate_messages.hpp -index b8b9d2f..cd31f9a 100644 +index 7fd21e3..2f6050c 100644 --- a/include/nav2_ros_common/validate_messages.hpp +++ b/include/nav2_ros_common/validate_messages.hpp -@@ -82,10 +82,10 @@ bool validateMsg(const geometry_msgs::msg::Quaternion & msg) +@@ -82,10 +82,10 @@ bool validateMsg(const std::array & msg) return true; } -const int NSEC_PER_SEC = 1e9; // 1 second = 1e9 nanosecond -+constexpr int NANOSECONDS_PER_SECOND = 1e9; ++constexpr int NANOSECONDS_PER_SECOND = 1e9 bool validateMsg(const builtin_interfaces::msg::Time & msg) { - if (msg.nanosec >= NSEC_PER_SEC) { From 0bd8eda0e516ead0eb0a758ea72348d8519ad439 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Tue, 11 Aug 2026 12:42:35 +0200 Subject: [PATCH 36/48] Use atomic shared pointer feature detection --- patch/ros-lyrical-nav2-costmap-2d.patch | 50 +++++++++++++++++-------- 1 file changed, 35 insertions(+), 15 deletions(-) diff --git a/patch/ros-lyrical-nav2-costmap-2d.patch b/patch/ros-lyrical-nav2-costmap-2d.patch index adb231f..7b9f6df 100644 --- a/patch/ros-lyrical-nav2-costmap-2d.patch +++ b/patch/ros-lyrical-nav2-costmap-2d.patch @@ -1,46 +1,66 @@ diff --git a/include/nav2_costmap_2d/footprint_subscriber.hpp b/include/nav2_costmap_2d/footprint_subscriber.hpp -index ef14eb6..e1255c2 100644 +index ef14eb6..f5e000d 100644 --- a/include/nav2_costmap_2d/footprint_subscriber.hpp +++ b/include/nav2_costmap_2d/footprint_subscriber.hpp -@@ -95,3 +95,3 @@ protected: +@@ -95,3 +95,7 @@ protected: std::atomic_bool footprint_received_{false}; -- std::atomic footprint_; ++#ifdef __cpp_lib_atomic_shared_ptr + std::atomic footprint_; ++#else + geometry_msgs::msg::PolygonStamped::ConstSharedPtr footprint_; ++#endif nav2::Subscription::SharedPtr footprint_sub_; diff --git a/include/nav2_costmap_2d/layered_costmap.hpp b/include/nav2_costmap_2d/layered_costmap.hpp -index 6c59c16..89a5491 100644 +index 6c59c16..65515ad 100644 --- a/include/nav2_costmap_2d/layered_costmap.hpp +++ b/include/nav2_costmap_2d/layered_costmap.hpp -@@ -192,3 +192,3 @@ public: +@@ -192,3 +192,7 @@ public: { -- return *footprint_.load(); ++#ifdef __cpp_lib_atomic_shared_ptr + return *footprint_.load(); ++#else + return *std::atomic_load(&footprint_); ++#endif } -@@ -233,3 +233,3 @@ private: +@@ -233,3 +237,7 @@ private: std::atomic circumscribed_radius_, inscribed_radius_; -- std::atomic>> footprint_; ++#ifdef __cpp_lib_atomic_shared_ptr + std::atomic>> footprint_; ++#else + std::shared_ptr> footprint_; ++#endif }; diff --git a/src/footprint_subscriber.cpp b/src/footprint_subscriber.cpp -index d1eedef..95b03a2 100644 +index d1eedef..1168cc9 100644 --- a/src/footprint_subscriber.cpp +++ b/src/footprint_subscriber.cpp -@@ -33,3 +33,3 @@ FootprintSubscriber::getFootprintRaw( +@@ -33,3 +33,7 @@ FootprintSubscriber::getFootprintRaw( -- auto current_footprint = footprint_.load(); ++#ifdef __cpp_lib_atomic_shared_ptr + auto current_footprint = footprint_.load(); ++#else + auto current_footprint = std::atomic_load(&footprint_); ++#endif if (!current_footprint) { -@@ -79,3 +79,3 @@ FootprintSubscriber::footprint_callback( +@@ -79,3 +83,7 @@ FootprintSubscriber::footprint_callback( { -- footprint_.store(msg); ++#ifdef __cpp_lib_atomic_shared_ptr + footprint_.store(msg); ++#else + std::atomic_store(&footprint_, msg); ++#endif if (!footprint_received_.load()) { diff --git a/src/layered_costmap.cpp b/src/layered_costmap.cpp -index cd42f85..b74559a 100644 +index cd42f85..99248ae 100644 --- a/src/layered_costmap.cpp +++ b/src/layered_costmap.cpp -@@ -303,3 +303,3 @@ void LayeredCostmap::setFootprint(const std::vector & +@@ -303,4 +303,8 @@ void LayeredCostmap::setFootprint(const std::vector & // and not otherwise locked - footprint_.store( ++#ifdef __cpp_lib_atomic_shared_ptr ++ footprint_.store(std::make_shared>(footprint_spec)); ++#else + std::atomic_store(&footprint_, std::make_shared>(footprint_spec)); ++#endif + inscribed_radius_.store(std::get<0>(inside_outside)); From d924a4ff0a438c1659cfd3dcda60e75124e8585a Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Thu, 13 Aug 2026 10:13:31 +0200 Subject: [PATCH 37/48] Fix Nav2 message validation on MSVC --- patch/ros-lyrical-nav2-ros-common.patch | 47 ++++++++++++------------- 1 file changed, 22 insertions(+), 25 deletions(-) diff --git a/patch/ros-lyrical-nav2-ros-common.patch b/patch/ros-lyrical-nav2-ros-common.patch index b8d97a1..cd898e9 100644 --- a/patch/ros-lyrical-nav2-ros-common.patch +++ b/patch/ros-lyrical-nav2-ros-common.patch @@ -2,38 +2,35 @@ diff --git a/include/nav2_ros_common/node_utils.hpp b/include/nav2_ros_common/no index 333c598..b029d52 100644 --- a/include/nav2_ros_common/node_utils.hpp +++ b/include/nav2_ros_common/node_utils.hpp -@@ -35,7 +35,7 @@ - #include - #include - #include +@@ -38 +38 @@ -#else +#elif !defined(_WIN32) - #include - #include - #endif -@@ -377,6 +377,8 @@ inline void setSoftRealTimePriority() - std::to_string(result); - throw std::runtime_error(errmsg); - } +@@ -379,0 +380,2 @@ inline void setSoftRealTimePriority() +#elif defined(_WIN32) + throw std::runtime_error("Soft real-time prioritization is not supported on Windows"); - #else - // Linux: True real-time scheduling (requires privileges) - sched_param sch; diff --git a/include/nav2_ros_common/validate_messages.hpp b/include/nav2_ros_common/validate_messages.hpp -index 7fd21e3..2f6050c 100644 +index 7fd21e3..8fb8b66 100644 --- a/include/nav2_ros_common/validate_messages.hpp +++ b/include/nav2_ros_common/validate_messages.hpp -@@ -82,10 +82,10 @@ bool validateMsg(const std::array & msg) - return true; - } - +@@ -21,0 +22 @@ ++#include +@@ -85 +86 @@ bool validateMsg(const std::array & msg) -const int NSEC_PER_SEC = 1e9; // 1 second = 1e9 nanosecond -+constexpr int NANOSECONDS_PER_SECOND = 1e9 - bool validateMsg(const builtin_interfaces::msg::Time & msg) - { ++constexpr int NANOSECONDS_PER_SECOND = 1e9; +@@ -88 +89 @@ bool validateMsg(const builtin_interfaces::msg::Time & msg) - if (msg.nanosec >= NSEC_PER_SEC) { + if (msg.nanosec >= NANOSECONDS_PER_SECOND) { - return false; // invalid nanosec-stamp - } - return true; +@@ -189,2 +190,3 @@ bool validateMsg(const nav_msgs::msg::OccupancyGrid & msg) +- uint32_t num_cells; +- if (__builtin_mul_overflow(msg.info.width, msg.info.height, &num_cells)) { ++ if (msg.info.width != 0 && ++ msg.info.height > std::numeric_limits::max() / msg.info.width) ++ { +@@ -193,0 +196 @@ bool validateMsg(const nav_msgs::msg::OccupancyGrid & msg) ++ const uint32_t num_cells = msg.info.width * msg.info.height; +@@ -224,2 +227,3 @@ bool validateMsg(const map_msgs::msg::OccupancyGridUpdate & msg) +- uint32_t num_cells; +- if (__builtin_mul_overflow(msg.width, msg.height, &num_cells)) { ++ if (msg.width != 0 && ++ msg.height > std::numeric_limits::max() / msg.width) ++ { From 6135ee40f82abc31d027733f5992beb0c698fcf6 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Thu, 20 Aug 2026 11:00:48 +0200 Subject: [PATCH 38/48] Refresh snapshot for latest Lyrical releases --- patch/ros-lyrical-chomp-motion-planner.patch | 26 - patch/ros-lyrical-moveit-core.patch | 938 +--------------- .../ros-lyrical-moveit-hybrid-planning.patch | 242 ---- patch/ros-lyrical-moveit-kinematics.patch | 185 +-- patch/ros-lyrical-moveit-planners-chomp.patch | 32 - patch/ros-lyrical-moveit-planners-ompl.patch | 168 --- patch/ros-lyrical-moveit-planners-stomp.patch | 41 - patch/ros-lyrical-moveit-py.patch | 15 - ...urces-prbt-ikfast-manipulator-plugin.patch | 32 - patch/ros-lyrical-moveit-ros-benchmarks.patch | 31 +- ...lyrical-moveit-ros-control-interface.patch | 101 -- patch/ros-lyrical-moveit-ros-move-group.patch | 116 -- ...cal-moveit-ros-occupancy-map-monitor.patch | 53 - patch/ros-lyrical-moveit-ros-perception.patch | 241 ---- ...yrical-moveit-ros-planning-interface.patch | 107 -- patch/ros-lyrical-moveit-ros-planning.patch | 485 -------- ...lyrical-moveit-ros-robot-interaction.patch | 36 +- ...-lyrical-moveit-ros-trajectory-cache.patch | 147 --- ...ros-lyrical-moveit-ros-visualization.patch | 281 +---- patch/ros-lyrical-moveit-ros-warehouse.patch | 89 -- patch/ros-lyrical-moveit-servo.patch | 247 ---- ...ros-lyrical-moveit-setup-app-plugins.patch | 30 - .../ros-lyrical-moveit-setup-assistant.patch | 73 -- ...ros-lyrical-moveit-setup-controllers.patch | 26 - ...os-lyrical-moveit-setup-core-plugins.patch | 49 - .../ros-lyrical-moveit-setup-framework.patch | 161 +-- ...os-lyrical-moveit-setup-srdf-plugins.patch | 100 -- ...cal-moveit-simple-controller-manager.patch | 21 - ...moveit-task-constructor-capabilities.patch | 1 + ...lyrical-moveit-task-constructor-core.patch | 468 +++----- ...oveit-task-constructor-visualization.patch | 58 +- patch/ros-lyrical-nav2-common.patch | 6 +- ...-industrial-motion-planner-testutils.patch | 27 - ...rical-pilz-industrial-motion-planner.patch | 359 ------ rosdistro_snapshot.yaml | 1000 +++++++++-------- 35 files changed, 714 insertions(+), 5278 deletions(-) delete mode 100644 patch/ros-lyrical-chomp-motion-planner.patch delete mode 100644 patch/ros-lyrical-moveit-hybrid-planning.patch delete mode 100644 patch/ros-lyrical-moveit-planners-chomp.patch delete mode 100644 patch/ros-lyrical-moveit-planners-ompl.patch delete mode 100644 patch/ros-lyrical-moveit-planners-stomp.patch delete mode 100644 patch/ros-lyrical-moveit-py.patch delete mode 100644 patch/ros-lyrical-moveit-resources-prbt-ikfast-manipulator-plugin.patch delete mode 100644 patch/ros-lyrical-moveit-ros-control-interface.patch delete mode 100644 patch/ros-lyrical-moveit-ros-move-group.patch delete mode 100644 patch/ros-lyrical-moveit-ros-occupancy-map-monitor.patch delete mode 100644 patch/ros-lyrical-moveit-ros-perception.patch delete mode 100644 patch/ros-lyrical-moveit-ros-planning-interface.patch delete mode 100644 patch/ros-lyrical-moveit-ros-planning.patch delete mode 100644 patch/ros-lyrical-moveit-ros-trajectory-cache.patch delete mode 100644 patch/ros-lyrical-moveit-ros-warehouse.patch delete mode 100644 patch/ros-lyrical-moveit-servo.patch delete mode 100644 patch/ros-lyrical-moveit-setup-app-plugins.patch delete mode 100644 patch/ros-lyrical-moveit-setup-assistant.patch delete mode 100644 patch/ros-lyrical-moveit-setup-controllers.patch delete mode 100644 patch/ros-lyrical-moveit-setup-core-plugins.patch delete mode 100644 patch/ros-lyrical-moveit-setup-srdf-plugins.patch delete mode 100644 patch/ros-lyrical-moveit-simple-controller-manager.patch delete mode 100644 patch/ros-lyrical-pilz-industrial-motion-planner-testutils.patch delete mode 100644 patch/ros-lyrical-pilz-industrial-motion-planner.patch diff --git a/patch/ros-lyrical-chomp-motion-planner.patch b/patch/ros-lyrical-chomp-motion-planner.patch deleted file mode 100644 index f3ee751..0000000 --- a/patch/ros-lyrical-chomp-motion-planner.patch +++ /dev/null @@ -1,26 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -11,6 +11,7 @@ - find_package(rclcpp REQUIRED) - find_package(rsl REQUIRED) - find_package(trajectory_msgs REQUIRED) -+find_package(visualization_msgs REQUIRED) - - set(THIS_PACKAGE_INCLUDE_DEPENDS moveit_core rclcpp rsl trajectory_msgs - visualization_msgs) -@@ -23,7 +24,13 @@ - src/chomp_optimizer.cpp src/chomp_planner.cpp) - set_target_properties(chomp_motion_planner - PROPERTIES VERSION "${chomp_motion_planner_VERSION}") --ament_target_dependencies(chomp_motion_planner ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ chomp_motion_planner -+ moveit_core::moveit_core -+ rclcpp::rclcpp -+ rsl::rsl -+ ${trajectory_msgs_TARGETS} -+ ${visualization_msgs_TARGETS}) - - install( - TARGETS chomp_motion_planner diff --git a/patch/ros-lyrical-moveit-core.patch b/patch/ros-lyrical-moveit-core.patch index 63d7c55..f9193c7 100644 --- a/patch/ros-lyrical-moveit-core.patch +++ b/patch/ros-lyrical-moveit-core.patch @@ -1,139 +1,5 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index ca30488f7..b6f5f2ad4 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -13,19 +13,20 @@ find_package(eigen_stl_containers REQUIRED) - find_package(Eigen3 REQUIRED) - find_package(eigen3_cmake_module REQUIRED) - find_package(fcl REQUIRED) -+find_package(fmt REQUIRED) - find_package(generate_parameter_library REQUIRED) - find_package(geometric_shapes REQUIRED) - find_package(geometry_msgs REQUIRED) - find_package(kdl_parser REQUIRED) - find_package(moveit_msgs REQUIRED) --# Enforce system version liboctomap-dev --# https://github.com/moveit/moveit2/issues/2862 --find_package(octomap 1.9.7...<1.10.0 REQUIRED) -+find_package(octomap REQUIRED) - find_package(octomap_msgs REQUIRED) -+find_package(orocos_kdl REQUIRED) - find_package(osqp REQUIRED) - find_package(pluginlib REQUIRED) - find_package(random_numbers REQUIRED) - find_package(rclcpp REQUIRED) -+find_package(rmw_implementation REQUIRED) - find_package(rsl REQUIRED) - find_package(ruckig REQUIRED) - find_package(sensor_msgs REQUIRED) -@@ -68,8 +69,37 @@ add_subdirectory(transforms) - add_subdirectory(utils) - add_subdirectory(version) - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_core::moveit_core to link all moveit_core libraries at once. -+add_library(moveit_core INTERFACE) -+target_link_libraries( -+ moveit_core -+ INTERFACE moveit_collision_detection -+ moveit_collision_detection_bullet -+ moveit_collision_detection_fcl -+ moveit_collision_distance_field -+ moveit_constraint_samplers -+ moveit_distance_field -+ moveit_dynamics_solver -+ moveit_exceptions -+ moveit_kinematic_constraints -+ moveit_kinematics_base -+ moveit_kinematics_metrics -+ moveit_macros -+ moveit_planning_interface -+ moveit_planning_scene -+ moveit_robot_model -+ moveit_robot_state -+ moveit_robot_trajectory -+ moveit_smoothing_base -+ moveit_test_utils -+ moveit_trajectory_processing -+ moveit_transforms -+ moveit_utils) -+ - install( -- TARGETS moveit_collision_detection -+ TARGETS moveit_core -+ moveit_collision_detection - moveit_collision_detection_bullet - moveit_collision_detection_fcl - moveit_collision_distance_field -@@ -119,6 +149,7 @@ ament_export_dependencies( - Eigen3 - eigen3_cmake_module - fcl -+ fmt - generate_parameter_library - geometric_shapes - geometry_msgs -@@ -126,10 +157,12 @@ ament_export_dependencies( - moveit_msgs - octomap - octomap_msgs -+ orocos_kdl - osqp - pluginlib - random_numbers - rclcpp -+ rmw_implementation - rsl - ruckig - sensor_msgs -diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake -index 8475da4..9daa704 100644 ---- a/ConfigExtras.cmake -+++ b/ConfigExtras.cmake -@@ -10,5 +10,4 @@ find_package( - program_options - regex - serialization -- system - thread) -diff --git a/collision_detection/CMakeLists.txt b/collision_detection/CMakeLists.txt -index e3f8fd212..403c2af04 100644 ---- a/collision_detection/CMakeLists.txt -+++ b/collision_detection/CMakeLists.txt -@@ -16,19 +16,19 @@ target_include_directories( - include(GenerateExportHeader) - generate_export_header(moveit_collision_detection) - --ament_target_dependencies( -+target_link_libraries( - moveit_collision_detection -- eigen_stl_containers -- pluginlib -- rclcpp -- rmw_implementation -- urdf -- urdfdom -- urdfdom_headers -- srdfdom -- visualization_msgs -- tf2_eigen -- geometric_shapes -+ eigen_stl_containers::eigen_stl_containers -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rmw_implementation::rmw_implementation -+ urdf::urdf -+ urdfdom::urdf_parser -+ urdfdom_headers::urdfdom_headers -+ srdfdom::srdfdom -+ ${visualization_msgs_TARGETS} -+ tf2_eigen::tf2_eigen -+ geometric_shapes::geometric_shapes - octomap) - target_include_directories( - moveit_collision_detection BEFORE diff --git a/collision_detection/include/moveit/collision_detection/collision_common.hpp b/collision_detection/include/moveit/collision_detection/collision_common.hpp -index 19777a044..af3a89442 100644 +index f12f827..9b886a9 100644 --- a/collision_detection/include/moveit/collision_detection/collision_common.hpp +++ b/collision_detection/include/moveit/collision_detection/collision_common.hpp @@ -141,7 +141,33 @@ struct CostSource @@ -224,168 +90,8 @@ index 19777a044..af3a89442 100644 - std::set cost_sources; -}; } // namespace collision_detection -diff --git a/collision_detection/src/world.cpp b/collision_detection/src/world.cpp -index b2262f93d..8fd25b163 100644 ---- a/collision_detection/src/world.cpp -+++ b/collision_detection/src/world.cpp -@@ -130,7 +130,7 @@ World::ObjectConstPtr World::getObject(const std::string& object_id) const - - void World::ensureUnique(ObjectPtr& obj) - { -- if (obj && !obj.unique()) -+ if (obj && obj.use_count() != 1) - obj = std::make_shared(*obj); - } - -diff --git a/collision_detection_bullet/CMakeLists.txt b/collision_detection_bullet/CMakeLists.txt -index feadeb653..1ea799949 100644 ---- a/collision_detection_bullet/CMakeLists.txt -+++ b/collision_detection_bullet/CMakeLists.txt -@@ -18,35 +18,39 @@ target_include_directories( - PUBLIC $) - set_target_properties(moveit_collision_detection_bullet - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_collision_detection_bullet SYSTEM BULLET) --ament_target_dependencies( -+target_include_directories(moveit_collision_detection_bullet SYSTEM -+ PUBLIC ${BULLET_INCLUDE_DIRS}) -+target_link_libraries( - moveit_collision_detection_bullet -- rclcpp -- rmw_implementation -- urdf -- urdfdom -- urdfdom_headers -- visualization_msgs -- octomap_msgs) --target_link_libraries(moveit_collision_detection_bullet -- moveit_collision_detection moveit_utils) -+ moveit_collision_detection -+ moveit_utils -+ ${BULLET_LIBRARIES} -+ rclcpp::rclcpp -+ rmw_implementation::rmw_implementation -+ urdf::urdf -+ urdfdom::urdf_parser -+ urdfdom_headers::urdfdom_headers -+ ${visualization_msgs_TARGETS} -+ ${octomap_msgs_TARGETS}) - - add_library(collision_detector_bullet_plugin SHARED - src/collision_detector_bullet_plugin_loader.cpp) - set_target_properties(collision_detector_bullet_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(collision_detector_bullet_plugin SYSTEM BULLET) --ament_target_dependencies( -- collision_detector_bullet_plugin -- rclcpp -- urdf -- visualization_msgs -- pluginlib -- rmw_implementation -- octomap_msgs) -+target_include_directories(collision_detector_bullet_plugin SYSTEM -+ PUBLIC ${BULLET_INCLUDE_DIRS}) - target_link_libraries( -- collision_detector_bullet_plugin moveit_collision_detection_bullet -- moveit_planning_scene moveit_utils) -+ collision_detector_bullet_plugin -+ moveit_collision_detection_bullet -+ moveit_planning_scene -+ moveit_utils -+ ${BULLET_LIBRARIES} -+ rclcpp::rclcpp -+ urdf::urdf -+ ${visualization_msgs_TARGETS} -+ pluginlib::pluginlib -+ rmw_implementation::rmw_implementation -+ ${octomap_msgs_TARGETS}) - - install(DIRECTORY include/ DESTINATION include/moveit_core) - install( -diff --git a/collision_detection_fcl/CMakeLists.txt b/collision_detection_fcl/CMakeLists.txt -index ece406480..63922f49e 100644 ---- a/collision_detection_fcl/CMakeLists.txt -+++ b/collision_detection_fcl/CMakeLists.txt -@@ -11,26 +11,32 @@ target_include_directories( - PUBLIC $) - set_target_properties(moveit_collision_detection_fcl - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -+target_link_libraries( - moveit_collision_detection_fcl -- rclcpp -- rmw_implementation -- urdf -- urdfdom -- urdfdom_headers -- visualization_msgs) --target_link_libraries(moveit_collision_detection_fcl moveit_collision_detection -- moveit_utils fcl) -+ moveit_collision_detection -+ moveit_utils -+ fcl -+ rclcpp::rclcpp -+ rmw_implementation::rmw_implementation -+ urdf::urdf -+ urdfdom::urdf_parser -+ urdfdom_headers::urdfdom_headers -+ ${visualization_msgs_TARGETS}) - - add_library(collision_detector_fcl_plugin SHARED - src/collision_detector_fcl_plugin_loader.cpp) - set_target_properties(collision_detector_fcl_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(collision_detector_fcl_plugin rclcpp urdf -- visualization_msgs pluginlib rmw_implementation) - target_link_libraries( -- collision_detector_fcl_plugin moveit_collision_detection_fcl -- moveit_planning_scene moveit_utils) -+ collision_detector_fcl_plugin -+ moveit_collision_detection_fcl -+ moveit_planning_scene -+ moveit_utils -+ rclcpp::rclcpp -+ urdf::urdf -+ ${visualization_msgs_TARGETS} -+ pluginlib::pluginlib -+ rmw_implementation::rmw_implementation) - - install(DIRECTORY include/ DESTINATION include/moveit_core) - install( -diff --git a/collision_detection_fcl/src/collision_common.cpp b/collision_detection_fcl/src/collision_common.cpp -index ca76202d6..34a4e1bd9 100644 ---- a/collision_detection_fcl/src/collision_common.cpp -+++ b/collision_detection_fcl/src/collision_common.cpp -@@ -782,7 +782,7 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, - // cache_it->second->collision_geometry_data_->getID().c_str()); - return cache_it->second; - } -- else if (cache_it->second.unique()) -+ else if (cache_it->second.use_count() == 1) - { - const_cast(cache_it->second.get())->updateCollisionGeometryData(data, shape_index, false); - // RCLCPP_DEBUG(getLogger(), "Collision data structures for object %s retrieved from -@@ -806,7 +806,7 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, - auto cache_it = othercache.map_.find(wptr); - if (cache_it != othercache.map_.end()) - { -- if (cache_it->second.unique()) -+ if (cache_it->second.use_count() == 1) - { - // remove from old cache - FCLGeometryConstPtr obj_cache = cache_it->second; -@@ -839,7 +839,7 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, - auto cache_it = othercache.map_.find(wptr); - if (cache_it != othercache.map_.end()) - { -- if (cache_it->second.unique()) -+ if (cache_it->second.use_count() == 1) - { - // remove from old cache - FCLGeometryConstPtr obj_cache = cache_it->second; diff --git a/collision_detection_fcl/src/collision_env_fcl.cpp b/collision_detection_fcl/src/collision_env_fcl.cpp -index b57e0767e..c655ed069 100644 +index b57e076..c655ed0 100644 --- a/collision_detection_fcl/src/collision_env_fcl.cpp +++ b/collision_detection_fcl/src/collision_env_fcl.cpp @@ -290,10 +290,6 @@ void CollisionEnvFCL::checkSelfCollisionHelper(const CollisionRequest& req, Coll @@ -410,643 +116,3 @@ index b57e0767e..c655ed069 100644 } } -diff --git a/collision_distance_field/CMakeLists.txt b/collision_distance_field/CMakeLists.txt -index 63b63a013..8bb5e3283 100644 ---- a/collision_distance_field/CMakeLists.txt -+++ b/collision_distance_field/CMakeLists.txt -@@ -15,12 +15,17 @@ target_include_directories( - set_target_properties(moveit_collision_distance_field - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") - --ament_target_dependencies(moveit_collision_distance_field urdf -- visualization_msgs tf2_eigen geometric_shapes octomap) -- - target_link_libraries( -- moveit_collision_distance_field moveit_planning_scene moveit_distance_field -- moveit_collision_detection moveit_robot_state) -+ moveit_collision_distance_field -+ moveit_planning_scene -+ moveit_distance_field -+ moveit_collision_detection -+ moveit_robot_state -+ urdf::urdf -+ ${visualization_msgs_TARGETS} -+ tf2_eigen::tf2_eigen -+ geometric_shapes::geometric_shapes -+ octomap) - - install(DIRECTORY include/ DESTINATION include/moveit_core) - install( -@@ -33,8 +38,6 @@ if(BUILD_TESTING) - - ament_add_gtest(test_collision_distance_field - test/test_collision_distance_field.cpp) -- ament_target_dependencies(test_collision_distance_field geometric_shapes -- octomap srdfdom resource_retriever) - target_link_libraries( - test_collision_distance_field - moveit_collision_distance_field -@@ -44,5 +47,9 @@ if(BUILD_TESTING) - moveit_robot_state - moveit_test_utils - moveit_transforms -- moveit_planning_scene) -+ moveit_planning_scene -+ geometric_shapes::geometric_shapes -+ octomap -+ srdfdom::srdfdom -+ resource_retriever::resource_retriever) - endif() -diff --git a/constraint_samplers/CMakeLists.txt b/constraint_samplers/CMakeLists.txt -index 25cda7dc6..2cdbe05df 100644 ---- a/constraint_samplers/CMakeLists.txt -+++ b/constraint_samplers/CMakeLists.txt -@@ -9,8 +9,6 @@ target_include_directories( - $) - set_target_properties(moveit_constraint_samplers - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_constraint_samplers urdf urdfdom -- urdfdom_headers visualization_msgs) - target_link_libraries( - moveit_constraint_samplers - moveit_robot_trajectory -@@ -18,7 +16,11 @@ target_link_libraries( - moveit_kinematic_constraints - moveit_kinematics_base - moveit_planning_scene -- moveit_utils) -+ moveit_utils -+ urdf::urdf -+ urdfdom::urdf_parser -+ urdfdom_headers::urdfdom_headers -+ ${visualization_msgs_TARGETS}) - - install(DIRECTORY include/ DESTINATION include/moveit_core) - -@@ -43,7 +45,6 @@ if(BUILD_TESTING) - test/pr2_arm_kinematics_plugin.cpp test/pr2_arm_ik.cpp) - target_include_directories(test_constraint_samplers - PUBLIC ${geometry_msgs_INCLUDE_DIRS}) -- ament_target_dependencies(test_constraint_samplers kdl_parser) - target_link_libraries(test_constraint_samplers moveit_test_utils moveit_utils -- moveit_constraint_samplers) -+ moveit_constraint_samplers kdl_parser::kdl_parser) - endif() -diff --git a/distance_field/CMakeLists.txt b/distance_field/CMakeLists.txt -index 165d82a7a..5c3723cc8 100644 ---- a/distance_field/CMakeLists.txt -+++ b/distance_field/CMakeLists.txt -@@ -6,19 +6,21 @@ target_include_directories( - moveit_distance_field - PUBLIC $ - $) --target_link_libraries(moveit_distance_field moveit_macros moveit_utils) --set_target_properties(moveit_distance_field -- PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -+target_link_libraries( - moveit_distance_field -- Boost -- eigen_stl_containers -- urdfdom -- urdfdom_headers -- visualization_msgs -- geometric_shapes -- tf2_eigen -+ moveit_macros -+ moveit_utils -+ Boost::headers -+ Boost::iostreams -+ eigen_stl_containers::eigen_stl_containers -+ urdfdom::urdf_parser -+ urdfdom_headers::urdfdom_headers -+ ${visualization_msgs_TARGETS} -+ geometric_shapes::geometric_shapes -+ tf2_eigen::tf2_eigen - octomap) -+set_target_properties(moveit_distance_field -+ PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") - - install(DIRECTORY include/ DESTINATION include/moveit_core) - -diff --git a/dynamics_solver/CMakeLists.txt b/dynamics_solver/CMakeLists.txt -index 04afe66ef..c6c5a1d4e 100644 ---- a/dynamics_solver/CMakeLists.txt -+++ b/dynamics_solver/CMakeLists.txt -@@ -6,8 +6,14 @@ target_include_directories( - set_target_properties(moveit_dynamics_solver - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") - --ament_target_dependencies(moveit_dynamics_solver urdf urdfdom_headers -- orocos_kdl visualization_msgs kdl_parser) --target_link_libraries(moveit_dynamics_solver moveit_robot_state moveit_utils) -+target_link_libraries( -+ moveit_dynamics_solver -+ moveit_robot_state -+ moveit_utils -+ urdf::urdf -+ urdfdom_headers::urdfdom_headers -+ ${orocos_kdl_LIBRARIES} -+ ${visualization_msgs_TARGETS} -+ kdl_parser::kdl_parser) - - install(DIRECTORY include/ DESTINATION include/moveit_core) -diff --git a/exceptions/CMakeLists.txt b/exceptions/CMakeLists.txt -index 26591d955..04027c2ef 100644 ---- a/exceptions/CMakeLists.txt -+++ b/exceptions/CMakeLists.txt -@@ -5,8 +5,8 @@ target_include_directories( - $) - set_target_properties(moveit_exceptions PROPERTIES VERSION - "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_exceptions Boost rclcpp urdfdom -- urdfdom_headers) --target_link_libraries(moveit_exceptions moveit_utils) -+target_link_libraries( -+ moveit_exceptions moveit_utils Boost::headers rclcpp::rclcpp -+ urdfdom::urdf_parser urdfdom_headers::urdfdom_headers) - - install(DIRECTORY include/ DESTINATION include/moveit_core) -diff --git a/kinematic_constraints/CMakeLists.txt b/kinematic_constraints/CMakeLists.txt -index 51f33e495..534f51179 100644 ---- a/kinematic_constraints/CMakeLists.txt -+++ b/kinematic_constraints/CMakeLists.txt -@@ -16,19 +16,20 @@ target_include_directories( - set_target_properties(moveit_kinematic_constraints - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") - --ament_target_dependencies( -- moveit_kinematic_constraints -- urdf -- urdfdom -- urdfdom_headers -- tf2_geometry_msgs -- geometry_msgs -- visualization_msgs -- tf2_eigen) -- - target_link_libraries( -- moveit_kinematic_constraints moveit_collision_detection_fcl -- moveit_kinematics_base moveit_robot_state moveit_robot_model moveit_utils) -+ moveit_kinematic_constraints -+ moveit_collision_detection_fcl -+ moveit_kinematics_base -+ moveit_robot_state -+ moveit_robot_model -+ moveit_utils -+ urdf::urdf -+ urdfdom::urdf_parser -+ urdfdom_headers::urdfdom_headers -+ ${tf2_geometry_msgs_TARGETS} -+ ${geometry_msgs_TARGETS} -+ ${visualization_msgs_TARGETS} -+ tf2_eigen::tf2_eigen) - - install(DIRECTORY include/ DESTINATION include/moveit_core) - -diff --git a/kinematics_base/CMakeLists.txt b/kinematics_base/CMakeLists.txt -index 180253900..29ff3953e 100644 ---- a/kinematics_base/CMakeLists.txt -+++ b/kinematics_base/CMakeLists.txt -@@ -11,16 +11,15 @@ target_include_directories( - moveit_kinematics_base PUBLIC $ - )# for this library - --# This line ensures that messages are built before the library is built --ament_target_dependencies( -+target_link_libraries( - moveit_kinematics_base -- rclcpp -- urdf -- urdfdom_headers -- srdfdom -- moveit_msgs -- geometric_shapes -- geometry_msgs) -+ rclcpp::rclcpp -+ urdf::urdf -+ urdfdom_headers::urdfdom_headers -+ srdfdom::srdfdom -+ ${moveit_msgs_TARGETS} -+ geometric_shapes::geometric_shapes -+ ${geometry_msgs_TARGETS}) - - install(DIRECTORY include/ DESTINATION include/moveit_core) - install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_kinematics_base_export.h -diff --git a/kinematics_metrics/CMakeLists.txt b/kinematics_metrics/CMakeLists.txt -index e760b834e..6255198ff 100644 ---- a/kinematics_metrics/CMakeLists.txt -+++ b/kinematics_metrics/CMakeLists.txt -@@ -6,10 +6,13 @@ target_include_directories( - set_target_properties(moveit_kinematics_metrics - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") - --ament_target_dependencies(moveit_kinematics_metrics urdf urdfdom_headers -- visualization_msgs) -- --target_link_libraries(moveit_kinematics_metrics moveit_robot_model -- moveit_robot_state moveit_utils) -+target_link_libraries( -+ moveit_kinematics_metrics -+ moveit_robot_model -+ moveit_robot_state -+ moveit_utils -+ urdf::urdf -+ urdfdom_headers::urdfdom_headers -+ ${visualization_msgs_TARGETS}) - - install(DIRECTORY include/ DESTINATION include/moveit_core) -diff --git a/online_signal_smoothing/CMakeLists.txt b/online_signal_smoothing/CMakeLists.txt -index 1f1912c6d..7d3b6dd01 100644 ---- a/online_signal_smoothing/CMakeLists.txt -+++ b/online_signal_smoothing/CMakeLists.txt -@@ -5,12 +5,12 @@ target_include_directories( - PUBLIC $ - $ - $) --target_link_libraries(moveit_smoothing_base ${Eigen_LIBRARIES} moveit_macros) -+target_link_libraries(moveit_smoothing_base ${Eigen_LIBRARIES} moveit_macros -+ rclcpp::rclcpp tf2_eigen::tf2_eigen) - include(GenerateExportHeader) - generate_export_header(moveit_smoothing_base) - set_target_properties(moveit_smoothing_base - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_smoothing_base rclcpp tf2_eigen) - - # Plugin implementations - add_library(moveit_acceleration_filter SHARED src/acceleration_filter.cpp) -@@ -23,12 +23,13 @@ set_target_properties(moveit_acceleration_filter - generate_parameter_library(moveit_acceleration_filter_parameters - src/acceleration_filter_parameters.yaml) - target_link_libraries( -- moveit_acceleration_filter moveit_acceleration_filter_parameters -- moveit_robot_state moveit_smoothing_base osqp::osqp) --ament_target_dependencies( -- moveit_acceleration_filter srdfdom # include dependency from -- # moveit_robot_model -- pluginlib) -+ moveit_acceleration_filter -+ moveit_acceleration_filter_parameters -+ moveit_robot_state -+ moveit_smoothing_base -+ osqp::osqp -+ srdfdom::srdfdom -+ pluginlib::pluginlib) - - add_library(moveit_butterworth_filter SHARED src/butterworth_filter.cpp) - generate_export_header(moveit_butterworth_filter) -@@ -41,11 +42,8 @@ generate_parameter_library(moveit_butterworth_filter_parameters - src/butterworth_parameters.yaml) - target_link_libraries( - moveit_butterworth_filter moveit_butterworth_filter_parameters -- moveit_robot_model moveit_smoothing_base) --ament_target_dependencies( -- moveit_butterworth_filter -- srdfdom # include dependency from moveit_robot_model -- pluginlib) -+ moveit_robot_model moveit_smoothing_base srdfdom::srdfdom -+ pluginlib::pluginlib) - - add_library(moveit_ruckig_filter SHARED src/ruckig_filter.cpp) - generate_export_header(moveit_ruckig_filter) -@@ -56,11 +54,13 @@ set_target_properties(moveit_ruckig_filter - generate_parameter_library(moveit_ruckig_filter_parameters - src/ruckig_filter_parameters.yaml) - target_link_libraries( -- moveit_ruckig_filter moveit_robot_state moveit_ruckig_filter_parameters -- moveit_smoothing_base ruckig::ruckig) --ament_target_dependencies( -- moveit_ruckig_filter srdfdom # include dependency from moveit_robot_model -- pluginlib) -+ moveit_ruckig_filter -+ moveit_robot_state -+ moveit_ruckig_filter_parameters -+ moveit_smoothing_base -+ ruckig::ruckig -+ srdfdom::srdfdom -+ pluginlib::pluginlib) - - # Installation - install(DIRECTORY include/ DESTINATION include/moveit_core) -diff --git a/planning_interface/CMakeLists.txt b/planning_interface/CMakeLists.txt -index 338765e2f..6a79dd7a0 100644 ---- a/planning_interface/CMakeLists.txt -+++ b/planning_interface/CMakeLists.txt -@@ -6,9 +6,15 @@ target_include_directories( - $) - set_target_properties(moveit_planning_interface - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_planning_interface moveit_msgs urdf urdfdom -- urdfdom_headers) --target_link_libraries(moveit_planning_interface moveit_robot_trajectory -- moveit_robot_state moveit_planning_scene moveit_utils) -+target_link_libraries( -+ moveit_planning_interface -+ moveit_robot_trajectory -+ moveit_robot_state -+ moveit_planning_scene -+ moveit_utils -+ ${moveit_msgs_TARGETS} -+ urdf::urdf -+ urdfdom::urdf_parser -+ urdfdom_headers::urdfdom_headers) - - install(DIRECTORY include/ DESTINATION include/moveit_core) -diff --git a/planning_scene/CMakeLists.txt b/planning_scene/CMakeLists.txt -index debb3e5b6..c6eee289b 100644 ---- a/planning_scene/CMakeLists.txt -+++ b/planning_scene/CMakeLists.txt -@@ -10,15 +10,6 @@ target_include_directories( - # TODO: Fix the versioning - set_target_properties(moveit_planning_scene - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -- moveit_planning_scene -- Boost -- rclcpp -- urdfdom -- urdfdom_headers -- octomap_msgs -- octomap) -- - target_link_libraries( - moveit_planning_scene - moveit_robot_model -@@ -30,7 +21,13 @@ target_link_libraries( - moveit_kinematic_constraints - moveit_robot_trajectory - moveit_trajectory_processing -- moveit_utils) -+ moveit_utils -+ Boost::headers -+ rclcpp::rclcpp -+ urdfdom::urdf_parser -+ urdfdom_headers::urdfdom_headers -+ ${octomap_msgs_TARGETS} -+ octomap) - - install(DIRECTORY include/ DESTINATION include/moveit_core) - install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_planning_scene_export.h -@@ -47,9 +44,9 @@ if(BUILD_TESTING) - - ament_add_gtest(test_planning_scene test/test_planning_scene.cpp - APPEND_LIBRARY_DIRS "${APPEND_LIBRARY_DIRS}") -- ament_target_dependencies(test_planning_scene geometric_shapes srdfdom) -- target_link_libraries(test_planning_scene moveit_test_utils -- moveit_planning_scene) -+ target_link_libraries( -+ test_planning_scene moveit_test_utils moveit_planning_scene -+ geometric_shapes::geometric_shapes srdfdom::srdfdom) - - ament_add_gtest(test_collision_objects test/test_collision_objects.cpp - APPEND_LIBRARY_DIRS "${APPEND_LIBRARY_DIRS}") -diff --git a/robot_model/CMakeLists.txt b/robot_model/CMakeLists.txt -index 2886ed4f0..d6166a13d 100644 ---- a/robot_model/CMakeLists.txt -+++ b/robot_model/CMakeLists.txt -@@ -28,25 +28,26 @@ target_include_directories( - $) - set_target_properties(moveit_robot_model - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -+target_link_libraries( - moveit_robot_model -- angles -- moveit_msgs -- Eigen3 -- eigen_stl_containers -- geometric_shapes -- urdf -- urdfdom_headers -- srdfdom -- visualization_msgs) --target_link_libraries(moveit_robot_model moveit_exceptions moveit_macros -- moveit_utils) -+ moveit_exceptions -+ moveit_macros -+ moveit_utils -+ angles::angles -+ ${moveit_msgs_TARGETS} -+ Eigen3::Eigen -+ eigen_stl_containers::eigen_stl_containers -+ geometric_shapes::geometric_shapes -+ urdf::urdf -+ urdfdom_headers::urdfdom_headers -+ srdfdom::srdfdom -+ ${visualization_msgs_TARGETS}) - - if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) - ament_add_gtest(test_robot_model test/test.cpp) -- ament_target_dependencies(test_robot_model rclcpp) -- target_link_libraries(test_robot_model moveit_test_utils moveit_robot_model) -+ target_link_libraries(test_robot_model moveit_test_utils moveit_robot_model -+ rclcpp::rclcpp) - endif() - - install(DIRECTORY include/ DESTINATION include/moveit_core) -diff --git a/robot_state/CMakeLists.txt b/robot_state/CMakeLists.txt -index a906be706..44ccde09a 100644 ---- a/robot_state/CMakeLists.txt -+++ b/robot_state/CMakeLists.txt -@@ -7,16 +7,17 @@ target_include_directories( - $) - set_target_properties(moveit_robot_state PROPERTIES VERSION - ${${PROJECT_NAME}_VERSION}) --ament_target_dependencies( -+target_link_libraries( - moveit_robot_state -- eigen_stl_containers -- urdf -- tf2_geometry_msgs -- geometric_shapes -- urdfdom_headers -- Boost) --target_link_libraries(moveit_robot_state moveit_robot_model -- moveit_kinematics_base moveit_transforms) -+ moveit_robot_model -+ moveit_kinematics_base -+ moveit_transforms -+ eigen_stl_containers::eigen_stl_containers -+ urdf::urdf -+ ${tf2_geometry_msgs_TARGETS} -+ geometric_shapes::geometric_shapes -+ urdfdom_headers::urdfdom_headers -+ Boost::headers) - - install(DIRECTORY include/ DESTINATION include/moveit_core) - -@@ -58,7 +59,7 @@ if(BUILD_TESTING) - - ament_add_google_benchmark(robot_state_benchmark - test/robot_state_benchmark.cpp) -- ament_target_dependencies(robot_state_benchmark kdl_parser) -- target_link_libraries(robot_state_benchmark moveit_robot_model -- moveit_test_utils moveit_robot_state) -+ target_link_libraries( -+ robot_state_benchmark moveit_robot_model moveit_test_utils -+ moveit_robot_state kdl_parser::kdl_parser) - endif() -diff --git a/robot_state/src/attached_body.cpp b/robot_state/src/attached_body.cpp -index 3a606dfe5..04961a849 100644 ---- a/robot_state/src/attached_body.cpp -+++ b/robot_state/src/attached_body.cpp -@@ -88,7 +88,7 @@ void AttachedBody::setScale(double scale) - for (shapes::ShapeConstPtr& shape : shapes_) - { - // if this shape is only owned here (and because this is a non-const function), we can safely const-cast: -- if (shape.unique()) -+ if (shape.use_count() == 1) - { - const_cast(shape.get())->scale(scale); - } -@@ -122,7 +122,7 @@ void AttachedBody::setPadding(double padding) - for (shapes::ShapeConstPtr& shape : shapes_) - { - // if this shape is only owned here (and because this is a non-const function), we can safely const-cast: -- if (shape.unique()) -+ if (shape.use_count() == 1) - { - const_cast(shape.get())->padd(padding); - } -diff --git a/robot_trajectory/CMakeLists.txt b/robot_trajectory/CMakeLists.txt -index c4b26ebb8..14594034b 100644 ---- a/robot_trajectory/CMakeLists.txt -+++ b/robot_trajectory/CMakeLists.txt -@@ -5,11 +5,14 @@ target_include_directories( - $) - set_target_properties(moveit_robot_trajectory - PROPERTIES VERSION ${${PROJECT_NAME}_VERSION}) --ament_target_dependencies(moveit_robot_trajectory rclcpp urdfdom -- urdfdom_headers) -- --target_link_libraries(moveit_robot_trajectory moveit_robot_model -- moveit_robot_state moveit_utils) -+target_link_libraries( -+ moveit_robot_trajectory -+ moveit_robot_model -+ moveit_robot_state -+ moveit_utils -+ rclcpp::rclcpp -+ urdfdom::urdf_parser -+ urdfdom_headers::urdfdom_headers) - - install(DIRECTORY include/ DESTINATION include/moveit_core) - -diff --git a/trajectory_processing/CMakeLists.txt b/trajectory_processing/CMakeLists.txt -index bbbe8d1f2..a4e3b128c 100644 ---- a/trajectory_processing/CMakeLists.txt -+++ b/trajectory_processing/CMakeLists.txt -@@ -8,17 +8,18 @@ target_include_directories( - $) - set_target_properties(moveit_trajectory_processing - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -+target_link_libraries( - moveit_trajectory_processing -- rclcpp -- rmw_implementation -- urdf -- urdfdom -- urdfdom_headers -- visualization_msgs -- Boost) --target_link_libraries(moveit_trajectory_processing moveit_robot_state -- moveit_robot_trajectory ruckig::ruckig) -+ moveit_robot_state -+ moveit_robot_trajectory -+ ruckig::ruckig -+ rclcpp::rclcpp -+ rmw_implementation::rmw_implementation -+ urdf::urdf -+ urdfdom::urdf_parser -+ urdfdom_headers::urdfdom_headers -+ ${visualization_msgs_TARGETS} -+ Boost::headers) - - install(DIRECTORY include/ DESTINATION include/moveit_core) - -diff --git a/transforms/CMakeLists.txt b/transforms/CMakeLists.txt -index 5880e5795..26316c2e8 100644 ---- a/transforms/CMakeLists.txt -+++ b/transforms/CMakeLists.txt -@@ -3,18 +3,19 @@ target_include_directories( - moveit_transforms - PUBLIC $ - $) --target_link_libraries(moveit_transforms moveit_macros moveit_utils) -+target_link_libraries( -+ moveit_transforms -+ moveit_macros -+ moveit_utils -+ geometric_shapes::geometric_shapes -+ tf2_eigen::tf2_eigen -+ rclcpp::rclcpp -+ rmw_implementation::rmw_implementation -+ urdfdom::urdf_parser -+ urdfdom_headers::urdfdom_headers -+ Boost::headers) - set_target_properties(moveit_transforms PROPERTIES VERSION - "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -- moveit_transforms -- geometric_shapes -- tf2_eigen -- rclcpp -- rmw_implementation -- urdfdom -- urdfdom_headers -- Boost) - - install(DIRECTORY include/ DESTINATION include/moveit_core) - -diff --git a/utils/CMakeLists.txt b/utils/CMakeLists.txt -index ca44183fa..80dab7b2a 100644 ---- a/utils/CMakeLists.txt -+++ b/utils/CMakeLists.txt -@@ -3,8 +3,8 @@ add_library(moveit_utils SHARED src/lexical_casts.cpp src/message_checks.cpp - target_include_directories( - moveit_utils PUBLIC $ - $) --ament_target_dependencies(moveit_utils Boost moveit_msgs rclcpp fmt) --target_link_libraries(moveit_utils rsl::rsl) -+target_link_libraries(moveit_utils rsl::rsl Boost::headers -+ ${moveit_msgs_TARGETS} rclcpp::rclcpp fmt::fmt) - set_target_properties(moveit_utils PROPERTIES VERSION - "${${PROJECT_NAME}_VERSION}") - -@@ -16,20 +16,21 @@ target_include_directories( - moveit_test_utils - PUBLIC $ - $) --target_link_libraries(moveit_test_utils moveit_robot_model -- moveit_kinematics_base rsl::rsl) --ament_target_dependencies( -+target_link_libraries( - moveit_test_utils -- ament_index_cpp -- Boost -- geometry_msgs -- urdf -- pluginlib -- srdfdom -- urdfdom -- urdfdom_headers -- rclcpp -- fmt) -+ moveit_robot_model -+ moveit_kinematics_base -+ rsl::rsl -+ ament_index_cpp::ament_index_cpp -+ Boost::headers -+ ${geometry_msgs_TARGETS} -+ urdf::urdf -+ pluginlib::pluginlib -+ srdfdom::srdfdom -+ urdfdom::urdf_parser -+ urdfdom_headers::urdfdom_headers -+ rclcpp::rclcpp -+ fmt::fmt) - set_target_properties(moveit_test_utils PROPERTIES VERSION - "${${PROJECT_NAME}_VERSION}") - diff --git a/patch/ros-lyrical-moveit-hybrid-planning.patch b/patch/ros-lyrical-moveit-hybrid-planning.patch deleted file mode 100644 index 3f45715..0000000 --- a/patch/ros-lyrical-moveit-hybrid-planning.patch +++ /dev/null @@ -1,242 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 0f90c56033..0b6bc32c30 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -75,8 +75,13 @@ rclcpp_components_register_nodes( - moveit_local_planner_component - "moveit::hybrid_planning::LocalPlannerComponent") - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_hybrid_planning::moveit_hybrid_planning to link all libraries at once. -+add_library(moveit_hybrid_planning INTERFACE) -+target_link_libraries(moveit_hybrid_planning INTERFACE ${LIBRARIES}) -+ - install( -- TARGETS ${LIBRARIES} -+ TARGETS moveit_hybrid_planning ${LIBRARIES} - EXPORT moveit_hybrid_planningTargets - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib -diff --git a/global_planner/global_planner_component/CMakeLists.txt b/global_planner/global_planner_component/CMakeLists.txt -index 8fea54c86a..4cc44c4b0e 100644 ---- a/global_planner/global_planner_component/CMakeLists.txt -+++ b/global_planner/global_planner_component/CMakeLists.txt -@@ -3,5 +3,17 @@ add_library(moveit_global_planner_component SHARED - src/global_planner_component.cpp) - set_target_properties(moveit_global_planner_component - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_global_planner_component -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ moveit_global_planner_component -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ rclcpp_components::component -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS}) -diff --git a/global_planner/global_planner_plugins/CMakeLists.txt b/global_planner/global_planner_plugins/CMakeLists.txt -index 5537737681..8d2d905c2b 100644 ---- a/global_planner/global_planner_plugins/CMakeLists.txt -+++ b/global_planner/global_planner_plugins/CMakeLists.txt -@@ -2,5 +2,17 @@ add_library(motion_planning_pipeline_plugin SHARED - src/moveit_planning_pipeline.cpp) - set_target_properties(motion_planning_pipeline_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(motion_planning_pipeline_plugin -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ motion_planning_pipeline_plugin -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ rclcpp_components::component -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS}) -diff --git a/hybrid_planning_manager/hybrid_planning_manager_component/CMakeLists.txt b/hybrid_planning_manager/hybrid_planning_manager_component/CMakeLists.txt -index 60aa2980b6..99ab113ced 100644 ---- a/hybrid_planning_manager/hybrid_planning_manager_component/CMakeLists.txt -+++ b/hybrid_planning_manager/hybrid_planning_manager_component/CMakeLists.txt -@@ -4,6 +4,18 @@ add_library(moveit_hybrid_planning_manager SHARED - src/hybrid_planning_manager.cpp) - set_target_properties(moveit_hybrid_planning_manager - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --target_link_libraries(moveit_hybrid_planning_manager hp_manager_parameters) --ament_target_dependencies(moveit_hybrid_planning_manager -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ moveit_hybrid_planning_manager -+ hp_manager_parameters -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ rclcpp_components::component -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS}) -diff --git a/hybrid_planning_manager/planner_logic_plugins/CMakeLists.txt b/hybrid_planning_manager/planner_logic_plugins/CMakeLists.txt -index 17cb49aa7c..cb70757663 100644 ---- a/hybrid_planning_manager/planner_logic_plugins/CMakeLists.txt -+++ b/hybrid_planning_manager/planner_logic_plugins/CMakeLists.txt -@@ -1,17 +1,39 @@ - add_library(single_plan_execution_plugin SHARED src/single_plan_execution.cpp) - set_target_properties(single_plan_execution_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(single_plan_execution_plugin -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(single_plan_execution_plugin -- moveit_hybrid_planning_manager) -+target_link_libraries( -+ single_plan_execution_plugin -+ moveit_hybrid_planning_manager -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ rclcpp_components::component -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS}) - - add_library(replan_invalidated_trajectory_plugin SHARED - src/replan_invalidated_trajectory.cpp) - set_target_properties(replan_invalidated_trajectory_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(replan_invalidated_trajectory_plugin -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) - target_link_libraries( -- replan_invalidated_trajectory_plugin moveit_hybrid_planning_manager -- single_plan_execution_plugin) -+ replan_invalidated_trajectory_plugin -+ moveit_hybrid_planning_manager -+ single_plan_execution_plugin -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ rclcpp_components::component -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS}) -diff --git a/local_planner/local_constraint_solver_plugins/CMakeLists.txt b/local_planner/local_constraint_solver_plugins/CMakeLists.txt -index 4c0e0e6c89..9a5deb90d1 100644 ---- a/local_planner/local_constraint_solver_plugins/CMakeLists.txt -+++ b/local_planner/local_constraint_solver_plugins/CMakeLists.txt -@@ -1,5 +1,17 @@ - add_library(forward_trajectory_plugin SHARED src/forward_trajectory.cpp) - set_target_properties(forward_trajectory_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(forward_trajectory_plugin -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ forward_trajectory_plugin -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ rclcpp_components::component -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS}) -diff --git a/local_planner/local_planner_component/CMakeLists.txt b/local_planner/local_planner_component/CMakeLists.txt -index a4de092130..141223d37c 100644 ---- a/local_planner/local_planner_component/CMakeLists.txt -+++ b/local_planner/local_planner_component/CMakeLists.txt -@@ -5,6 +5,18 @@ add_library(moveit_local_planner_component SHARED - src/local_planner_component.cpp) - set_target_properties(moveit_local_planner_component - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --target_link_libraries(moveit_local_planner_component local_planner_parameters) --ament_target_dependencies(moveit_local_planner_component -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ moveit_local_planner_component -+ local_planner_parameters -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ rclcpp_components::component -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS}) -diff --git a/local_planner/trajectory_operator_plugins/CMakeLists.txt b/local_planner/trajectory_operator_plugins/CMakeLists.txt -index b9ba389698..06eef59007 100644 ---- a/local_planner/trajectory_operator_plugins/CMakeLists.txt -+++ b/local_planner/trajectory_operator_plugins/CMakeLists.txt -@@ -1,4 +1,17 @@ - add_library(simple_sampler_plugin SHARED src/simple_sampler.cpp) - set_target_properties(simple_sampler_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(simple_sampler_plugin ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ simple_sampler_plugin -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ rclcpp_components::component -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS}) -diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt -index 6d62727f0a..1d3e42fedb 100644 ---- a/test/CMakeLists.txt -+++ b/test/CMakeLists.txt -@@ -1,5 +1,18 @@ - add_executable(cancel_action cancel_action.cpp) --ament_target_dependencies(cancel_action PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ cancel_action -+ PUBLIC moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ rclcpp_components::component -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS}) - - if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) diff --git a/patch/ros-lyrical-moveit-kinematics.patch b/patch/ros-lyrical-moveit-kinematics.patch index 603b583..4b2843a 100644 --- a/patch/ros-lyrical-moveit-kinematics.patch +++ b/patch/ros-lyrical-moveit-kinematics.patch @@ -1,5 +1,5 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 21b03dfb1..5a76c1683 100644 +index 3dd5b2b..bcbea68 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,6 +1,8 @@ @@ -12,7 +12,7 @@ index 21b03dfb1..5a76c1683 100644 find_package(moveit_common REQUIRED) moveit_package() diff --git a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.hpp b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.hpp -index 173471c7e..47e47e2db 100644 +index 173471c..47e47e2 100644 --- a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.hpp +++ b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.hpp @@ -92,7 +92,7 @@ public: @@ -24,184 +24,3 @@ index 173471c7e..47e47e2db 100644 // first center is picked randomly centers.push_back(std::uniform_int_distribution{ 0, data.size() - 1 }(rsl::rng())); for (unsigned i = 1; i < k; ++i) -diff --git a/CMakeLists.txt b/CMakeLists.txt -index a453674aba..3dd5b2b379 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -64,8 +64,13 @@ add_subdirectory(kdl_kinematics_plugin) - add_subdirectory(srv_kinematics_plugin) - add_subdirectory(test) - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_kinematics::moveit_kinematics to link all libraries at once. -+add_library(moveit_kinematics INTERFACE) -+target_link_libraries(moveit_kinematics INTERFACE ${THIS_PACKAGE_LIBRARIES}) -+ - install( -- TARGETS ${THIS_PACKAGE_LIBRARIES} -+ TARGETS moveit_kinematics ${THIS_PACKAGE_LIBRARIES} - EXPORT ${PROJECT_NAME}Targets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -diff --git a/cached_ik_kinematics_plugin/CMakeLists.txt b/cached_ik_kinematics_plugin/CMakeLists.txt -index 5ce836e33a..1d4ae9c5ee 100644 ---- a/cached_ik_kinematics_plugin/CMakeLists.txt -+++ b/cached_ik_kinematics_plugin/CMakeLists.txt -@@ -5,9 +5,6 @@ find_package(ur_kinematics QUIET) - add_library(moveit_cached_ik_kinematics_base SHARED src/ik_cache.cpp) - set_target_properties(moveit_cached_ik_kinematics_base - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_cached_ik_kinematics_base PUBLIC rclcpp -- moveit_core moveit_msgs) -- - if(trac_ik_kinematics_plugin_FOUND) - include_directories(${trac_ik_kinematics_plugin_INCLUDE_DIRS}) - endif() -@@ -20,17 +17,17 @@ generate_parameter_library( - ) - - target_link_libraries( -- moveit_cached_ik_kinematics_base PUBLIC cached_ik_kinematics_parameters -- kdl_kinematics_parameters) -+ moveit_cached_ik_kinematics_base -+ PUBLIC cached_ik_kinematics_parameters kdl_kinematics_parameters -+ rclcpp::rclcpp moveit_core::moveit_core ${moveit_msgs_TARGETS}) - - add_library(moveit_cached_ik_kinematics_plugin SHARED - src/cached_ik_kinematics_plugin.cpp) - set_target_properties(moveit_cached_ik_kinematics_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_cached_ik_kinematics_plugin PUBLIC rclcpp -- moveit_core moveit_msgs rsl) - target_link_libraries( - moveit_cached_ik_kinematics_plugin -+ PUBLIC rclcpp::rclcpp moveit_core::moveit_core ${moveit_msgs_TARGETS} rsl::rsl - PRIVATE cached_ik_kinematics_parameters moveit_kdl_kinematics_plugin - moveit_srv_kinematics_plugin moveit_cached_ik_kinematics_base) - if(trac_ik_kinematics_plugin_FOUND) -diff --git a/ikfast_kinematics_plugin/templates/CMakeLists.txt b/ikfast_kinematics_plugin/templates/CMakeLists.txt -index 20b14c15c7..6e60b49542 100644 ---- a/ikfast_kinematics_plugin/templates/CMakeLists.txt -+++ b/ikfast_kinematics_plugin/templates/CMakeLists.txt -@@ -26,20 +26,20 @@ generate_parameter_library( - set(IKFAST_LIBRARY_NAME _LIBRARY_NAME_) - add_library(${IKFAST_LIBRARY_NAME} SHARED - src/_ROBOT_NAME___GROUP_NAME__ikfast_moveit_plugin.cpp) --ament_target_dependencies( -- ${IKFAST_LIBRARY_NAME} -- rclcpp -- moveit_core -- pluginlib -- tf2_kdl -- orocos_kdl -- tf2_eigen -- LAPACK) - # suppress warnings about unused variables in OpenRave's solver code - target_compile_options(${IKFAST_LIBRARY_NAME} PRIVATE -Wno-unused-variable - -Wno-unused-parameter) - --target_link_libraries(${IKFAST_LIBRARY_NAME} ikfast_kinematics_parameters) -+target_link_libraries( -+ ${IKFAST_LIBRARY_NAME} -+ ikfast_kinematics_parameters -+ rclcpp::rclcpp -+ moveit_core::moveit_core -+ pluginlib::pluginlib -+ tf2_kdl::tf2_kdl -+ ${orocos_kdl_LIBRARIES} -+ tf2_eigen::tf2_eigen -+ ${LAPACK_LIBRARIES}) - - install( - TARGETS ${IKFAST_LIBRARY_NAME} ikfast_kinematics_parameters -diff --git a/kdl_kinematics_plugin/CMakeLists.txt b/kdl_kinematics_plugin/CMakeLists.txt -index edf5b93990..3ed8a52a35 100644 ---- a/kdl_kinematics_plugin/CMakeLists.txt -+++ b/kdl_kinematics_plugin/CMakeLists.txt -@@ -6,19 +6,18 @@ generate_parameter_library( - add_library(moveit_kdl_kinematics_plugin SHARED - src/kdl_kinematics_plugin.cpp src/chainiksolver_vel_mimic_svd.cpp) - --ament_target_dependencies( -+target_link_libraries( - moveit_kdl_kinematics_plugin -- rclcpp -- random_numbers -- pluginlib -- moveit_core -- moveit_msgs -- orocos_kdl -- kdl_parser -- tf2_kdl -- EIGEN3) -- --target_link_libraries(moveit_kdl_kinematics_plugin kdl_kinematics_parameters) -+ kdl_kinematics_parameters -+ rclcpp::rclcpp -+ random_numbers::random_numbers -+ pluginlib::pluginlib -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ ${orocos_kdl_LIBRARIES} -+ kdl_parser::kdl_parser -+ tf2_kdl::tf2_kdl -+ Eigen3::Eigen) - - # prevent pluginlib from using boost - target_compile_definitions(moveit_kdl_kinematics_plugin -diff --git a/srv_kinematics_plugin/CMakeLists.txt b/srv_kinematics_plugin/CMakeLists.txt -index 6614010e33..525f76e28f 100644 ---- a/srv_kinematics_plugin/CMakeLists.txt -+++ b/srv_kinematics_plugin/CMakeLists.txt -@@ -7,9 +7,8 @@ add_library(moveit_srv_kinematics_plugin SHARED src/srv_kinematics_plugin.cpp) - set_target_properties(moveit_srv_kinematics_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") - --ament_target_dependencies(moveit_srv_kinematics_plugin rclcpp moveit_core -- moveit_msgs) -- --target_link_libraries(moveit_srv_kinematics_plugin srv_kinematics_parameters) -+target_link_libraries( -+ moveit_srv_kinematics_plugin srv_kinematics_parameters rclcpp::rclcpp -+ moveit_core::moveit_core ${moveit_msgs_TARGETS}) - - install(DIRECTORY include/ DESTINATION include/moveit_kinematics) -diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt -index 2da6c7aa69..61728310e7 100644 ---- a/test/CMakeLists.txt -+++ b/test/CMakeLists.txt -@@ -8,9 +8,9 @@ if(BUILD_TESTING) - find_package(moveit_ros_planning REQUIRED) - - ament_add_gtest_executable(test_kinematics_plugin test_kinematics_plugin.cpp) -- ament_target_dependencies(test_kinematics_plugin moveit_ros_planning -- pluginlib) -- target_link_libraries(test_kinematics_plugin moveit_kdl_kinematics_plugin) -+ target_link_libraries( -+ test_kinematics_plugin moveit_kdl_kinematics_plugin -+ moveit_ros_planning::moveit_ros_planning pluginlib::pluginlib) - - if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "MSVC") - target_compile_options(test_kinematics_plugin -@@ -44,8 +44,10 @@ if(BUILD_TESTING) - - # Benchmarking program for cached_ik_kinematics - add_executable(benchmark_ik benchmark_ik.cpp) -- ament_target_dependencies(benchmark_ik rclcpp moveit_core moveit_ros_planning -- Boost) -+ target_link_libraries( -+ benchmark_ik rclcpp::rclcpp moveit_core::moveit_core -+ moveit_ros_planning::moveit_ros_planning Boost::headers -+ Boost::program_options) - - install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) - install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake -index adca88d..cbe96e2 100644 ---- a/ConfigExtras.cmake -+++ b/ConfigExtras.cmake -@@ -1,3 +1,3 @@ - # Extras module needed for dependencies to find boost components - --find_package(Boost REQUIRED program_options system) -+find_package(Boost REQUIRED program_options) diff --git a/patch/ros-lyrical-moveit-planners-chomp.patch b/patch/ros-lyrical-moveit-planners-chomp.patch deleted file mode 100644 index 887d62f..0000000 --- a/patch/ros-lyrical-moveit-planners-chomp.patch +++ /dev/null @@ -1,32 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -22,13 +22,23 @@ - src/chomp_planning_context.cpp) - set_target_properties(moveit_chomp_interface - PROPERTIES VERSION "${moveit_planners_chomp_VERSION}") --ament_target_dependencies(moveit_chomp_interface -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ moveit_chomp_interface -+ moveit_core::moveit_core -+ chomp_motion_planner::chomp_motion_planner -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rsl::rsl) - - add_library(moveit_chomp_planner_plugin SHARED src/chomp_plugin.cpp) --ament_target_dependencies(moveit_chomp_planner_plugin -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(moveit_chomp_planner_plugin moveit_chomp_interface) -+target_link_libraries( -+ moveit_chomp_planner_plugin -+ moveit_chomp_interface -+ moveit_core::moveit_core -+ chomp_motion_planner::chomp_motion_planner -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rsl::rsl) - - install( - TARGETS moveit_chomp_interface moveit_chomp_planner_plugin diff --git a/patch/ros-lyrical-moveit-planners-ompl.patch b/patch/ros-lyrical-moveit-planners-ompl.patch deleted file mode 100644 index 6f0e8a0..0000000 --- a/patch/ros-lyrical-moveit-planners-ompl.patch +++ /dev/null @@ -1,168 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 91329a1e8..5b4c45bc3 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -8,7 +8,6 @@ moveit_package() - find_package( - Boost - REQUIRED -- system - filesystem - date_time - thread -@@ -31,8 +31,14 @@ include_directories(SYSTEM ${Boost_INCLUDE_DIRS} ${OMPL_INCLUDE_DIRS}) - - add_subdirectory(ompl_interface) - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_planners_ompl::moveit_planners_ompl to link all libraries at once. -+add_library(moveit_planners_ompl INTERFACE) -+target_link_libraries(moveit_planners_ompl INTERFACE moveit_ompl_interface -+ moveit_ompl_planner_plugin) -+ - install( -- TARGETS moveit_ompl_interface moveit_ompl_planner_plugin -+ TARGETS moveit_planners_ompl moveit_ompl_interface moveit_ompl_planner_plugin - EXPORT moveit_planners_omplTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -diff --git a/ompl_interface/CMakeLists.txt b/ompl_interface/CMakeLists.txt -index 90fe14080..cc1c1017e 100644 ---- a/ompl_interface/CMakeLists.txt -+++ b/ompl_interface/CMakeLists.txt -@@ -29,17 +29,17 @@ if(APPLE) - target_link_directories(moveit_ompl_interface PUBLIC ${OMPL_LIBRARY_DIRS}) - endif() - --ament_target_dependencies( -+target_link_libraries( - moveit_ompl_interface -- moveit_core -- moveit_msgs -- moveit_ros_planning -- rclcpp -- pluginlib -- tf2_eigen -- tf2_ros -- OMPL -- Boost) -+ PUBLIC ompl::ompl -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ rclcpp::rclcpp -+ pluginlib::pluginlib -+ tf2_eigen::tf2_eigen -+ tf2_ros::tf2_ros -+ Boost::headers) - set_target_properties( - moveit_ompl_interface PROPERTIES COMPILE_FLAGS - "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") -@@ -57,16 +57,16 @@ set_target_properties(moveit_generate_state_database - add_library(moveit_ompl_planner_plugin SHARED src/ompl_planner_manager.cpp) - set_target_properties(moveit_ompl_planner_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -+target_link_libraries( - moveit_ompl_planner_plugin -- moveit_core -- moveit_ros_planning -- rclcpp -- pluginlib -- tf2_ros -- OMPL -- Boost) --target_link_libraries(moveit_ompl_planner_plugin moveit_ompl_interface) -+ moveit_ompl_interface -+ ompl::ompl -+ moveit_core::moveit_core -+ moveit_ros_planning::moveit_ros_planning -+ rclcpp::rclcpp -+ pluginlib::pluginlib -+ tf2_ros::tf2_ros -+ Boost::headers) - - install(TARGETS moveit_generate_state_database - RUNTIME DESTINATION lib/${PROJECT_NAME}) -@@ -77,24 +77,24 @@ if(BUILD_TESTING) - find_package(Eigen3 REQUIRED) - - ament_add_gtest(test_state_space test/test_state_space.cpp) -- ament_target_dependencies(test_state_space moveit_core OMPL Boost Eigen3) -- target_link_libraries(test_state_space moveit_ompl_interface) -+ target_link_libraries(test_state_space moveit_ompl_interface ompl::ompl -+ moveit_core::moveit_core Boost::headers Eigen3::Eigen) - set_target_properties(test_state_space PROPERTIES LINK_FLAGS - "${OpenMP_CXX_FLAGS}") - - ament_add_gtest(test_state_validity_checker - test/test_state_validity_checker.cpp) -- ament_target_dependencies(test_state_validity_checker moveit_core OMPL Boost -- Eigen3) -- target_link_libraries(test_state_validity_checker moveit_ompl_interface) -+ target_link_libraries( -+ test_state_validity_checker moveit_ompl_interface ompl::ompl -+ moveit_core::moveit_core Boost::headers Eigen3::Eigen) - set_target_properties(test_state_validity_checker - PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}") - - ament_add_gtest(test_planning_context_manager - test/test_planning_context_manager.cpp) -- ament_target_dependencies(test_planning_context_manager moveit_core tf2_eigen -- OMPL Boost Eigen3) -- target_link_libraries(test_planning_context_manager moveit_ompl_interface) -+ target_link_libraries( -+ test_planning_context_manager moveit_ompl_interface -+ moveit_core::moveit_core tf2_eigen::tf2_eigen Boost::headers Eigen3::Eigen) - - # Disabling flaky test TODO (vatanaksoytezer): Uncomment once this is fixed - # ament_add_gtest(test_ompl_constraints test/test_ompl_constraints.cpp) -@@ -103,27 +103,24 @@ if(BUILD_TESTING) - - ament_add_gtest(test_constrained_planning_state_space - test/test_constrained_planning_state_space.cpp) -- ament_target_dependencies(test_constrained_planning_state_space moveit_core -- OMPL Boost Eigen3) -- target_link_libraries(test_constrained_planning_state_space -- moveit_ompl_interface) -+ target_link_libraries( -+ test_constrained_planning_state_space moveit_ompl_interface ompl::ompl -+ moveit_core::moveit_core Boost::headers Eigen3::Eigen) - set_target_properties(test_constrained_planning_state_space - PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}") - - ament_add_gtest(test_constrained_state_validity_checker - test/test_constrained_state_validity_checker.cpp) -- ament_target_dependencies(test_constrained_state_validity_checker moveit_core -- OMPL Boost Eigen3) -- target_link_libraries(test_constrained_state_validity_checker -- moveit_ompl_interface) -+ target_link_libraries( -+ test_constrained_state_validity_checker moveit_ompl_interface ompl::ompl -+ moveit_core::moveit_core Boost::headers Eigen3::Eigen) - set_target_properties(test_constrained_state_validity_checker - PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}") - - ament_add_gtest(test_threadsafe_state_storage - test/test_threadsafe_state_storage.cpp) -- ament_target_dependencies(test_threadsafe_state_storage moveit_core OMPL -- Boost Eigen3) -- target_link_libraries(test_threadsafe_state_storage moveit_ompl_interface) -+ target_link_libraries(test_threadsafe_state_storage moveit_ompl_interface -+ moveit_core::moveit_core Boost::headers Eigen3::Eigen) - set_target_properties(test_threadsafe_state_storage - PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}") - -diff --git a/ompl_interface/src/planning_context_manager.cpp b/ompl_interface/src/planning_context_manager.cpp -index 8da1bb4c7..b90b070b2 100644 ---- a/ompl_interface/src/planning_context_manager.cpp -+++ b/ompl_interface/src/planning_context_manager.cpp -@@ -353,7 +353,7 @@ PlanningContextManager::getPlanningContext(const planning_interface::PlannerConf - { - for (const ModelBasedPlanningContextPtr& cached_context : cached_contexts->second) - { -- if (cached_context.unique()) -+ if (cached_context.use_count() == 1) - { - RCLCPP_DEBUG(getLogger(), "Reusing cached planning context"); - context = cached_context; diff --git a/patch/ros-lyrical-moveit-planners-stomp.patch b/patch/ros-lyrical-moveit-planners-stomp.patch deleted file mode 100644 index 1fd83ae..0000000 --- a/patch/ros-lyrical-moveit-planners-stomp.patch +++ /dev/null @@ -1,41 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 955f227d87..d5d828caf8 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -22,10 +22,15 @@ include_directories(include) - # Planner Plugin - add_library(stomp_moveit_plugin SHARED src/stomp_moveit_planner_plugin.cpp - src/stomp_moveit_planning_context.cpp) --ament_target_dependencies(stomp_moveit_plugin moveit_core std_msgs tf2_eigen -- visualization_msgs) --target_link_libraries(stomp_moveit_plugin stomp::stomp stomp_moveit_parameters -- rsl::rsl) -+target_link_libraries( -+ stomp_moveit_plugin -+ stomp::stomp -+ stomp_moveit_parameters -+ rsl::rsl -+ moveit_core::moveit_core -+ ${std_msgs_TARGETS} -+ tf2_eigen::tf2_eigen -+ ${visualization_msgs_TARGETS}) - - pluginlib_export_plugin_description_file(moveit_core - stomp_moveit_plugin_description.xml) -diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt -index 3f83ea5a76..95b69c2650 100644 ---- a/test/CMakeLists.txt -+++ b/test/CMakeLists.txt -@@ -1,8 +1,8 @@ - find_package(ament_cmake_gtest REQUIRED) - ament_add_gtest(test_noise_generator test_noise_generator.cpp) --ament_target_dependencies(test_noise_generator tf2_eigen) --target_link_libraries(test_noise_generator stomp::stomp rsl::rsl) -+target_link_libraries(test_noise_generator stomp::stomp rsl::rsl -+ tf2_eigen::tf2_eigen) - - ament_add_gtest(test_cost_functions test_cost_functions.cpp) --ament_target_dependencies(test_cost_functions moveit_core) --target_link_libraries(test_cost_functions stomp::stomp rsl::rsl) -+target_link_libraries(test_cost_functions stomp::stomp rsl::rsl -+ moveit_core::moveit_core) diff --git a/patch/ros-lyrical-moveit-py.patch b/patch/ros-lyrical-moveit-py.patch deleted file mode 100644 index 1489a6a..0000000 --- a/patch/ros-lyrical-moveit-py.patch +++ /dev/null @@ -1,15 +0,0 @@ -diff --git a/src/moveit/moveit_py_utils/CMakeLists.txt b/src/moveit/moveit_py_utils/CMakeLists.txt ---- a/src/moveit/moveit_py_utils/CMakeLists.txt -+++ b/src/moveit/moveit_py_utils/CMakeLists.txt -@@ -6,8 +6,9 @@ - set_target_properties(moveit_py_utils PROPERTIES VERSION - "${${PROJECT_NAME}_VERSION}") - --ament_target_dependencies(moveit_py_utils rclcpp moveit_msgs geometry_msgs -- pybind11) -+target_link_libraries( -+ moveit_py_utils Python3::Module rclcpp::rclcpp ${moveit_msgs_TARGETS} -+ ${geometry_msgs_TARGETS} pybind11::pybind11) - - install( - TARGETS moveit_py_utils diff --git a/patch/ros-lyrical-moveit-resources-prbt-ikfast-manipulator-plugin.patch b/patch/ros-lyrical-moveit-resources-prbt-ikfast-manipulator-plugin.patch deleted file mode 100644 index b182907..0000000 --- a/patch/ros-lyrical-moveit-resources-prbt-ikfast-manipulator-plugin.patch +++ /dev/null @@ -1,32 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index cc451f3d65..48665164c7 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -43,18 +43,16 @@ if(NOT WIN32) - target_compile_options(prbt_manipulator_moveit_ikfast_plugin - PRIVATE -Wno-unused-variable) - endif() --ament_target_dependencies( -+target_link_libraries( - prbt_manipulator_moveit_ikfast_plugin -- moveit_core -- pluginlib -- rclcpp -- tf2_kdl -- tf2_eigen -- tf2_eigen_kdl -- tf2_geometry_msgs) -- --target_link_libraries(prbt_manipulator_moveit_ikfast_plugin -- prbt_ikfast_kinematics_parameters) -+ prbt_ikfast_kinematics_parameters -+ moveit_core::moveit_core -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ tf2_kdl::tf2_kdl -+ tf2_eigen::tf2_eigen -+ tf2_eigen_kdl::tf2_eigen_kdl -+ ${tf2_geometry_msgs_TARGETS}) - - pluginlib_export_plugin_description_file( - moveit_core prbt_manipulator_moveit_ikfast_plugin_description.xml) diff --git a/patch/ros-lyrical-moveit-ros-benchmarks.patch b/patch/ros-lyrical-moveit-ros-benchmarks.patch index 6a9b401..1ddabab 100644 --- a/patch/ros-lyrical-moveit-ros-benchmarks.patch +++ b/patch/ros-lyrical-moveit-ros-benchmarks.patch @@ -1,35 +1,8 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 58538a70b..3d0a60468 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -34,11 +34,19 @@ set_target_properties(moveit_ros_benchmarks - if(WIN32) - set(EXTRA_LIB ws2_32.lib) - endif() --ament_target_dependencies(moveit_ros_benchmarks ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(moveit_ros_benchmarks ${EXTRA_LIB}) -+target_link_libraries( -+ moveit_ros_benchmarks -+ rclcpp::rclcpp -+ Boost::filesystem -+ Boost::headers -+ tf2_eigen::tf2_eigen -+ moveit_core::moveit_core -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_warehouse::moveit_ros_warehouse -+ pluginlib::pluginlib -+ ${EXTRA_LIB}) - - add_executable(moveit_run_benchmark src/RunBenchmark.cpp) --ament_target_dependencies(moveit_run_benchmark ${THIS_PACKAGE_INCLUDE_DEPENDS}) - target_link_libraries(moveit_run_benchmark moveit_ros_benchmarks) - - install( diff --git a/src/BenchmarkExecutor.cpp b/src/BenchmarkExecutor.cpp -index e43884259..a24d6a2ce 100644 +index 3461971..1c6ebf5 100644 --- a/src/BenchmarkExecutor.cpp +++ b/src/BenchmarkExecutor.cpp -@@ -62,6 +62,7 @@ using boost_progress_display = boost::progress_display; +@@ -61,6 +61,7 @@ using boost_progress_display = boost::progress_display; #include #include #include diff --git a/patch/ros-lyrical-moveit-ros-control-interface.patch b/patch/ros-lyrical-moveit-ros-control-interface.patch deleted file mode 100644 index 1fc515f..0000000 --- a/patch/ros-lyrical-moveit-ros-control-interface.patch +++ /dev/null @@ -1,101 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 433f968200..a5f8c7ba29 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -18,14 +18,23 @@ moveit_package() - # Finds Boost Components - include(ConfigExtras.cmake) - -+set(CONTROL_INTERFACE_LINK_DEPS -+ rclcpp_action::rclcpp_action -+ ${controller_manager_msgs_TARGETS} -+ moveit_core::moveit_core -+ moveit_simple_controller_manager::moveit_simple_controller_manager -+ pluginlib::pluginlib -+ ${trajectory_msgs_TARGETS} -+ Boost::headers) -+ - add_library(moveit_ros_control_interface_plugin SHARED - src/controller_manager_plugin.cpp) - set_target_properties( - moveit_ros_control_interface_plugin - PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}") - target_include_directories(moveit_ros_control_interface_plugin PRIVATE include) --ament_target_dependencies(moveit_ros_control_interface_plugin -- ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) -+target_link_libraries(moveit_ros_control_interface_plugin -+ ${CONTROL_INTERFACE_LINK_DEPS}) - - add_library(moveit_ros_control_interface_trajectory_plugin SHARED - src/joint_trajectory_controller_plugin.cpp) -@@ -34,8 +43,8 @@ set_target_properties( - PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}") - target_include_directories(moveit_ros_control_interface_trajectory_plugin - PRIVATE include) --ament_target_dependencies(moveit_ros_control_interface_trajectory_plugin -- ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) -+target_link_libraries(moveit_ros_control_interface_trajectory_plugin -+ ${CONTROL_INTERFACE_LINK_DEPS}) - - add_library(moveit_ros_control_interface_gripper_plugin SHARED - src/gripper_command_controller_plugin.cpp) -@@ -44,8 +53,8 @@ set_target_properties( - PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}") - target_include_directories(moveit_ros_control_interface_gripper_plugin - PRIVATE include) --ament_target_dependencies(moveit_ros_control_interface_gripper_plugin -- ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) -+target_link_libraries(moveit_ros_control_interface_gripper_plugin -+ ${CONTROL_INTERFACE_LINK_DEPS}) - - add_library(moveit_ros_control_interface_parallel_gripper_plugin SHARED - src/parallel_gripper_command_controller_plugin.cpp) -@@ -54,8 +63,8 @@ set_target_properties( - PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}") - target_include_directories(moveit_ros_control_interface_parallel_gripper_plugin - PRIVATE include) --ament_target_dependencies(moveit_ros_control_interface_parallel_gripper_plugin -- ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) -+target_link_libraries(moveit_ros_control_interface_parallel_gripper_plugin -+ ${CONTROL_INTERFACE_LINK_DEPS}) - - add_library(moveit_ros_control_interface_empty_plugin SHARED - src/empty_controller_plugin.cpp) -@@ -64,8 +73,8 @@ set_target_properties( - PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}") - target_include_directories(moveit_ros_control_interface_empty_plugin - PRIVATE include) --ament_target_dependencies(moveit_ros_control_interface_empty_plugin -- ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) -+target_link_libraries(moveit_ros_control_interface_empty_plugin -+ ${CONTROL_INTERFACE_LINK_DEPS}) - - if(BUILD_TESTING) - add_subdirectory(test) -@@ -82,9 +91,16 @@ set(TARGET_LIBRARIES - moveit_ros_control_interface_parallel_gripper_plugin - moveit_ros_control_interface_empty_plugin) - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_ros_control_interface::moveit_ros_control_interface to link all -+# libraries at once. -+add_library(moveit_ros_control_interface INTERFACE) -+target_link_libraries(moveit_ros_control_interface -+ INTERFACE ${TARGET_LIBRARIES}) -+ - # Mark executables and/or libraries for installation - install( -- TARGETS ${TARGET_LIBRARIES} -+ TARGETS moveit_ros_control_interface ${TARGET_LIBRARIES} - EXPORT moveit_ros_control_interfaceTargets - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib -diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake -index 01c3760..53dcf07 100644 ---- a/ConfigExtras.cmake -+++ b/ConfigExtras.cmake -@@ -1,3 +1,3 @@ - # Extras module needed for dependencies to find boost components - --find_package(Boost REQUIRED COMPONENTS system thread) -+find_package(Boost REQUIRED COMPONENTS thread) diff --git a/patch/ros-lyrical-moveit-ros-move-group.patch b/patch/ros-lyrical-moveit-ros-move-group.patch deleted file mode 100644 index 3a8e323..0000000 --- a/patch/ros-lyrical-moveit-ros-move-group.patch +++ /dev/null @@ -1,116 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 86bca8785d..e29a8aa778 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -34,8 +34,19 @@ target_include_directories( - $) - set_target_properties(moveit_move_group_capabilities_base - PROPERTIES VERSION "${moveit_ros_move_group_VERSION}") --ament_target_dependencies(moveit_move_group_capabilities_base -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ moveit_move_group_capabilities_base -+ fmt::fmt -+ moveit_core::moveit_core -+ moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ ${std_srvs_TARGETS} -+ tf2::tf2 -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_ros::tf2_ros) - - add_library( - moveit_move_group_default_capabilities SHARED -@@ -60,27 +71,66 @@ target_include_directories( - $) - set_target_properties(moveit_move_group_default_capabilities - PROPERTIES VERSION "${moveit_ros_move_group_VERSION}") --ament_target_dependencies(moveit_move_group_default_capabilities -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(moveit_move_group_default_capabilities -- moveit_move_group_capabilities_base) -+target_link_libraries( -+ moveit_move_group_default_capabilities -+ moveit_move_group_capabilities_base -+ fmt::fmt -+ moveit_core::moveit_core -+ moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ ${std_srvs_TARGETS} -+ tf2::tf2 -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_ros::tf2_ros) - - add_executable(move_group src/move_group.cpp) - target_include_directories(move_group PUBLIC include) --ament_target_dependencies(move_group ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) --target_link_libraries(move_group moveit_move_group_capabilities_base) -+target_link_libraries( -+ move_group -+ moveit_move_group_capabilities_base -+ fmt::fmt -+ moveit_core::moveit_core -+ moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ ${std_srvs_TARGETS} -+ tf2::tf2 -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_ros::tf2_ros -+ Boost::headers) - - add_executable(list_move_group_capabilities src/list_capabilities.cpp) --ament_target_dependencies(list_move_group_capabilities -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(list_move_group_capabilities -- moveit_move_group_capabilities_base fmt::fmt) -+target_link_libraries( -+ list_move_group_capabilities -+ moveit_move_group_capabilities_base -+ fmt::fmt -+ moveit_core::moveit_core -+ moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ ${std_srvs_TARGETS} -+ tf2::tf2 -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_ros::tf2_ros) - - install(TARGETS move_group list_move_group_capabilities - RUNTIME DESTINATION lib/moveit_ros_move_group) - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_ros_move_group::moveit_ros_move_group to link all libraries at once. -+add_library(moveit_ros_move_group INTERFACE) -+target_link_libraries(moveit_ros_move_group -+ INTERFACE moveit_move_group_capabilities_base) -+ - install( -- TARGETS moveit_move_group_capabilities_base -+ TARGETS moveit_ros_move_group moveit_move_group_capabilities_base - EXPORT moveit_ros_move_groupTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake -index 30817cf..66d025a 100644 ---- a/ConfigExtras.cmake -+++ b/ConfigExtras.cmake -@@ -3,7 +3,6 @@ find_package( - find_package( - Boost - REQUIRED -- system - filesystem - date_time - program_options diff --git a/patch/ros-lyrical-moveit-ros-occupancy-map-monitor.patch b/patch/ros-lyrical-moveit-ros-occupancy-map-monitor.patch deleted file mode 100644 index a56df0f..0000000 --- a/patch/ros-lyrical-moveit-ros-occupancy-map-monitor.patch +++ /dev/null @@ -1,53 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index b8dd549bc..ec355bf1d 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -13,11 +13,11 @@ find_package(moveit_core REQUIRED) - find_package(moveit_msgs REQUIRED) - find_package(pluginlib REQUIRED) - find_package(Eigen3 REQUIRED) --# Enforce system version liboctomap-dev --# https://github.com/moveit/moveit2/issues/2862 --find_package(octomap 1.9.7...<1.10.0 REQUIRED) -+find_package(octomap REQUIRED) - find_package(geometric_shapes REQUIRED) - find_package(tf2_ros REQUIRED) -+find_package(rclcpp REQUIRED) -+find_package(Boost REQUIRED) - - include_directories(include) - include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS} ${X11_INCLUDE_DIR}) -@@ -38,14 +38,27 @@ add_library( - set_target_properties( - moveit_ros_occupancy_map_monitor - PROPERTIES VERSION "${moveit_ros_occupancy_map_monitor_VERSION}") --ament_target_dependencies(moveit_ros_occupancy_map_monitor -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ moveit_ros_occupancy_map_monitor -+ rclcpp::rclcpp -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ pluginlib::pluginlib -+ octomap -+ geometric_shapes::geometric_shapes -+ Boost::headers) - - add_executable(moveit_ros_occupancy_map_server src/occupancy_map_server.cpp) --ament_target_dependencies(moveit_ros_occupancy_map_server PUBLIC -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(moveit_ros_occupancy_map_server -- PRIVATE moveit_ros_occupancy_map_monitor) -+target_link_libraries( -+ moveit_ros_occupancy_map_server -+ PRIVATE moveit_ros_occupancy_map_monitor -+ rclcpp::rclcpp -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ pluginlib::pluginlib -+ octomap -+ geometric_shapes::geometric_shapes -+ Boost::headers) - - install( - TARGETS moveit_ros_occupancy_map_monitor diff --git a/patch/ros-lyrical-moveit-ros-perception.patch b/patch/ros-lyrical-moveit-ros-perception.patch deleted file mode 100644 index 0991386..0000000 --- a/patch/ros-lyrical-moveit-ros-perception.patch +++ /dev/null @@ -1,241 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 22751c9219..761d53c841 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -53,6 +53,9 @@ find_package(sensor_msgs REQUIRED) - find_package(moveit_msgs REQUIRED) - find_package(moveit_ros_occupancy_map_monitor REQUIRED) - find_package(Eigen3 REQUIRED) -+find_package(geometric_shapes REQUIRED) -+find_package(geometry_msgs REQUIRED) -+find_package(visualization_msgs REQUIRED) - find_package(OpenMP REQUIRED) - find_package(OpenCV) - -@@ -104,8 +107,13 @@ endif() - - add_subdirectory(semantic_world) - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_ros_perception::moveit_ros_perception to link all libraries at once. -+add_library(moveit_ros_perception INTERFACE) -+target_link_libraries(moveit_ros_perception INTERFACE ${THIS_PACKAGE_LIBRARIES}) -+ - install( -- TARGETS ${THIS_PACKAGE_LIBRARIES} -+ TARGETS moveit_ros_perception ${THIS_PACKAGE_LIBRARIES} - EXPORT moveit_ros_perceptionTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -diff --git a/depth_image_octomap_updater/CMakeLists.txt b/depth_image_octomap_updater/CMakeLists.txt -index 752666a5dc..6500b8aff4 100644 ---- a/depth_image_octomap_updater/CMakeLists.txt -+++ b/depth_image_octomap_updater/CMakeLists.txt -@@ -2,34 +2,33 @@ add_library(moveit_depth_image_octomap_updater_core SHARED - src/depth_image_octomap_updater.cpp) - set_target_properties(moveit_depth_image_octomap_updater_core - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -+target_link_libraries( - moveit_depth_image_octomap_updater_core -- rclcpp -- moveit_core -- image_transport -- sensor_msgs -- tf2 -- tf2_geometry_msgs -- geometric_shapes -- moveit_ros_occupancy_map_monitor) --target_link_libraries(moveit_depth_image_octomap_updater_core -- moveit_lazy_free_space_updater moveit_mesh_filter) -+ moveit_lazy_free_space_updater -+ moveit_mesh_filter -+ rclcpp::rclcpp -+ moveit_core::moveit_core -+ image_transport::image_transport -+ ${sensor_msgs_TARGETS} -+ tf2::tf2 -+ ${tf2_geometry_msgs_TARGETS} -+ geometric_shapes::geometric_shapes -+ moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor) - - add_library(moveit_depth_image_octomap_updater SHARED src/updater_plugin.cpp) - set_target_properties(moveit_depth_image_octomap_updater - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -+target_link_libraries( - moveit_depth_image_octomap_updater -- rclcpp -- moveit_core -- image_transport -- sensor_msgs -- tf2 -- tf2_geometry_msgs -- geometric_shapes -- moveit_ros_occupancy_map_monitor -- pluginlib) --target_link_libraries(moveit_depth_image_octomap_updater -- moveit_depth_image_octomap_updater_core) -+ moveit_depth_image_octomap_updater_core -+ rclcpp::rclcpp -+ moveit_core::moveit_core -+ image_transport::image_transport -+ ${sensor_msgs_TARGETS} -+ tf2::tf2 -+ ${tf2_geometry_msgs_TARGETS} -+ geometric_shapes::geometric_shapes -+ moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor -+ pluginlib::pluginlib) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_perception) -diff --git a/lazy_free_space_updater/CMakeLists.txt b/lazy_free_space_updater/CMakeLists.txt -index ce2ce81c29..e7ae903d44 100644 ---- a/lazy_free_space_updater/CMakeLists.txt -+++ b/lazy_free_space_updater/CMakeLists.txt -@@ -10,7 +10,9 @@ set_target_properties(moveit_lazy_free_space_updater - if(APPLE) - target_link_libraries(moveit_lazy_free_space_updater OpenMP::OpenMP_CXX) - endif() --ament_target_dependencies(moveit_lazy_free_space_updater rclcpp -- moveit_ros_occupancy_map_monitor sensor_msgs) -+target_link_libraries( -+ moveit_lazy_free_space_updater rclcpp::rclcpp -+ moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor -+ ${sensor_msgs_TARGETS}) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_perception) -diff --git a/mesh_filter/CMakeLists.txt b/mesh_filter/CMakeLists.txt -index ee1844df52..7697be3301 100644 ---- a/mesh_filter/CMakeLists.txt -+++ b/mesh_filter/CMakeLists.txt -@@ -8,10 +8,14 @@ target_include_directories( - moveit_mesh_filter PUBLIC $) - set_target_properties(moveit_mesh_filter - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_mesh_filter rclcpp moveit_core -- geometric_shapes Eigen3) -- --target_link_libraries(moveit_mesh_filter ${GL_LIBS} ${SYSTEM_GL_LIBRARIES}) -+target_link_libraries( -+ moveit_mesh_filter -+ ${GL_LIBS} -+ ${SYSTEM_GL_LIBRARIES} -+ rclcpp::rclcpp -+ moveit_core::moveit_core -+ geometric_shapes::geometric_shapes -+ Eigen3::Eigen) - - # TODO: Port to ROS2 add_library(moveit_depth_self_filter SHARED - # src/depth_self_filter_nodelet.cpp src/transform_provider.cpp ) -diff --git a/point_containment_filter/CMakeLists.txt b/point_containment_filter/CMakeLists.txt -index f13a319e1e..f3963c148f 100644 ---- a/point_containment_filter/CMakeLists.txt -+++ b/point_containment_filter/CMakeLists.txt -@@ -6,7 +6,8 @@ set_target_properties( - PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") - set_target_properties(moveit_point_containment_filter - PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}") --ament_target_dependencies(moveit_point_containment_filter rclcpp sensor_msgs -- geometric_shapes moveit_core) -+target_link_libraries( -+ moveit_point_containment_filter rclcpp::rclcpp ${sensor_msgs_TARGETS} -+ geometric_shapes::geometric_shapes moveit_core::moveit_core) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_perception) -diff --git a/pointcloud_octomap_updater/CMakeLists.txt b/pointcloud_octomap_updater/CMakeLists.txt -index 6b928b506d..83f5309add 100644 ---- a/pointcloud_octomap_updater/CMakeLists.txt -+++ b/pointcloud_octomap_updater/CMakeLists.txt -@@ -2,18 +2,17 @@ add_library(moveit_pointcloud_octomap_updater_core SHARED - src/pointcloud_octomap_updater.cpp) - set_target_properties(moveit_pointcloud_octomap_updater_core - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -+target_link_libraries( - moveit_pointcloud_octomap_updater_core -- rclcpp -- moveit_core -- tf2_ros -- message_filters -- sensor_msgs -- moveit_ros_occupancy_map_monitor -- tf2_geometry_msgs -- tf2) --target_link_libraries(moveit_pointcloud_octomap_updater_core -- moveit_point_containment_filter) -+ moveit_point_containment_filter -+ rclcpp::rclcpp -+ moveit_core::moveit_core -+ tf2_ros::tf2_ros -+ message_filters::message_filters -+ ${sensor_msgs_TARGETS} -+ moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor -+ ${tf2_geometry_msgs_TARGETS} -+ tf2::tf2) - set_target_properties( - moveit_pointcloud_octomap_updater_core - PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") -@@ -24,18 +23,17 @@ set_target_properties( - add_library(moveit_pointcloud_octomap_updater SHARED src/plugin_init.cpp) - set_target_properties(moveit_pointcloud_octomap_updater - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -+target_link_libraries( - moveit_pointcloud_octomap_updater -- rclcpp -- moveit_core -- tf2_ros -- message_filters -- sensor_msgs -- moveit_ros_occupancy_map_monitor -- tf2_geometry_msgs -- tf2 -- pluginlib) --target_link_libraries(moveit_pointcloud_octomap_updater -- moveit_pointcloud_octomap_updater_core) -+ moveit_pointcloud_octomap_updater_core -+ rclcpp::rclcpp -+ moveit_core::moveit_core -+ tf2_ros::tf2_ros -+ message_filters::message_filters -+ ${sensor_msgs_TARGETS} -+ moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor -+ ${tf2_geometry_msgs_TARGETS} -+ tf2::tf2 -+ pluginlib::pluginlib) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_perception) -diff --git a/semantic_world/CMakeLists.txt b/semantic_world/CMakeLists.txt ---- a/semantic_world/CMakeLists.txt -+++ b/semantic_world/CMakeLists.txt -@@ -1,18 +1,18 @@ - add_library(moveit_semantic_world SHARED src/semantic_world.cpp) - set_target_properties(moveit_semantic_world - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -+target_link_libraries( - moveit_semantic_world -- PUBLIC -- rclcpp -- moveit_core -- object_recognition_msgs -- visualization_msgs -- geometry_msgs -- geometric_shapes -- moveit_msgs -- tf2_eigen -- Eigen3 -- Boost -+ PUBLIC rclcpp::rclcpp -+ moveit_core::moveit_core -+ ${object_recognition_msgs_TARGETS} -+ ${visualization_msgs_TARGETS} -+ ${geometry_msgs_TARGETS} -+ geometric_shapes::geometric_shapes -+ ${moveit_msgs_TARGETS} -+ tf2_eigen::tf2_eigen -+ Eigen3::Eigen -+ Boost::headers -+ ${OpenCV_LIBS}) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_perception) diff --git a/patch/ros-lyrical-moveit-ros-planning-interface.patch b/patch/ros-lyrical-moveit-ros-planning-interface.patch deleted file mode 100644 index 070f945..0000000 --- a/patch/ros-lyrical-moveit-ros-planning-interface.patch +++ /dev/null @@ -1,107 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 47470e0a76..352628e9f1 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -11,6 +11,7 @@ find_package(moveit_core REQUIRED) - find_package(moveit_ros_planning REQUIRED) - find_package(moveit_ros_warehouse REQUIRED) - find_package(moveit_ros_move_group REQUIRED) -+find_package(moveit_ros_occupancy_map_monitor REQUIRED) - find_package(geometry_msgs REQUIRED) - find_package(tf2 REQUIRED) - find_package(tf2_eigen REQUIRED) -@@ -36,6 +37,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS - moveit_ros_planning - moveit_ros_warehouse - moveit_ros_move_group -+ moveit_ros_occupancy_map_monitor - tf2 - tf2_eigen - tf2_geometry_msgs -@@ -74,8 +76,15 @@ if(BUILD_TESTING) - - endif() - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_ros_planning_interface::moveit_ros_planning_interface to link all -+# libraries at once. -+add_library(moveit_ros_planning_interface INTERFACE) -+target_link_libraries(moveit_ros_planning_interface -+ INTERFACE ${THIS_PACKAGE_LIBRARIES}) -+ - install( -- TARGETS ${THIS_PACKAGE_LIBRARIES} -+ TARGETS moveit_ros_planning_interface ${THIS_PACKAGE_LIBRARIES} - EXPORT moveit_ros_planning_interfaceTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -diff --git a/common_planning_interface_objects/CMakeLists.txt b/common_planning_interface_objects/CMakeLists.txt -index eb8715926b..8473c56c5b 100644 ---- a/common_planning_interface_objects/CMakeLists.txt -+++ b/common_planning_interface_objects/CMakeLists.txt -@@ -2,7 +2,7 @@ add_library(moveit_common_planning_interface_objects SHARED - src/common_objects.cpp) - set_target_properties(moveit_common_planning_interface_objects - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_common_planning_interface_objects rclcpp -- moveit_ros_planning tf2_ros) -+target_link_libraries(moveit_common_planning_interface_objects rclcpp::rclcpp -+ moveit_ros_planning::moveit_ros_planning tf2_ros::tf2_ros) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning_interface) -diff --git a/move_group_interface/CMakeLists.txt b/move_group_interface/CMakeLists.txt -index 04367e9a7b..2744c454fc 100644 ---- a/move_group_interface/CMakeLists.txt -+++ b/move_group_interface/CMakeLists.txt -@@ -7,16 +7,16 @@ target_include_directories( - set_target_properties(moveit_move_group_interface - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") - target_link_libraries( -- moveit_move_group_interface moveit_common_planning_interface_objects -- moveit_planning_scene_interface ${Boost_THREAD_LIBRARY}) --ament_target_dependencies( - moveit_move_group_interface -- moveit_core -- moveit_msgs -- moveit_ros_move_group -- moveit_ros_occupancy_map_monitor -- moveit_ros_planning -- moveit_ros_warehouse) -+ moveit_common_planning_interface_objects -+ moveit_planning_scene_interface -+ ${Boost_THREAD_LIBRARY} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_move_group::moveit_ros_move_group -+ moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_warehouse::moveit_ros_warehouse) - - # TODO (ddengster) : port wrap_python_move_group - # add_library(moveit_move_group_interface_python src/wrap_python_move_group.cpp) -diff --git a/planning_scene_interface/CMakeLists.txt b/planning_scene_interface/CMakeLists.txt -index 10264ea6d7..d9662c0da2 100644 ---- a/planning_scene_interface/CMakeLists.txt -+++ b/planning_scene_interface/CMakeLists.txt -@@ -2,8 +2,9 @@ add_library(moveit_planning_scene_interface SHARED - src/planning_scene_interface.cpp) - set_target_properties(moveit_planning_scene_interface - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_planning_scene_interface moveit_msgs -- moveit_core moveit_ros_move_group) -+target_link_libraries( -+ moveit_planning_scene_interface ${moveit_msgs_TARGETS} -+ moveit_core::moveit_core moveit_ros_move_group::moveit_ros_move_group) - - # TODO(JafarAbdi): Support python wrapper - # add_library(moveit_planning_scene_interface_python -diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake -index 63a5f42..05ffe2f 100644 ---- a/ConfigExtras.cmake -+++ b/ConfigExtras.cmake -@@ -8,4 +8,4 @@ find_package( - Boost REQUIRED - COMPONENTS date_time filesystem program_options - # ${BOOST_PYTHON_COMPONENT} -- system thread) -+ thread) diff --git a/patch/ros-lyrical-moveit-ros-planning.patch b/patch/ros-lyrical-moveit-ros-planning.patch deleted file mode 100644 index 680ccf3..0000000 --- a/patch/ros-lyrical-moveit-ros-planning.patch +++ /dev/null @@ -1,485 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 9b4136d01..3c1cfdcd8 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -17,6 +17,7 @@ find_package(moveit_ros_occupancy_map_monitor REQUIRED) - find_package(pluginlib REQUIRED) - find_package(rclcpp REQUIRED) - find_package(rclcpp_components REQUIRED) -+find_package(sensor_msgs REQUIRED) - find_package(srdfdom REQUIRED) - find_package(std_msgs REQUIRED) - find_package(tf2 REQUIRED) -@@ -70,6 +71,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS - pluginlib - rclcpp - rclcpp_components -+ sensor_msgs - srdfdom - std_msgs - tf2 -@@ -100,8 +102,13 @@ add_subdirectory(robot_model_loader) - add_subdirectory(srdf_publisher_node) - add_subdirectory(trajectory_execution_manager) - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_ros_planning::moveit_ros_planning to link all libraries at once. -+add_library(moveit_ros_planning INTERFACE) -+target_link_libraries(moveit_ros_planning INTERFACE ${THIS_PACKAGE_LIBRARIES}) -+ - install( -- TARGETS ${THIS_PACKAGE_LIBRARIES} -+ TARGETS moveit_ros_planning ${THIS_PACKAGE_LIBRARIES} - EXPORT moveit_ros_planningTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake -index 3a527d9..b101f9b 100644 ---- a/ConfigExtras.cmake -+++ b/ConfigExtras.cmake -@@ -3,7 +3,6 @@ find_package( - find_package( - Boost - REQUIRED -- system - filesystem - date_time - program_options -diff --git a/collision_plugin_loader/CMakeLists.txt b/collision_plugin_loader/CMakeLists.txt -index bc34ed5ec..577f6dcd2 100644 ---- a/collision_plugin_loader/CMakeLists.txt -+++ b/collision_plugin_loader/CMakeLists.txt -@@ -2,7 +2,7 @@ add_library(moveit_collision_plugin_loader SHARED - src/collision_plugin_loader.cpp) - set_target_properties(moveit_collision_plugin_loader - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_collision_plugin_loader moveit_core rclcpp -- pluginlib) -+target_link_libraries(moveit_collision_plugin_loader moveit_core::moveit_core -+ rclcpp::rclcpp pluginlib::pluginlib) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) -diff --git a/constraint_sampler_manager_loader/CMakeLists.txt b/constraint_sampler_manager_loader/CMakeLists.txt -index 222a564a7..0b457167f 100644 ---- a/constraint_sampler_manager_loader/CMakeLists.txt -+++ b/constraint_sampler_manager_loader/CMakeLists.txt -@@ -3,9 +3,8 @@ add_library(moveit_constraint_sampler_manager_loader SHARED - - set_target_properties(moveit_constraint_sampler_manager_loader - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_constraint_sampler_manager_loader moveit_core -- rclcpp Boost pluginlib) --target_link_libraries(moveit_constraint_sampler_manager_loader -- moveit_rdf_loader) -+target_link_libraries( -+ moveit_constraint_sampler_manager_loader moveit_rdf_loader -+ moveit_core::moveit_core rclcpp::rclcpp Boost::headers pluginlib::pluginlib) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) -diff --git a/kinematics_plugin_loader/CMakeLists.txt b/kinematics_plugin_loader/CMakeLists.txt -index cbc9d6d0f..61f9c3897 100644 ---- a/kinematics_plugin_loader/CMakeLists.txt -+++ b/kinematics_plugin_loader/CMakeLists.txt -@@ -2,16 +2,20 @@ add_library(moveit_kinematics_plugin_loader SHARED - src/kinematics_plugin_loader.cpp) - set_target_properties(moveit_kinematics_plugin_loader - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_kinematics_plugin_loader rclcpp urdf pluginlib -- class_loader moveit_core) -- - generate_parameter_library( - kinematics_parameters # cmake target name for the parameter library - src/kinematics_parameters.yaml # path to input yaml file - ) - --target_link_libraries(moveit_kinematics_plugin_loader moveit_rdf_loader -- kinematics_parameters) -+target_link_libraries( -+ moveit_kinematics_plugin_loader -+ moveit_rdf_loader -+ kinematics_parameters -+ rclcpp::rclcpp -+ urdf::urdf -+ pluginlib::pluginlib -+ class_loader::class_loader -+ moveit_core::moveit_core) - - install( - TARGETS kinematics_parameters -diff --git a/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp b/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp -index ead7aa044..464d6fbf0 100644 ---- a/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp -+++ b/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp -@@ -197,7 +197,7 @@ public: - { - std::scoped_lock slock(cache_lock_); - kinematics::KinematicsBasePtr& cached = instances_[jmg]; -- if (cached.unique()) -+ if (cached.use_count() == 1) - return std::move(cached); // pass on unique instance - - // create a new instance and store in instances_ -diff --git a/moveit_cpp/CMakeLists.txt b/moveit_cpp/CMakeLists.txt -index 59850df90..a6e6f6350 100644 ---- a/moveit_cpp/CMakeLists.txt -+++ b/moveit_cpp/CMakeLists.txt -@@ -1,10 +1,14 @@ - add_library(moveit_cpp SHARED src/moveit_cpp.cpp src/planning_component.cpp) - set_target_properties(moveit_cpp PROPERTIES VERSION - "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_cpp rclcpp moveit_core) - target_link_libraries( -- moveit_cpp moveit_planning_scene_monitor moveit_planning_pipeline -- moveit_planning_pipeline_interfaces moveit_trajectory_execution_manager) -+ moveit_cpp -+ moveit_planning_scene_monitor -+ moveit_planning_pipeline -+ moveit_planning_pipeline_interfaces -+ moveit_trajectory_execution_manager -+ rclcpp::rclcpp -+ moveit_core::moveit_core) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) - -diff --git a/plan_execution/CMakeLists.txt b/plan_execution/CMakeLists.txt -index 95c11fd8e..1a9cda295 100644 ---- a/plan_execution/CMakeLists.txt -+++ b/plan_execution/CMakeLists.txt -@@ -2,9 +2,14 @@ add_library(moveit_plan_execution SHARED src/plan_execution.cpp) - set_target_properties(moveit_plan_execution - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") - target_link_libraries( -- moveit_plan_execution moveit_planning_pipeline moveit_planning_scene_monitor -- moveit_trajectory_execution_manager) --ament_target_dependencies(moveit_plan_execution moveit_core rclcpp Boost -- class_loader pluginlib) -+ moveit_plan_execution -+ moveit_planning_pipeline -+ moveit_planning_scene_monitor -+ moveit_trajectory_execution_manager -+ moveit_core::moveit_core -+ rclcpp::rclcpp -+ Boost::headers -+ class_loader::class_loader -+ pluginlib::pluginlib) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) -diff --git a/planning_components_tools/CMakeLists.txt b/planning_components_tools/CMakeLists.txt -index 0eb2bd3fa..d38479aa7 100644 ---- a/planning_components_tools/CMakeLists.txt -+++ b/planning_components_tools/CMakeLists.txt -@@ -5,31 +5,29 @@ - add_executable(moveit_print_planning_model_info - src/print_planning_model_info.cpp) - target_link_libraries(moveit_print_planning_model_info -- moveit_robot_model_loader) --ament_target_dependencies(moveit_print_planning_model_info rclcpp) -+ moveit_robot_model_loader rclcpp::rclcpp) - - add_executable(moveit_print_planning_scene_info - src/print_planning_scene_info.cpp) - target_link_libraries(moveit_print_planning_scene_info -- moveit_planning_scene_monitor) --ament_target_dependencies(moveit_print_planning_scene_info rclcpp) -+ moveit_planning_scene_monitor rclcpp::rclcpp) - - add_executable(moveit_display_random_state src/display_random_state.cpp) --target_link_libraries(moveit_display_random_state moveit_planning_scene_monitor) --ament_target_dependencies(moveit_display_random_state rclcpp) -+target_link_libraries(moveit_display_random_state moveit_planning_scene_monitor -+ rclcpp::rclcpp) - - add_executable(moveit_visualize_robot_collision_volume - src/visualize_robot_collision_volume.cpp) --target_link_libraries(moveit_visualize_robot_collision_volume -- PRIVATE moveit_planning_scene_monitor) --ament_target_dependencies(moveit_visualize_robot_collision_volume PUBLIC rclcpp -- tf2_ros) -+target_link_libraries( -+ moveit_visualize_robot_collision_volume -+ PRIVATE moveit_planning_scene_monitor -+ PUBLIC rclcpp::rclcpp tf2_ros::tf2_ros) - - add_executable(moveit_evaluate_collision_checking_speed - src/evaluate_collision_checking_speed.cpp) --target_link_libraries(moveit_evaluate_collision_checking_speed -- moveit_planning_scene_monitor) --ament_target_dependencies(moveit_evaluate_collision_checking_speed rclcpp Boost) -+target_link_libraries( -+ moveit_evaluate_collision_checking_speed moveit_planning_scene_monitor -+ rclcpp::rclcpp Boost::headers Boost::program_options) - - if("${catkin_LIBRARIES}" MATCHES "moveit_collision_detection_bullet") - add_executable(moveit_compare_collision_checking_speed_fcl_bullet -@@ -41,9 +39,9 @@ endif() - - add_executable(moveit_publish_scene_from_text src/publish_scene_from_text.cpp) - target_link_libraries( -- moveit_publish_scene_from_text PRIVATE moveit_planning_scene_monitor -- moveit_robot_model_loader) --ament_target_dependencies(moveit_publish_scene_from_text PUBLIC rclcpp) -+ moveit_publish_scene_from_text -+ PRIVATE moveit_planning_scene_monitor moveit_robot_model_loader -+ PUBLIC rclcpp::rclcpp) - - install( - TARGETS moveit_print_planning_model_info -diff --git a/planning_pipeline/CMakeLists.txt b/planning_pipeline/CMakeLists.txt -index d3e9c7579..836d1f0d4 100644 ---- a/planning_pipeline/CMakeLists.txt -+++ b/planning_pipeline/CMakeLists.txt -@@ -2,7 +2,10 @@ generate_parameter_library(planning_pipeline_parameters - res/planning_pipeline_parameters.yaml) - - add_library(moveit_planning_pipeline SHARED src/planning_pipeline.cpp) --target_link_libraries(moveit_planning_pipeline planning_pipeline_parameters) -+target_link_libraries( -+ moveit_planning_pipeline planning_pipeline_parameters -+ moveit_core::moveit_core ${moveit_msgs_TARGETS} rclcpp::rclcpp -+ pluginlib::pluginlib) - include(GenerateExportHeader) - generate_export_header(moveit_planning_pipeline) - target_include_directories( -@@ -11,9 +14,6 @@ target_include_directories( - set_target_properties(moveit_planning_pipeline - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") - --ament_target_dependencies(moveit_planning_pipeline moveit_core moveit_msgs -- rclcpp pluginlib) -- - if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) - -@@ -22,8 +22,8 @@ if(BUILD_TESTING) - target_include_directories( - moveit_pipeline_test_plugins - PUBLIC $) -- ament_target_dependencies(moveit_pipeline_test_plugins moveit_core rclcpp -- pluginlib) -+ target_link_libraries(moveit_pipeline_test_plugins moveit_core::moveit_core -+ rclcpp::rclcpp pluginlib::pluginlib) - set_target_properties(moveit_pipeline_test_plugins - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") - -@@ -33,9 +33,10 @@ if(BUILD_TESTING) - target_include_directories( - moveit_planning_pipeline_test - PUBLIC $) -- ament_target_dependencies(moveit_planning_pipeline_test moveit_core -- moveit_msgs rclcpp pluginlib) -- target_link_libraries(moveit_planning_pipeline_test moveit_planning_pipeline) -+ target_link_libraries( -+ moveit_planning_pipeline_test moveit_planning_pipeline -+ moveit_core::moveit_core ${moveit_msgs_TARGETS} rclcpp::rclcpp -+ pluginlib::pluginlib) - - install( - TARGETS moveit_pipeline_test_plugins -diff --git a/planning_pipeline_interfaces/CMakeLists.txt b/planning_pipeline_interfaces/CMakeLists.txt -index a6ccb228c..34105f391 100644 ---- a/planning_pipeline_interfaces/CMakeLists.txt -+++ b/planning_pipeline_interfaces/CMakeLists.txt -@@ -10,11 +10,9 @@ target_include_directories( - PUBLIC $) - set_target_properties(moveit_planning_pipeline_interfaces - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --target_link_libraries(moveit_planning_pipeline_interfaces -- moveit_planning_pipeline) -- --ament_target_dependencies(moveit_planning_pipeline_interfaces moveit_core -- moveit_msgs rclcpp) -+target_link_libraries( -+ moveit_planning_pipeline_interfaces moveit_planning_pipeline -+ moveit_core::moveit_core ${moveit_msgs_TARGETS} rclcpp::rclcpp) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) - install( -diff --git a/planning_request_adapter_plugins/CMakeLists.txt b/planning_request_adapter_plugins/CMakeLists.txt -index 54cb62da1..fe0d43ef2 100644 ---- a/planning_request_adapter_plugins/CMakeLists.txt -+++ b/planning_request_adapter_plugins/CMakeLists.txt -@@ -7,13 +7,12 @@ add_library( - src/check_start_state_collision.cpp src/validate_workspace_bounds.cpp - src/resolve_constraint_frames.cpp) - --target_link_libraries(moveit_default_planning_request_adapter_plugins -- default_request_adapter_parameters) -- - set_target_properties(moveit_default_planning_request_adapter_plugins - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_default_planning_request_adapter_plugins -- moveit_core rclcpp pluginlib) -+target_link_libraries( -+ moveit_default_planning_request_adapter_plugins -+ default_request_adapter_parameters moveit_core::moveit_core rclcpp::rclcpp -+ pluginlib::pluginlib) - - if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) -diff --git a/planning_response_adapter_plugins/CMakeLists.txt b/planning_response_adapter_plugins/CMakeLists.txt -index 7471eefa3..59edb807c 100644 ---- a/planning_response_adapter_plugins/CMakeLists.txt -+++ b/planning_response_adapter_plugins/CMakeLists.txt -@@ -6,10 +6,9 @@ add_library( - src/add_ruckig_traj_smoothing.cpp src/add_time_optimal_parameterization.cpp - src/display_motion_path.cpp src/validate_path.cpp) - --target_link_libraries(moveit_default_planning_response_adapter_plugins -- default_response_adapter_parameters) -- - set_target_properties(moveit_default_planning_response_adapter_plugins - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_default_planning_response_adapter_plugins -- Boost moveit_core rclcpp pluginlib) -+target_link_libraries( -+ moveit_default_planning_response_adapter_plugins -+ default_response_adapter_parameters Boost::headers moveit_core::moveit_core -+ rclcpp::rclcpp pluginlib::pluginlib) -diff --git a/planning_scene_monitor/CMakeLists.txt b/planning_scene_monitor/CMakeLists.txt -index 03eab4077..32feb33e0 100644 ---- a/planning_scene_monitor/CMakeLists.txt -+++ b/planning_scene_monitor/CMakeLists.txt -@@ -10,29 +10,24 @@ target_include_directories( - PUBLIC $) - set_target_properties(moveit_planning_scene_monitor - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -+target_link_libraries( - moveit_planning_scene_monitor -- moveit_ros_occupancy_map_monitor -- message_filters -- urdf -- pluginlib -- rclcpp -- fmt -- moveit_msgs) --target_link_libraries(moveit_planning_scene_monitor moveit_robot_model_loader -- moveit_collision_plugin_loader) -+ moveit_robot_model_loader -+ moveit_collision_plugin_loader -+ moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor -+ message_filters::message_filters -+ urdf::urdf -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ fmt::fmt -+ ${moveit_msgs_TARGETS}) - - add_executable(demo_scene demos/demo_scene.cpp) --ament_target_dependencies( -+target_link_libraries( - demo_scene -- PUBLIC -- rclcpp -- fmt -- moveit_msgs -- urdf -- message_filters -- pluginlib) --target_link_libraries(demo_scene PRIVATE moveit_planning_scene_monitor) -+ PRIVATE moveit_planning_scene_monitor -+ PUBLIC rclcpp::rclcpp fmt::fmt ${moveit_msgs_TARGETS} urdf::urdf -+ message_filters::message_filters pluginlib::pluginlib) - - install(TARGETS demo_scene DESTINATION lib/${PROJECT_NAME}) - -@@ -55,10 +50,9 @@ if(BUILD_TESTING) - - ament_add_gtest_executable(planning_scene_monitor_test - test/planning_scene_monitor_test.cpp) -- target_link_libraries(planning_scene_monitor_test -- moveit_planning_scene_monitor) -- ament_target_dependencies(planning_scene_monitor_test moveit_core rclcpp -- moveit_msgs) -+ target_link_libraries( -+ planning_scene_monitor_test moveit_planning_scene_monitor -+ moveit_core::moveit_core rclcpp::rclcpp ${moveit_msgs_TARGETS}) - - add_ros_test(test/launch/planning_scene_monitor.test.py TIMEOUT 30 ARGS - "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") -diff --git a/rdf_loader/CMakeLists.txt b/rdf_loader/CMakeLists.txt -index 70b73b8b5..6c3a08d3f 100644 ---- a/rdf_loader/CMakeLists.txt -+++ b/rdf_loader/CMakeLists.txt -@@ -2,8 +2,9 @@ add_library(moveit_rdf_loader SHARED src/rdf_loader.cpp - src/synchronized_string_parameter.cpp) - set_target_properties(moveit_rdf_loader PROPERTIES VERSION - "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_rdf_loader rclcpp ament_index_cpp urdf srdfdom -- moveit_core) -+target_link_libraries( -+ moveit_rdf_loader rclcpp::rclcpp ament_index_cpp::ament_index_cpp urdf::urdf -+ srdfdom::srdfdom moveit_core::moveit_core) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) - install(DIRECTORY test/data test/launch -diff --git a/robot_model_loader/CMakeLists.txt b/robot_model_loader/CMakeLists.txt -index 284ea4a36..ce7baa5d7 100644 ---- a/robot_model_loader/CMakeLists.txt -+++ b/robot_model_loader/CMakeLists.txt -@@ -5,9 +5,14 @@ endif() - add_library(moveit_robot_model_loader SHARED src/robot_model_loader.cpp) - set_target_properties(moveit_robot_model_loader - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_robot_model_loader rclcpp urdf Boost -- moveit_core moveit_msgs) --target_link_libraries(moveit_robot_model_loader moveit_rdf_loader -- moveit_kinematics_plugin_loader) -+target_link_libraries( -+ moveit_robot_model_loader -+ moveit_rdf_loader -+ moveit_kinematics_plugin_loader -+ rclcpp::rclcpp -+ urdf::urdf -+ Boost::headers -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS}) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) -diff --git a/srdf_publisher_node/CMakeLists.txt b/srdf_publisher_node/CMakeLists.txt -index d548d2f1e..e858e7f53 100644 ---- a/srdf_publisher_node/CMakeLists.txt -+++ b/srdf_publisher_node/CMakeLists.txt -@@ -1,6 +1,7 @@ - add_library(srdf_publisher_node SHARED src/srdf_publisher_node.cpp) --ament_target_dependencies(srdf_publisher_node PUBLIC std_msgs rclcpp -- rclcpp_components) -+target_link_libraries( -+ srdf_publisher_node PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp -+ rclcpp_components::component) - - if(BUILD_TESTING) - find_package(launch_testing_ament_cmake REQUIRED) -diff --git a/trajectory_execution_manager/CMakeLists.txt b/trajectory_execution_manager/CMakeLists.txt -index 929e8c88f..0d2f81c0c 100644 ---- a/trajectory_execution_manager/CMakeLists.txt -+++ b/trajectory_execution_manager/CMakeLists.txt -@@ -7,18 +7,17 @@ target_include_directories( - PUBLIC $) - set_target_properties(moveit_trajectory_execution_manager - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies( -+target_link_libraries( - moveit_trajectory_execution_manager -- moveit_core -- moveit_ros_occupancy_map_monitor -- rclcpp -- pluginlib -- std_msgs -- sensor_msgs -- moveit_msgs -- tf2_eigen) --target_link_libraries(moveit_trajectory_execution_manager -- moveit_planning_scene_monitor) -+ moveit_planning_scene_monitor -+ moveit_core::moveit_core -+ moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor -+ rclcpp::rclcpp -+ pluginlib::pluginlib -+ ${std_msgs_TARGETS} -+ ${sensor_msgs_TARGETS} -+ ${moveit_msgs_TARGETS} -+ tf2_eigen::tf2_eigen) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) - install( diff --git a/patch/ros-lyrical-moveit-ros-robot-interaction.patch b/patch/ros-lyrical-moveit-ros-robot-interaction.patch index efa0251..d928901 100644 --- a/patch/ros-lyrical-moveit-ros-robot-interaction.patch +++ b/patch/ros-lyrical-moveit-ros-robot-interaction.patch @@ -1,39 +1,5 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index c9140d2a4..043925338 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -32,8 +32,10 @@ target_include_directories( - set_target_properties( - moveit_robot_interaction PROPERTIES VERSION - "${moveit_ros_robot_interaction_VERSION}") --ament_target_dependencies(moveit_robot_interaction -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ moveit_robot_interaction moveit_core::moveit_core -+ moveit_ros_planning::moveit_ros_planning -+ interactive_markers::interactive_markers ${tf2_geometry_msgs_TARGETS}) - - if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) -@@ -41,8 +43,15 @@ if(BUILD_TESTING) - target_link_libraries(locked_robot_state_test moveit_robot_interaction) - endif() - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_ros_robot_interaction::moveit_ros_robot_interaction to link all -+# libraries at once. -+add_library(moveit_ros_robot_interaction INTERFACE) -+target_link_libraries(moveit_ros_robot_interaction -+ INTERFACE moveit_robot_interaction) -+ - install( -- TARGETS moveit_robot_interaction -+ TARGETS moveit_ros_robot_interaction moveit_robot_interaction - EXPORT moveit_ros_robot_interactionTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib diff --git a/src/locked_robot_state.cpp b/src/locked_robot_state.cpp -index 15b8d0c84..35c859bda 100644 +index 15b8d0c..35c859b 100644 --- a/src/locked_robot_state.cpp +++ b/src/locked_robot_state.cpp @@ -66,7 +66,7 @@ void robot_interaction::LockedRobotState::setState(const moveit::core::RobotStat diff --git a/patch/ros-lyrical-moveit-ros-trajectory-cache.patch b/patch/ros-lyrical-moveit-ros-trajectory-cache.patch deleted file mode 100644 index 31468d3..0000000 --- a/patch/ros-lyrical-moveit-ros-trajectory-cache.patch +++ /dev/null @@ -1,147 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 2b5459a6dc..9a9ba4f1f6 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -41,8 +41,16 @@ target_include_directories( - moveit_ros_trajectory_cache_utils_lib - PUBLIC $ - $) --ament_target_dependencies(moveit_ros_trajectory_cache_utils_lib -- ${TRAJECTORY_CACHE_DEPENDENCIES}) -+target_link_libraries( -+ moveit_ros_trajectory_cache_utils_lib -+ ${geometry_msgs_TARGETS} -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ moveit_ros_warehouse::moveit_ros_warehouse -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS} -+ warehouse_ros::warehouse_ros) - - # Features library - add_library( -@@ -50,14 +58,21 @@ add_library( - src/features/motion_plan_request_features.cpp - src/features/get_cartesian_path_request_features.cpp) - generate_export_header(moveit_ros_trajectory_cache_features_lib) --target_link_libraries(moveit_ros_trajectory_cache_features_lib -- moveit_ros_trajectory_cache_utils_lib) -+target_link_libraries( -+ moveit_ros_trajectory_cache_features_lib -+ moveit_ros_trajectory_cache_utils_lib -+ ${geometry_msgs_TARGETS} -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ moveit_ros_warehouse::moveit_ros_warehouse -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS} -+ warehouse_ros::warehouse_ros) - target_include_directories( - moveit_ros_trajectory_cache_features_lib - PUBLIC $ - $) --ament_target_dependencies(moveit_ros_trajectory_cache_features_lib -- ${TRAJECTORY_CACHE_DEPENDENCIES}) - - # Cache insert policies library - add_library( -@@ -68,13 +83,19 @@ generate_export_header(moveit_ros_trajectory_cache_cache_insert_policies_lib) - target_link_libraries( - moveit_ros_trajectory_cache_cache_insert_policies_lib - moveit_ros_trajectory_cache_features_lib -- moveit_ros_trajectory_cache_utils_lib) -+ moveit_ros_trajectory_cache_utils_lib -+ ${geometry_msgs_TARGETS} -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ moveit_ros_warehouse::moveit_ros_warehouse -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS} -+ warehouse_ros::warehouse_ros) - target_include_directories( - moveit_ros_trajectory_cache_cache_insert_policies_lib - PUBLIC $ - $) --ament_target_dependencies(moveit_ros_trajectory_cache_cache_insert_policies_lib -- ${TRAJECTORY_CACHE_DEPENDENCIES}) - - # Trajectory cache library - add_library(moveit_ros_trajectory_cache_lib SHARED src/trajectory_cache.cpp) -@@ -83,16 +104,29 @@ target_link_libraries( - moveit_ros_trajectory_cache_lib - moveit_ros_trajectory_cache_cache_insert_policies_lib - moveit_ros_trajectory_cache_features_lib -- moveit_ros_trajectory_cache_utils_lib) -+ moveit_ros_trajectory_cache_utils_lib -+ ${geometry_msgs_TARGETS} -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ moveit_ros_warehouse::moveit_ros_warehouse -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS} -+ warehouse_ros::warehouse_ros) - target_include_directories( - moveit_ros_trajectory_cache_lib - PUBLIC $ - $) --ament_target_dependencies(moveit_ros_trajectory_cache_lib -- ${TRAJECTORY_CACHE_DEPENDENCIES}) -+ -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_ros_trajectory_cache::moveit_ros_trajectory_cache to link all libraries -+# at once. -+add_library(moveit_ros_trajectory_cache INTERFACE) -+target_link_libraries(moveit_ros_trajectory_cache -+ INTERFACE ${TRAJECTORY_CACHE_LIBRARIES}) - - install( -- TARGETS ${TRAJECTORY_CACHE_LIBRARIES} -+ TARGETS moveit_ros_trajectory_cache ${TRAJECTORY_CACHE_LIBRARIES} - EXPORT moveit_ros_trajectory_cacheTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt -index ae39a79c46..c259b6bf16 100644 ---- a/test/CMakeLists.txt -+++ b/test/CMakeLists.txt -@@ -9,14 +9,32 @@ if(BUILD_TESTING) - add_library(warehouse_fixture SHARED fixtures/warehouse_fixture.cpp) - target_include_directories( - warehouse_fixture PUBLIC $) -- ament_target_dependencies(warehouse_fixture ${TRAJECTORY_CACHE_DEPENDENCIES} -- ament_cmake_gtest warehouse_ros_sqlite) -+ target_link_libraries( -+ warehouse_fixture -+ ${geometry_msgs_TARGETS} -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ moveit_ros_warehouse::moveit_ros_warehouse -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS} -+ warehouse_ros::warehouse_ros -+ warehouse_ros_sqlite::warehouse_ros_sqlite) - - add_library(move_group_fixture SHARED fixtures/move_group_fixture.cpp) - target_include_directories( - move_group_fixture PUBLIC $) -- ament_target_dependencies(move_group_fixture ${TRAJECTORY_CACHE_DEPENDENCIES} -- ament_cmake_gtest warehouse_ros_sqlite) -+ target_link_libraries( -+ move_group_fixture -+ ${geometry_msgs_TARGETS} -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ moveit_ros_warehouse::moveit_ros_warehouse -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_ros::tf2_ros -+ ${trajectory_msgs_TARGETS} -+ warehouse_ros::warehouse_ros -+ warehouse_ros_sqlite::warehouse_ros_sqlite) - - # Test utils library. - ament_add_gtest(test_utils utils/test_utils.cpp) diff --git a/patch/ros-lyrical-moveit-ros-visualization.patch b/patch/ros-lyrical-moveit-ros-visualization.patch index 504bf43..8a67fb7 100644 --- a/patch/ros-lyrical-moveit-ros-visualization.patch +++ b/patch/ros-lyrical-moveit-ros-visualization.patch @@ -1,5 +1,5 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 27855877a..5a3d37053 100644 +index 2946039..7d1fc46 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -27,7 +27,6 @@ find_package(pluginlib REQUIRED) @@ -9,283 +9,4 @@ index 27855877a..5a3d37053 100644 -find_package(rviz2 REQUIRED) find_package(tf2_eigen REQUIRED) find_package(Eigen3 REQUIRED) - find_package(rviz_common REQUIRED) -@@ -38,11 +37,11 @@ find_package(rviz_ogre_vendor REQUIRED) - include(ConfigExtras.cmake) - # Qt Stuff --find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets) --set(QT_LIBRARIES Qt5::Widgets) --# Delegate to QT5 macro -+find_package(Qt6 ${rviz_QT_VERSION} REQUIRED Core Widgets) -+set(QT_LIBRARIES Qt6::Widgets) -+# Delegate to QT6 macro - macro(QT_WRAP_UI) -- qt5_wrap_ui(${ARGN}) -+ qt6_wrap_ui(${ARGN}) - endmacro() - - set(CMAKE_INCLUDE_CURRENT_DIR ON) -@@ -106,8 +105,15 @@ pluginlib_export_plugin_description_file( - pluginlib_export_plugin_description_file( - rviz_common robot_state_rviz_plugin_description.xml) - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_ros_visualization::moveit_ros_visualization to link all libraries at -+# once. -+add_library(moveit_ros_visualization INTERFACE) -+target_link_libraries(moveit_ros_visualization -+ INTERFACE ${THIS_PACKAGE_LIBRARIES}) -+ - install( -- TARGETS ${THIS_PACKAGE_LIBRARIES} -+ TARGETS moveit_ros_visualization ${THIS_PACKAGE_LIBRARIES} - EXPORT moveit_ros_visualizationTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -diff --git a/motion_planning_rviz_plugin/CMakeLists.txt b/motion_planning_rviz_plugin/CMakeLists.txt -index 711211c89..ff18e73ef 100644 ---- a/motion_planning_rviz_plugin/CMakeLists.txt -+++ b/motion_planning_rviz_plugin/CMakeLists.txt -@@ -4,7 +4,7 @@ set(HEADERS - include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.hpp - include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.hpp - include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp) --qt5_wrap_ui(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui -+QT_WRAP_UI(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui - src/ui/motion_planning_rviz_plugin_frame_joints.ui) - - include_directories(${CMAKE_CURRENT_BINARY_DIR}) -@@ -29,28 +29,30 @@ add_library(moveit_motion_planning_rviz_plugin_core SHARED - set_target_properties(moveit_motion_planning_rviz_plugin_core - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") - target_link_libraries( -- moveit_motion_planning_rviz_plugin_core moveit_rviz_plugin_render_tools -- moveit_planning_scene_rviz_plugin) --ament_target_dependencies( - moveit_motion_planning_rviz_plugin_core -- moveit_ros_robot_interaction -- moveit_ros_planning_interface -- moveit_ros_warehouse -- rviz2 -- rviz_ogre_vendor -- Qt5 -- pluginlib) -+ moveit_rviz_plugin_render_tools -+ moveit_planning_scene_rviz_plugin -+ moveit_ros_robot_interaction::moveit_ros_robot_interaction -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ moveit_ros_warehouse::moveit_ros_warehouse -+ rviz_ogre_vendor::OgreMain -+ rviz_ogre_vendor::OgreOverlay -+ ${QT_LIBRARIES} -+ pluginlib::pluginlib) - target_include_directories(moveit_motion_planning_rviz_plugin_core - PRIVATE "${OGRE_PREFIX_DIR}/include") - - add_library(moveit_motion_planning_rviz_plugin SHARED src/plugin_init.cpp) - set_target_properties(moveit_motion_planning_rviz_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --target_link_libraries(moveit_motion_planning_rviz_plugin -- moveit_motion_planning_rviz_plugin_core) --ament_target_dependencies( -- moveit_motion_planning_rviz_plugin moveit_ros_robot_interaction -- moveit_ros_warehouse pluginlib rviz_ogre_vendor) -+target_link_libraries( -+ moveit_motion_planning_rviz_plugin -+ moveit_motion_planning_rviz_plugin_core -+ moveit_ros_robot_interaction::moveit_ros_robot_interaction -+ moveit_ros_warehouse::moveit_ros_warehouse -+ pluginlib::pluginlib -+ rviz_ogre_vendor::OgreMain -+ rviz_ogre_vendor::OgreOverlay) - target_include_directories(moveit_motion_planning_rviz_plugin - PRIVATE "${OGRE_PREFIX_DIR}/include") - -diff --git a/planning_scene_rviz_plugin/CMakeLists.txt b/planning_scene_rviz_plugin/CMakeLists.txt -index efe2dc41f..71012ff83 100644 ---- a/planning_scene_rviz_plugin/CMakeLists.txt -+++ b/planning_scene_rviz_plugin/CMakeLists.txt -@@ -9,27 +9,29 @@ target_include_directories( - PUBLIC $) - set_target_properties(moveit_planning_scene_rviz_plugin_core - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --target_link_libraries(moveit_planning_scene_rviz_plugin_core -- moveit_rviz_plugin_render_tools) --ament_target_dependencies( -+target_link_libraries( - moveit_planning_scene_rviz_plugin_core -- rclcpp -- rviz2 -- moveit_ros_planning_interface -- moveit_ros_planning -- moveit_msgs -- pluginlib -- rviz_ogre_vendor) -+ moveit_rviz_plugin_render_tools -+ rclcpp::rclcpp -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ moveit_ros_planning::moveit_ros_planning -+ ${moveit_msgs_TARGETS} -+ pluginlib::pluginlib -+ rviz_ogre_vendor::OgreMain -+ rviz_ogre_vendor::OgreOverlay) - target_include_directories(moveit_planning_scene_rviz_plugin_core - PRIVATE "${OGRE_PREFIX_DIR}/include") - - add_library(moveit_planning_scene_rviz_plugin SHARED src/plugin_init.cpp) - set_target_properties(moveit_planning_scene_rviz_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --target_link_libraries(moveit_planning_scene_rviz_plugin -- moveit_planning_scene_rviz_plugin_core Qt5::Widgets) --ament_target_dependencies(moveit_planning_scene_rviz_plugin pluginlib -- rviz_ogre_vendor) -+target_link_libraries( -+ moveit_planning_scene_rviz_plugin -+ moveit_planning_scene_rviz_plugin_core -+ ${QT_LIBRARIES} -+ pluginlib::pluginlib -+ rviz_ogre_vendor::OgreMain -+ rviz_ogre_vendor::OgreOverlay) - target_include_directories(moveit_planning_scene_rviz_plugin - PRIVATE "${OGRE_PREFIX_DIR}/include") - -diff --git a/robot_state_rviz_plugin/CMakeLists.txt b/robot_state_rviz_plugin/CMakeLists.txt -index f9bd7f4c8..98d5ae1d6 100644 ---- a/robot_state_rviz_plugin/CMakeLists.txt -+++ b/robot_state_rviz_plugin/CMakeLists.txt -@@ -4,27 +4,30 @@ add_library( - include/moveit/robot_state_rviz_plugin/robot_state_display.hpp) - set_target_properties(moveit_robot_state_rviz_plugin_core - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --target_link_libraries(moveit_robot_state_rviz_plugin_core -- moveit_rviz_plugin_render_tools) --ament_target_dependencies( -+target_link_libraries( - moveit_robot_state_rviz_plugin_core -- rclcpp -- rviz2 -- moveit_ros_planning -- moveit_msgs -- pluginlib -- Boost -- rviz_ogre_vendor) -+ moveit_rviz_plugin_render_tools -+ rclcpp::rclcpp -+ moveit_ros_planning::moveit_ros_planning -+ ${moveit_msgs_TARGETS} -+ pluginlib::pluginlib -+ Boost::headers -+ rviz_ogre_vendor::OgreMain -+ rviz_ogre_vendor::OgreOverlay) - target_include_directories(moveit_robot_state_rviz_plugin_core - PRIVATE "${OGRE_PREFIX_DIR}/include") - - add_library(moveit_robot_state_rviz_plugin SHARED src/plugin_init.cpp) - set_target_properties(moveit_robot_state_rviz_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --target_link_libraries(moveit_robot_state_rviz_plugin -- moveit_robot_state_rviz_plugin_core) --ament_target_dependencies(moveit_robot_state_rviz_plugin rclcpp pluginlib Boost -- rviz_ogre_vendor) -+target_link_libraries( -+ moveit_robot_state_rviz_plugin -+ moveit_robot_state_rviz_plugin_core -+ rclcpp::rclcpp -+ pluginlib::pluginlib -+ Boost::headers -+ rviz_ogre_vendor::OgreMain -+ rviz_ogre_vendor::OgreOverlay) - target_include_directories(moveit_robot_state_rviz_plugin - PRIVATE "${OGRE_PREFIX_DIR}/include") - -diff --git a/rviz_plugin_render_tools/CMakeLists.txt b/rviz_plugin_render_tools/CMakeLists.txt -index 2a8c81a4d..e3b7b8bd7 100644 ---- a/rviz_plugin_render_tools/CMakeLists.txt -+++ b/rviz_plugin_render_tools/CMakeLists.txt -@@ -26,15 +26,17 @@ set_target_properties(moveit_rviz_plugin_render_tools - --target_link_libraries(moveit_rviz_plugin_render_tools Qt5::Widgets) -+target_link_libraries(moveit_rviz_plugin_render_tools ${QT_LIBRARIES}) - --ament_target_dependencies( -+target_link_libraries( - moveit_rviz_plugin_render_tools -- rclcpp -- moveit_core -- Boost -- octomap_msgs -- rviz_ogre_vendor -- rviz_common -- rviz_default_plugins) -+ ${QT_LIBRARIES} -+ rclcpp::rclcpp -+ moveit_core::moveit_core -+ Boost::headers -+ ${octomap_msgs_TARGETS} -+ rviz_ogre_vendor::OgreMain -+ rviz_ogre_vendor::OgreOverlay -+ rviz_common::rviz_common -+ rviz_default_plugins::rviz_default_plugins) - target_include_directories(moveit_rviz_plugin_render_tools - PRIVATE "${OGRE_PREFIX_DIR}/include") - -diff --git a/trajectory_rviz_plugin/CMakeLists.txt b/trajectory_rviz_plugin/CMakeLists.txt -index 8a58e56eb..711637fa3 100644 ---- a/trajectory_rviz_plugin/CMakeLists.txt -+++ b/trajectory_rviz_plugin/CMakeLists.txt -@@ -9,17 +9,16 @@ add_library(moveit_trajectory_rviz_plugin_core SHARED src/trajectory_display.cpp - set_target_properties(moveit_trajectory_rviz_plugin_core - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") - target_link_libraries( -- moveit_trajectory_rviz_plugin_core moveit_rviz_plugin_render_tools -- moveit_planning_scene_rviz_plugin_core rviz_ogre_vendor::OgreMain) -- --ament_target_dependencies( - moveit_trajectory_rviz_plugin_core -- rclcpp -- rviz2 -- moveit_msgs -- pluginlib -- Boost -- rviz_ogre_vendor) -+ moveit_rviz_plugin_render_tools -+ moveit_planning_scene_rviz_plugin_core -+ rviz_ogre_vendor::OgreMain -+ rclcpp::rclcpp -+ ${moveit_msgs_TARGETS} -+ pluginlib::pluginlib -+ Boost::headers -+ rviz_ogre_vendor::OgreMain -+ rviz_ogre_vendor::OgreOverlay) - target_include_directories(moveit_trajectory_rviz_plugin_core - PRIVATE "${OGRE_PREFIX_DIR}/include") - -@@ -27,10 +26,14 @@ target_include_directories(moveit_trajectory_rviz_plugin_core - add_library(moveit_trajectory_rviz_plugin SHARED src/plugin_init.cpp) - set_target_properties(moveit_trajectory_rviz_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --target_link_libraries(moveit_trajectory_rviz_plugin -- moveit_trajectory_rviz_plugin_core) --ament_target_dependencies(moveit_trajectory_rviz_plugin rclcpp pluginlib Boost -- rviz_ogre_vendor) -+target_link_libraries( -+ moveit_trajectory_rviz_plugin -+ moveit_trajectory_rviz_plugin_core -+ rclcpp::rclcpp -+ pluginlib::pluginlib -+ Boost::headers -+ rviz_ogre_vendor::OgreMain -+ rviz_ogre_vendor::OgreOverlay) - target_include_directories(moveit_trajectory_rviz_plugin - PRIVATE "${OGRE_PREFIX_DIR}/include") - -diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake -index ddda760..3b7b969 100644 ---- a/ConfigExtras.cmake -+++ b/ConfigExtras.cmake -@@ -1,3 +1,3 @@ - # Extras module needed for dependencies to find boost components - --find_package(Boost REQUIRED thread date_time system filesystem) -+find_package(Boost REQUIRED thread date_time filesystem) diff --git a/patch/ros-lyrical-moveit-ros-warehouse.patch b/patch/ros-lyrical-moveit-ros-warehouse.patch deleted file mode 100644 index 05e451b..0000000 --- a/patch/ros-lyrical-moveit-ros-warehouse.patch +++ /dev/null @@ -1,89 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index e68e1d866b..ccec47e0bf 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -45,37 +45,39 @@ target_include_directories( - moveit_warehouse PUBLIC $) - set_target_properties(moveit_warehouse - PROPERTIES VERSION "${moveit_ros_warehouse_VERSION}") --ament_target_dependencies(moveit_warehouse ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ moveit_warehouse -+ fmt::fmt -+ Boost::headers -+ moveit_core::moveit_core -+ rclcpp::rclcpp -+ warehouse_ros::warehouse_ros -+ moveit_ros_planning::moveit_ros_planning -+ tf2_eigen::tf2_eigen -+ tf2_ros::tf2_ros) - - # Executables - add_executable(moveit_warehouse_broadcast src/broadcast.cpp) --ament_target_dependencies(moveit_warehouse_broadcast -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(moveit_warehouse_broadcast moveit_warehouse) -+target_link_libraries(moveit_warehouse_broadcast moveit_warehouse -+ Boost::program_options) - - add_executable(moveit_save_to_warehouse src/save_to_warehouse.cpp) --ament_target_dependencies(moveit_save_to_warehouse -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(moveit_save_to_warehouse moveit_warehouse fmt::fmt) -+target_link_libraries(moveit_save_to_warehouse moveit_warehouse fmt::fmt -+ Boost::program_options) - - add_executable(moveit_warehouse_import_from_text src/import_from_text.cpp) --ament_target_dependencies(moveit_warehouse_import_from_text -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(moveit_warehouse_import_from_text moveit_warehouse) -+target_link_libraries(moveit_warehouse_import_from_text moveit_warehouse -+ Boost::program_options) - - add_executable(moveit_warehouse_save_as_text src/save_as_text.cpp) --ament_target_dependencies(moveit_warehouse_save_as_text -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(moveit_warehouse_save_as_text moveit_warehouse) -+target_link_libraries(moveit_warehouse_save_as_text moveit_warehouse -+ Boost::program_options) - - add_executable(moveit_init_demo_warehouse src/initialize_demo_db.cpp) --ament_target_dependencies(moveit_init_demo_warehouse -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(moveit_init_demo_warehouse moveit_warehouse) -+target_link_libraries(moveit_init_demo_warehouse moveit_warehouse -+ Boost::program_options) - - add_executable(moveit_warehouse_services src/warehouse_services.cpp) --ament_target_dependencies(moveit_warehouse_services -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) - target_link_libraries(moveit_warehouse_services moveit_warehouse) - - install( -@@ -87,8 +89,13 @@ install(DIRECTORY include/ DESTINATION include/moveit_ros_warehouse) - install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_warehouse_export.h - DESTINATION include/moveit_ros_warehouse) - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_ros_warehouse::moveit_ros_warehouse to link all libraries at once. -+add_library(moveit_ros_warehouse INTERFACE) -+target_link_libraries(moveit_ros_warehouse INTERFACE moveit_warehouse) -+ - install( -- TARGETS moveit_warehouse -+ TARGETS moveit_ros_warehouse moveit_warehouse - EXPORT moveit_ros_warehouseTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake -index 22f3754..aafdf62 100644 ---- a/ConfigExtras.cmake -+++ b/ConfigExtras.cmake -@@ -4,7 +4,6 @@ find_package( - Boost - REQUIRED - thread -- system - filesystem - regex - date_time diff --git a/patch/ros-lyrical-moveit-servo.patch b/patch/ros-lyrical-moveit-servo.patch deleted file mode 100644 index 39af23d..0000000 --- a/patch/ros-lyrical-moveit-servo.patch +++ /dev/null @@ -1,247 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 6ec080d195..3f771f3dd4 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -45,14 +45,46 @@ add_library( - src/utils/common.cpp src/utils/command.cpp) - set_target_properties(moveit_servo_lib_cpp PROPERTIES VERSION - "${moveit_servo_VERSION}") --target_link_libraries(moveit_servo_lib_cpp moveit_servo_lib_parameters) --ament_target_dependencies(moveit_servo_lib_cpp ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ moveit_servo_lib_cpp -+ moveit_servo_lib_parameters -+ ${control_msgs_TARGETS} -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_components::component -+ realtime_tools::realtime_tools -+ ${sensor_msgs_TARGETS} -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_eigen::tf2_eigen -+ ${trajectory_msgs_TARGETS}) - - add_library(moveit_servo_lib_ros SHARED src/servo_node.cpp) - set_target_properties(moveit_servo_lib_ros PROPERTIES VERSION - "${moveit_servo_VERSION}") --target_link_libraries(moveit_servo_lib_ros moveit_servo_lib_cpp) --ament_target_dependencies(moveit_servo_lib_ros ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ moveit_servo_lib_ros -+ moveit_servo_lib_cpp -+ ${control_msgs_TARGETS} -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_components::component -+ realtime_tools::realtime_tools -+ ${sensor_msgs_TARGETS} -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_eigen::tf2_eigen -+ ${trajectory_msgs_TARGETS}) - - # ############################################################################## - # Components ## -@@ -67,31 +99,103 @@ rclcpp_components_register_node(moveit_servo_lib_ros PLUGIN - - # Executable node for the joint jog demo - add_executable(demo_joint_jog demos/cpp_interface/demo_joint_jog.cpp) --target_link_libraries(demo_joint_jog moveit_servo_lib_cpp) --ament_target_dependencies(demo_joint_jog ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ demo_joint_jog -+ moveit_servo_lib_cpp -+ ${control_msgs_TARGETS} -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_components::component -+ realtime_tools::realtime_tools -+ ${sensor_msgs_TARGETS} -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_eigen::tf2_eigen -+ ${trajectory_msgs_TARGETS}) - - # Executable node for the twist demo - add_executable(demo_twist demos/cpp_interface/demo_twist.cpp) --target_link_libraries(demo_twist moveit_servo_lib_cpp) --ament_target_dependencies(demo_twist ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ demo_twist -+ moveit_servo_lib_cpp -+ ${control_msgs_TARGETS} -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_components::component -+ realtime_tools::realtime_tools -+ ${sensor_msgs_TARGETS} -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_eigen::tf2_eigen -+ ${trajectory_msgs_TARGETS}) - - # Executable node for the pose demo - add_executable(demo_pose demos/cpp_interface/demo_pose.cpp) --target_link_libraries(demo_pose moveit_servo_lib_cpp) --ament_target_dependencies(demo_pose ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ demo_pose -+ moveit_servo_lib_cpp -+ ${control_msgs_TARGETS} -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_components::component -+ realtime_tools::realtime_tools -+ ${sensor_msgs_TARGETS} -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_eigen::tf2_eigen -+ ${trajectory_msgs_TARGETS}) - - # Keyboard control example for servo - add_executable(servo_keyboard_input demos/servo_keyboard_input.cpp) - target_include_directories(servo_keyboard_input PUBLIC include) --ament_target_dependencies(servo_keyboard_input ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ servo_keyboard_input -+ ${control_msgs_TARGETS} -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_components::component -+ realtime_tools::realtime_tools -+ ${sensor_msgs_TARGETS} -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_eigen::tf2_eigen -+ ${trajectory_msgs_TARGETS}) - - # ############################################################################## - # Install ## - # ############################################################################## - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_servo::moveit_servo to link all libraries at once. -+add_library(moveit_servo INTERFACE) -+target_link_libraries( -+ moveit_servo INTERFACE moveit_servo_lib_cpp moveit_servo_lib_ros -+ moveit_servo_lib_parameters) -+ - # Install Libraries - install( -- TARGETS moveit_servo_lib_cpp moveit_servo_lib_ros moveit_servo_lib_parameters -+ TARGETS moveit_servo moveit_servo_lib_cpp moveit_servo_lib_ros -+ moveit_servo_lib_parameters - EXPORT moveit_servoTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -@@ -120,26 +224,71 @@ if(BUILD_TESTING) - find_package(ros_testing REQUIRED) - - ament_add_gtest_executable(moveit_servo_utils_test tests/test_utils.cpp) -- target_link_libraries(moveit_servo_utils_test moveit_servo_lib_cpp) -- ament_target_dependencies(moveit_servo_utils_test -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+ target_link_libraries( -+ moveit_servo_utils_test -+ moveit_servo_lib_cpp -+ ${control_msgs_TARGETS} -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_components::component -+ realtime_tools::realtime_tools -+ ${sensor_msgs_TARGETS} -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_eigen::tf2_eigen -+ ${trajectory_msgs_TARGETS}) - add_ros_test(tests/launch/servo_utils.test.py TIMEOUT 30 ARGS - "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") - - ament_add_gtest_executable( - moveit_servo_cpp_integration_test tests/test_integration.cpp - tests/servo_cpp_fixture.hpp) -- target_link_libraries(moveit_servo_cpp_integration_test moveit_servo_lib_cpp) -- ament_target_dependencies(moveit_servo_cpp_integration_test -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+ target_link_libraries( -+ moveit_servo_cpp_integration_test -+ moveit_servo_lib_cpp -+ ${control_msgs_TARGETS} -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_components::component -+ realtime_tools::realtime_tools -+ ${sensor_msgs_TARGETS} -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_eigen::tf2_eigen -+ ${trajectory_msgs_TARGETS}) - add_ros_test(tests/launch/servo_cpp_integration.test.py TIMEOUT 30 ARGS - "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") - - ament_add_gtest_executable( - moveit_servo_ros_integration_test tests/test_ros_integration.cpp - tests/servo_ros_fixture.hpp) -- ament_target_dependencies(moveit_servo_ros_integration_test -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+ target_link_libraries( -+ moveit_servo_ros_integration_test -+ ${control_msgs_TARGETS} -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_planning_interface::moveit_ros_planning_interface -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ rclcpp_components::component -+ realtime_tools::realtime_tools -+ ${sensor_msgs_TARGETS} -+ ${std_msgs_TARGETS} -+ ${std_srvs_TARGETS} -+ tf2_eigen::tf2_eigen -+ ${trajectory_msgs_TARGETS}) - add_ros_test(tests/launch/servo_ros_integration.test.py TIMEOUT 120 ARGS - "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") - diff --git a/patch/ros-lyrical-moveit-setup-app-plugins.patch b/patch/ros-lyrical-moveit-setup-app-plugins.patch deleted file mode 100644 index e195a99..0000000 --- a/patch/ros-lyrical-moveit-setup-app-plugins.patch +++ /dev/null @@ -1,30 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index fb10aca60..7a3bcb819 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -17,7 +17,7 @@ find_package(rclcpp REQUIRED) - set(CMAKE_AUTOMOC ON) - add_definitions(-DQT_NO_KEYWORDS) - --qt5_wrap_cpp(MOC_FILES include/moveit_setup_app_plugins/launches_widget.hpp -+qt6_wrap_cpp(MOC_FILES include/moveit_setup_app_plugins/launches_widget.hpp - include/moveit_setup_app_plugins/perception_widget.hpp) - - add_library( -@@ -33,9 +33,13 @@ target_include_directories( - moveit_setup_app_plugins - PUBLIC $ - $) --ament_target_dependencies( -- moveit_setup_app_plugins ament_index_cpp moveit_ros_visualization -- moveit_setup_framework pluginlib rclcpp) -+target_link_libraries( -+ moveit_setup_app_plugins -+ ament_index_cpp::ament_index_cpp -+ moveit_ros_visualization::moveit_ros_visualization -+ moveit_setup_framework::moveit_setup_framework -+ pluginlib::pluginlib -+ rclcpp::rclcpp) - - if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) diff --git a/patch/ros-lyrical-moveit-setup-assistant.patch b/patch/ros-lyrical-moveit-setup-assistant.patch deleted file mode 100644 index 5a54a45..0000000 --- a/patch/ros-lyrical-moveit-setup-assistant.patch +++ /dev/null @@ -1,73 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 6dc113eab..8c8e58b76 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -12,8 +12,7 @@ find_package(Boost REQUIRED program_options) - find_package(moveit_setup_framework REQUIRED) - find_package(moveit_setup_srdf_plugins REQUIRED) - find_package(pluginlib REQUIRED) --find_package(Qt5Core REQUIRED) --find_package(Qt5Widgets REQUIRED) -+find_package(Qt6 COMPONENTS Core Widgets) - find_package(rclcpp REQUIRED) - - set(THIS_PACKAGE_INCLUDE_DEPENDS -@@ -21,8 +20,8 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS - moveit_setup_framework - moveit_setup_srdf_plugins - pluginlib -- Qt5Core -- Qt5Widgets -+ Qt6Core -+ Qt6Widgets - rclcpp) - - # Header files that need Qt Moc pre-processing for use with Qt signals, etc: -@@ -32,7 +31,7 @@ set(HEADERS include/moveit_setup_assistant/navigation_widget.hpp - set(CMAKE_AUTOMOC ON) - add_definitions(-DQT_NO_KEYWORDS) - --qt5_wrap_cpp(MOC_FILES ${HEADERS}) -+qt6_wrap_cpp(MOC_FILES ${HEADERS}) - - add_executable( - moveit_setup_assistant src/main.cpp src/setup_assistant_widget.cpp -@@ -41,9 +40,16 @@ target_include_directories( - moveit_setup_assistant - PUBLIC $ - $) --ament_target_dependencies(moveit_setup_assistant -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(moveit_setup_assistant ${Boost_LIBRARIES}) -+target_link_libraries( -+ moveit_setup_assistant -+ ${Boost_LIBRARIES} -+ ament_index_cpp::ament_index_cpp -+ moveit_setup_framework::moveit_setup_framework -+ moveit_setup_srdf_plugins::moveit_setup_srdf_plugins -+ pluginlib::pluginlib -+ Qt6::Core -+ Qt6::Widgets -+ rclcpp::rclcpp) - - add_executable(moveit_setup_assistant_updater src/collisions_updater.cpp) - target_include_directories( -@@ -51,8 +57,16 @@ target_include_directories( - PUBLIC $ - $) - --ament_target_dependencies(moveit_setup_assistant_updater -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ moveit_setup_assistant_updater -+ ${Boost_LIBRARIES} -+ ament_index_cpp::ament_index_cpp -+ moveit_setup_framework::moveit_setup_framework -+ moveit_setup_srdf_plugins::moveit_setup_srdf_plugins -+ pluginlib::pluginlib -+ Qt6::Core -+ Qt6::Widgets -+ rclcpp::rclcpp) - - set_target_properties(moveit_setup_assistant_updater - PROPERTIES OUTPUT_NAME collisions_updater PREFIX "") diff --git a/patch/ros-lyrical-moveit-setup-controllers.patch b/patch/ros-lyrical-moveit-setup-controllers.patch deleted file mode 100644 index 6ff1c0c..0000000 --- a/patch/ros-lyrical-moveit-setup-controllers.patch +++ /dev/null @@ -1,26 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 3e661098b..cff065637 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -16,7 +16,7 @@ find_package(rclcpp REQUIRED) - set(CMAKE_AUTOMOC ON) - add_definitions(-DQT_NO_KEYWORDS) - --qt5_wrap_cpp( -+qt6_wrap_cpp( - MOC_FILES include/moveit_setup_controllers/controller_edit_widget.hpp - include/moveit_setup_controllers/controllers_widget.hpp - include/moveit_setup_controllers/urdf_modifications_widget.hpp) -@@ -40,8 +40,10 @@ target_include_directories( - moveit_setup_controllers - PUBLIC $ - $) --ament_target_dependencies(moveit_setup_controllers ament_index_cpp -- moveit_setup_framework pluginlib rclcpp) -+target_link_libraries( -+ moveit_setup_controllers ament_index_cpp::ament_index_cpp -+ moveit_setup_framework::moveit_setup_framework pluginlib::pluginlib -+ rclcpp::rclcpp) - - if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) diff --git a/patch/ros-lyrical-moveit-setup-core-plugins.patch b/patch/ros-lyrical-moveit-setup-core-plugins.patch deleted file mode 100644 index 9530f75..0000000 --- a/patch/ros-lyrical-moveit-setup-core-plugins.patch +++ /dev/null @@ -1,49 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 2610a37ea..3d3515754 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -19,7 +19,7 @@ find_package(urdf REQUIRED) - set(CMAKE_AUTOMOC ON) - add_definitions(-DQT_NO_KEYWORDS) - --qt5_wrap_cpp( -+qt6_wrap_cpp( - MOC_FILES include/moveit_setup_core_plugins/start_screen_widget.hpp - include/moveit_setup_core_plugins/configuration_files_widget.hpp - include/moveit_setup_core_plugins/author_information_widget.hpp) -@@ -36,15 +36,15 @@ add_library( - target_include_directories( - ${PROJECT_NAME} PUBLIC $ - $) --ament_target_dependencies( -+target_link_libraries( - ${PROJECT_NAME} -- ament_index_cpp -- moveit_ros_visualization -- moveit_setup_framework -- pluginlib -- rclcpp -- srdfdom -- urdf) -+ ament_index_cpp::ament_index_cpp -+ moveit_ros_visualization::moveit_ros_visualization -+ moveit_setup_framework::moveit_setup_framework -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ srdfdom::srdfdom -+ urdf::urdf) - - install( - TARGETS moveit_setup_core_plugins -diff --git a/src/configuration_files_widget.cpp b/src/configuration_files_widget.cpp -index 9e4c3484a..36d2ca8b3 100644 ---- a/src/configuration_files_widget.cpp -+++ b/src/configuration_files_widget.cpp -@@ -44,7 +44,6 @@ - #include - #include - #include --#include - #include - #include - diff --git a/patch/ros-lyrical-moveit-setup-framework.patch b/patch/ros-lyrical-moveit-setup-framework.patch index c302ff7..f4002b9 100644 --- a/patch/ros-lyrical-moveit-setup-framework.patch +++ b/patch/ros-lyrical-moveit-setup-framework.patch @@ -1,9 +1,9 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 3e3d417fb..fc6d922c4 100644 +index f6b1ea7..144ef1f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -11,9 +11,17 @@ find_package(ament_index_cpp REQUIRED) - find_package(fmt REQUIRED) +@@ -25,6 +25,16 @@ else() + endif() find_package(moveit_core REQUIRED) find_package(moveit_ros_planning REQUIRED) +# Find Qt before packages that transitively depend on it (rviz, visualization) @@ -17,81 +17,9 @@ index 3e3d417fb..fc6d922c4 100644 + set(QT_WIDGETS Qt6::Widgets) +endif() find_package(moveit_ros_visualization REQUIRED) --find_package(Qt5Core REQUIRED) --find_package(Qt5Widgets REQUIRED) find_package(pluginlib REQUIRED) find_package(rclcpp REQUIRED) - find_package(rviz_common REQUIRED) -@@ -23,12 +31,21 @@ find_package(urdf REQUIRED) - - set(CMAKE_INCLUDE_CURRENT_DIR ON) - --qt5_wrap_cpp( -- MOC_FILES -- include/moveit_setup_framework/qt/helper_widgets.hpp -- include/moveit_setup_framework/qt/setup_step_widget.hpp -- include/moveit_setup_framework/qt/rviz_panel.hpp -- include/moveit_setup_framework/qt/double_list_widget.hpp) -+if(NOT Qt6_FOUND) -+ qt5_wrap_cpp( -+ MOC_FILES -+ include/moveit_setup_framework/qt/helper_widgets.hpp -+ include/moveit_setup_framework/qt/setup_step_widget.hpp -+ include/moveit_setup_framework/qt/rviz_panel.hpp -+ include/moveit_setup_framework/qt/double_list_widget.hpp) -+else() -+ qt6_wrap_cpp( -+ MOC_FILES -+ include/moveit_setup_framework/qt/helper_widgets.hpp -+ include/moveit_setup_framework/qt/setup_step_widget.hpp -+ include/moveit_setup_framework/qt/rviz_panel.hpp -+ include/moveit_setup_framework/qt/double_list_widget.hpp) -+endif() - - add_library( - moveit_setup_framework -@@ -43,30 +60,35 @@ add_library( - src/utilities.cpp - src/xml_syntax_highlighter.cpp - ${MOC_FILES}) -+ -+include(GenerateExportHeader) -+generate_export_header(${PROJECT_NAME}) - target_include_directories( - moveit_setup_framework - PUBLIC $ - $) --ament_target_dependencies( -+target_link_libraries( - moveit_setup_framework -- ament_index_cpp -- moveit_core -- moveit_ros_planning -- moveit_ros_visualization -- pluginlib -- Qt5Core -- Qt5Widgets -- rclcpp -- rviz_common -- rviz_rendering -- srdfdom -- urdf) -+ PUBLIC ament_index_cpp::ament_index_cpp -+ fmt::fmt -+ moveit_core::moveit_core -+ moveit_ros_planning::moveit_ros_planning -+ moveit_ros_visualization::moveit_ros_visualization -+ pluginlib::pluginlib -+ ${QT_CORE} -+ ${QT_WIDGETS} -+ rclcpp::rclcpp -+ rviz_common::rviz_common -+ rviz_rendering::rviz_rendering -+ srdfdom::srdfdom -+ urdf::urdf) - - install(DIRECTORY include/ DESTINATION include/moveit_setup_framework) - install(FILES moveit_setup_framework_plugins.xml +@@ -77,6 +87,7 @@ install(FILES moveit_setup_framework_plugins.xml DESTINATION share/moveit_setup_framework) install(DIRECTORY templates DESTINATION share/moveit_setup_framework) @@ -100,7 +28,7 @@ index 3e3d417fb..fc6d922c4 100644 ament_export_targets(moveit_setup_frameworkTargets HAS_LIBRARY_TARGET) install( diff --git a/include/moveit_setup_framework/qt/setup_step_widget.hpp b/include/moveit_setup_framework/qt/setup_step_widget.hpp -index f32e7b5ad..c6f472682 100644 +index f32e7b5..c6f4726 100644 --- a/include/moveit_setup_framework/qt/setup_step_widget.hpp +++ b/include/moveit_setup_framework/qt/setup_step_widget.hpp @@ -40,12 +40,14 @@ @@ -119,29 +47,8 @@ index f32e7b5ad..c6f472682 100644 { Q_OBJECT public: -diff --git a/include/moveit_setup_framework/qt/xml_syntax_highlighter.hpp b/include/moveit_setup_framework/qt/xml_syntax_highlighter.hpp -index 5a5fbdd29..aea5aa8cc 100644 ---- a/include/moveit_setup_framework/qt/xml_syntax_highlighter.hpp -+++ b/include/moveit_setup_framework/qt/xml_syntax_highlighter.hpp -@@ -38,6 +38,7 @@ - - #include - #include -+#include - #include - - namespace moveit_setup -@@ -63,7 +64,7 @@ private: - using Rules = std::map; - Rules rules_; - -- Rules::const_iterator highlight(Rules::const_iterator active, QStringRef text, int start, bool search_end, int& end); -+ Rules::const_iterator highlight(Rules::const_iterator active, QStringView text, int start, bool search_end, int& end); - }; - - } // namespace moveit_setup diff --git a/include/moveit_setup_framework/templates.hpp b/include/moveit_setup_framework/templates.hpp -index 1555eee16..b02d52024 100644 +index 1555eee..b02d520 100644 --- a/include/moveit_setup_framework/templates.hpp +++ b/include/moveit_setup_framework/templates.hpp @@ -38,6 +38,8 @@ @@ -162,59 +69,3 @@ index 1555eee16..b02d52024 100644 }; } // namespace moveit_setup -diff --git a/include/moveit_setup_framework/utilities.hpp b/include/moveit_setup_framework/utilities.hpp -index ace3237c6..b7ba031fd 100644 ---- a/include/moveit_setup_framework/utilities.hpp -+++ b/include/moveit_setup_framework/utilities.hpp -@@ -37,7 +37,7 @@ - #pragma once - - #include --#include -+#include - #include - #include - #include -@@ -52,7 +52,7 @@ inline std::filesystem::path getSharePath(const std::string& package_name) - { - try - { -- return std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name)); -+ return ament_index_cpp::get_package_share_path(package_name); - } - catch (const std::runtime_error& e) - { -diff --git a/src/urdf_config.cpp b/src/urdf_config.cpp -index eab682326..5d17cec95 100644 ---- a/src/urdf_config.cpp -+++ b/src/urdf_config.cpp -@@ -36,6 +36,7 @@ - #include - #include - #include -+#include - - namespace moveit_setup - { -diff --git a/src/xml_syntax_highlighter.cpp b/src/xml_syntax_highlighter.cpp -index 1733943ce..53203b1ef 100644 ---- a/src/xml_syntax_highlighter.cpp -+++ b/src/xml_syntax_highlighter.cpp -@@ -64,7 +64,7 @@ void XmlSyntaxHighlighter::addTag(const QString& tag, const QTextCharFormat& for - } - - XmlSyntaxHighlighter::Rules::const_iterator --XmlSyntaxHighlighter::highlight(Rules::const_iterator active, QStringRef text, int start, bool search_end, int& end) -+XmlSyntaxHighlighter::highlight(Rules::const_iterator active, QStringView text, int start, bool search_end, int& end) - { - int offset = end; // when passed, end indicates the end of the opening expression - auto next = active; // return value: active rule at end of text -@@ -121,7 +121,7 @@ void XmlSyntaxHighlighter::highlightBlock(const QString& text) - { - Rules::const_iterator active = previousBlockState() < 0 ? rules_.end() : rules_.find(previousBlockState()); - int unused = 0; -- active = highlight(active, QStringRef(&text, 0, text.size()), 0, active != rules_.cend(), unused); -+ active = highlight(active, QStringView{ text }, 0, active != rules_.cend(), unused); - setCurrentBlockState(active != rules_.cend() ? active->first : -1); - } - diff --git a/patch/ros-lyrical-moveit-setup-srdf-plugins.patch b/patch/ros-lyrical-moveit-setup-srdf-plugins.patch deleted file mode 100644 index cb780f6..0000000 --- a/patch/ros-lyrical-moveit-setup-srdf-plugins.patch +++ /dev/null @@ -1,100 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 6e34b6346..2820d3390 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -10,7 +10,7 @@ find_package(ament_cmake_ros REQUIRED) - find_package(moveit_setup_framework REQUIRED) - find_package(pluginlib REQUIRED) - --qt5_wrap_cpp( -+qt6_wrap_cpp( - MOC_FILES - include/moveit_setup_srdf_plugins/collision_linear_model.hpp - include/moveit_setup_srdf_plugins/collision_matrix_model.hpp -@@ -50,8 +50,9 @@ target_include_directories( - moveit_setup_srdf_plugins - PUBLIC $ - $) --ament_target_dependencies(moveit_setup_srdf_plugins moveit_setup_framework -- pluginlib) -+target_link_libraries( -+ moveit_setup_srdf_plugins moveit_setup_framework::moveit_setup_framework -+ pluginlib::pluginlib) - - if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) -diff --git a/include/moveit_setup_srdf_plugins/collision_matrix_model.hpp b/include/moveit_setup_srdf_plugins/collision_matrix_model.hpp -index 57e34ef04..296a6d8eb 100644 ---- a/include/moveit_setup_srdf_plugins/collision_matrix_model.hpp -+++ b/include/moveit_setup_srdf_plugins/collision_matrix_model.hpp -@@ -65,7 +65,7 @@ public: - void setEnabled(const QModelIndexList& indexes, bool value); - - public Q_SLOTS: -- void setFilterRegExp(const QString& filter); -+ void setFilterRegularExpression(const QString& filter); - - private: - LinkPairMap::iterator item(const QModelIndex& index); -diff --git a/src/collision_linear_model.cpp b/src/collision_linear_model.cpp -index 9fb5b65d1..cca8a6aeb 100644 ---- a/src/collision_linear_model.cpp -+++ b/src/collision_linear_model.cpp -@@ -39,6 +39,7 @@ - - #include - #include -+#include - #include - namespace moveit_setup - { -@@ -264,7 +265,7 @@ bool SortFilterProxyModel::filterAcceptsRow(int source_row, const QModelIndex& s - m->data(m->index(source_row, 2), Qt::CheckStateRole) != Qt::Checked) - return false; // not accepted due to check state - -- const QRegExp regexp = filterRegExp(); -+ const QRegularExpression regexp = filterRegularExpression(); -- if (regexp.isEmpty()) -+ if (regexp.pattern().isEmpty()) - return true; - -diff --git a/src/collision_matrix_model.cpp b/src/collision_matrix_model.cpp -index f8de45156..6f06ee2f2 100644 ---- a/src/collision_matrix_model.cpp -+++ b/src/collision_matrix_model.cpp -@@ -42,6 +42,7 @@ - #include - #include - #include -+#include - #include - - namespace moveit_setup -@@ -194,10 +195,10 @@ void CollisionMatrixModel::setEnabled(const QModelIndexList& indexes, bool value - setData(idx, value ? Qt::Checked : Qt::Unchecked, Qt::CheckStateRole); - } - --void CollisionMatrixModel::setFilterRegExp(const QString& filter) -+void CollisionMatrixModel::setFilterRegularExpression(const QString& filter) - { - beginResetModel(); -- QRegExp regexp(filter); -+ const QRegularExpression regexp(filter); - visual_to_index_.clear(); - for (int idx = 0, end = q_names_.size(); idx != end; ++idx) - { -diff --git a/src/default_collisions_widget.cpp b/src/default_collisions_widget.cpp -index 687378912..b09814513 100644 ---- a/src/default_collisions_widget.cpp -+++ b/src/default_collisions_widget.cpp -@@ -275,8 +275,8 @@ void DefaultCollisionsWidget::loadCollisionTable() - linear_model->setParent(sorted_model); - matrix_model->setParent(linear_model); - } -- connect(link_name_filter_, SIGNAL(textChanged(QString)), model, SLOT(setFilterRegExp(QString))); -- QMetaObject::invokeMethod(model, "setFilterRegExp", Q_ARG(QString, link_name_filter_->text())); -+ connect(link_name_filter_, SIGNAL(textChanged(QString)), model, SLOT(setFilterRegularExpression(QString))); -+ QMetaObject::invokeMethod(model, "setFilterRegularExpression", Q_ARG(QString, link_name_filter_->text())); - - collision_table_->setModel(model); - // delete old and remember new model diff --git a/patch/ros-lyrical-moveit-simple-controller-manager.patch b/patch/ros-lyrical-moveit-simple-controller-manager.patch deleted file mode 100644 index 8a3835c..0000000 --- a/patch/ros-lyrical-moveit-simple-controller-manager.patch +++ /dev/null @@ -1,21 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 9905ae3238..2de874f227 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -29,8 +29,14 @@ set_target_properties( - moveit_simple_controller_manager - PROPERTIES VERSION "${moveit_simple_controller_manager_VERSION}") - --ament_target_dependencies(moveit_simple_controller_manager -- ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) -+target_link_libraries( -+ moveit_simple_controller_manager -+ ${control_msgs_TARGETS} -+ rclcpp::rclcpp -+ rclcpp_action::rclcpp_action -+ moveit_core::moveit_core -+ pluginlib::pluginlib -+ Boost::headers) - - install( - TARGETS moveit_simple_controller_manager diff --git a/patch/ros-lyrical-moveit-task-constructor-capabilities.patch b/patch/ros-lyrical-moveit-task-constructor-capabilities.patch index 2367f35..3a8aa2e 100644 --- a/patch/ros-lyrical-moveit-task-constructor-capabilities.patch +++ b/patch/ros-lyrical-moveit-task-constructor-capabilities.patch @@ -1,4 +1,5 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt +index 7600319..c8d7adf 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -20,7 +20,7 @@ add_library(${PROJECT_NAME} SHARED diff --git a/patch/ros-lyrical-moveit-task-constructor-core.patch b/patch/ros-lyrical-moveit-task-constructor-core.patch index ce07cc4..73ab0be 100644 --- a/patch/ros-lyrical-moveit-task-constructor-core.patch +++ b/patch/ros-lyrical-moveit-task-constructor-core.patch @@ -1,3 +1,35 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 7b47abc..1b82b12 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -12,6 +12,8 @@ find_package(moveit_core REQUIRED) + find_package(moveit_ros_planning REQUIRED) + find_package(moveit_ros_planning_interface REQUIRED) + find_package(moveit_task_constructor_msgs REQUIRED) ++find_package(Python3 REQUIRED COMPONENTS Interpreter Development) ++find_package(pybind11 REQUIRED) + find_package(py_binding_tools REQUIRED) + find_package(rclcpp REQUIRED) + find_package(rviz_marker_tools REQUIRED) +diff --git a/include/moveit/python/task_constructor/properties.h b/include/moveit/python/task_constructor/properties.h +index 46c0e97..70bf30e 100644 +--- a/include/moveit/python/task_constructor/properties.h ++++ b/include/moveit/python/task_constructor/properties.h +@@ -1,14 +1,10 @@ + #pragma once + +-#include + #include + #include + #include + #include + +-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Property) +-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::PropertyMap) +- + namespace moveit { + namespace python { + diff --git a/include/moveit/task_constructor/introspection.h b/include/moveit/task_constructor/introspection.h index cf4dfb7..b7e26d5 100644 --- a/include/moveit/task_constructor/introspection.h @@ -24,257 +56,6 @@ index e217ad6..708a2fb 100644 /// function callback used to initialize property value from another PropertyMap using InitializerFunction = std::function; -diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt -index 82e9875..147aa7b 100644 ---- a/src/CMakeLists.txt -+++ b/src/CMakeLists.txt -@@ -38,7 +38,7 @@ add_library(${PROJECT_NAME} SHARED - solvers/multi_planner.cpp - ) - target_link_libraries(${PROJECT_NAME} -- fmt -+ fmt::fmt - ${moveit_core_TARGETS} - ${moveit_ros_planning_TARGETS} - ${moveit_ros_planning_interface_TARGETS} -diff --git a/src/container.cpp b/src/container.cpp -index febc00f..fded044 100644 ---- a/src/container.cpp -+++ b/src/container.cpp -@@ -57,8 +57,7 @@ namespace moveit { - namespace task_constructor { - - // for debugging of how children interfaces evolve over time --__attribute__((unused)) // silent unused-function warning --static void -+[[maybe_unused]] static void - printChildrenInterfaces(const ContainerBasePrivate& container, bool success, const Stage& creator, - std::ostream& os = std::cerr) { - static unsigned int id = 0; -diff --git a/src/cost_terms.cpp b/src/cost_terms.cpp -index 9ddb94f..9896d36 100644 ---- a/src/cost_terms.cpp -+++ b/src/cost_terms.cpp -@@ -298,8 +298,8 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const - } }; - - auto collision_comment = [=](const auto& distance) { -- return fmt::format(PREFIX + "allegedly valid solution collides between '{}' and '{}'", distance.link_names[0], -- distance.link_names[1]); -+ return fmt::format(fmt::runtime(PREFIX + "allegedly valid solution collides between '{}' and '{}'"), -+ distance.link_names[0], distance.link_names[1]); - }; - - double distance{ 0.0 }; -@@ -313,10 +313,10 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const - } - distance = distance_data.distance; - if (!cumulative) -- comment = fmt::format(PREFIX + "distance {} between '{}' and '{}'", distance, distance_data.link_names[0], -- distance_data.link_names[1]); -+ comment = fmt::format(fmt::runtime(PREFIX + "distance {} between '{}' and '{}'"), distance, -+ distance_data.link_names[0], distance_data.link_names[1]); - else -- comment = fmt::format(PREFIX + "cumulative distance {}", distance); -+ comment = fmt::format(fmt::runtime(PREFIX + "cumulative distance {}"), distance); - } else { // check trajectory - for (size_t i = 0; i < s.trajectory()->getWayPointCount(); ++i) { - auto distance_data = check_distance(state, s.trajectory()->getWayPoint(i)); -@@ -327,7 +327,7 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const - distance += distance_data.distance; - } - distance /= s.trajectory()->getWayPointCount(); -- comment = fmt::format(PREFIX + "average{} distance: {}", (cumulative ? " cumulative" : ""), distance); -+ comment = fmt::format(fmt::runtime(PREFIX + "average{} distance: {}"), (cumulative ? " cumulative" : ""), distance); - } - - return distance_to_cost(distance); -diff --git a/src/introspection.cpp b/src/introspection.cpp -index d938f95..35d502a 100644 ---- a/src/introspection.cpp -+++ b/src/introspection.cpp -@@ -50,6 +50,14 @@ - #include - #include - -+#ifdef _WIN32 -+ #include -+ #include -+ #pragma comment(lib, "ws2_32.lib") -+#else -+ #include -+#endif -+ - static auto LOGGER = rclcpp::get_logger("introspection"); - - namespace moveit { -@@ -60,12 +68,26 @@ std::string getTaskId(const TaskPrivate* task) { - static const std::string ALLOWED = "_/"; - std::ostringstream oss; - char our_hostname[256] = { 0 }; -+ #ifdef _WIN32 -+ { -+ static bool wsa_initialised = false; -+ if (!wsa_initialised) { -+ WSADATA wsaData; -+ WSAStartup(MAKEWORD(2, 2), &wsaData); -+ wsa_initialised = true; -+ } -+ } -+ #endif - gethostname(our_hostname, sizeof(our_hostname) - 1); - // Replace all invalid ROS-name chars with an underscore - std::replace_if( - our_hostname, our_hostname + strlen(our_hostname), - [](const char ch) { return !rcutils_isalnum_no_locale(ch) && ALLOWED.find(ch) == std::string::npos; }, '_'); -- oss << our_hostname << "_" << getpid() << "_" << reinterpret_cast(task); -+ #ifdef _WIN32 -+ oss << our_hostname << "_" << _getpid() << "_" << reinterpret_cast(task); -+ # else -+ oss << our_hostname << "_" << getpid() << "_" << reinterpret_cast(task); -+ #endif - return oss.str(); - } - } // namespace -@@ -214,7 +236,7 @@ void Introspection::publishAllSolutions(bool wait) { - }; - } - --const SolutionBase* Introspection::solutionFromId(uint id) const { -+const SolutionBase* Introspection::solutionFromId(uint32_t id) const { - auto it = impl->id_solution_bimap_.left.find(id); - if (it == impl->id_solution_bimap_.left.end()) - return nullptr; -diff --git a/src/properties.cpp b/src/properties.cpp -index 8c001de..6fd0217 100644 ---- a/src/properties.cpp -+++ b/src/properties.cpp -@@ -38,6 +38,7 @@ - - #include - #include -+#include - #include - #include - #include -diff --git a/src/solvers/pipeline_planner.cpp b/src/solvers/pipeline_planner.cpp -index 9e30131..18e6fb9 100644 ---- a/src/solvers/pipeline_planner.cpp -+++ b/src/solvers/pipeline_planner.cpp -@@ -59,7 +59,7 @@ PipelinePlanner::PipelinePlanner( - , stopping_criterion_callback_(stopping_criterion_callback) - , solution_selection_function_(solution_selection_function) { - // Declare properties of the MotionPlanRequest -- properties().declare("num_planning_attempts", 1u, "number of planning attempts"); -+ properties().declare("num_planning_attempts", 1u, "number of planning attempts"); - properties().declare( - "workspace_parameters", moveit_msgs::msg::WorkspaceParameters(), "allowed workspace of mobile base?"); - -@@ -182,7 +182,7 @@ PlannerInterface::Result PipelinePlanner::plan(const planning_scene::PlanningSce - request.planner_id = planner_id; - request.allowed_planning_time = timeout; - request.start_state.is_diff = true; // we don't specify an extra start state -- request.num_planning_attempts = properties().get("num_planning_attempts"); -+ request.num_planning_attempts = properties().get("num_planning_attempts"); - request.max_velocity_scaling_factor = properties().get("max_velocity_scaling_factor"); - request.max_acceleration_scaling_factor = properties().get("max_acceleration_scaling_factor"); - request.workspace_parameters = properties().get("workspace_parameters"); -diff --git a/src/stage.cpp b/src/stage.cpp -index b64ce0a..a9eb8a0 100644 ---- a/src/stage.cpp -+++ b/src/stage.cpp -@@ -909,8 +909,9 @@ bool Connecting::compatible(const InterfaceState& from_state, const InterfaceSta - const planning_scene::PlanningSceneConstPtr& from = from_state.scene(); - const planning_scene::PlanningSceneConstPtr& to = to_state.scene(); - -- auto false_with_debug = [](auto... args) { -- RCLCPP_DEBUG_STREAM(rclcpp::get_logger("Connecting"), fmt::format(args...)); -+ auto false_with_debug = [](fmt::string_view format_str, auto&&... args) { -+ RCLCPP_DEBUG_STREAM(rclcpp::get_logger("Connecting"), -+ fmt::vformat(format_str, fmt::make_format_args(args...))); - return false; - }; - -diff --git a/src/stages/generate_place_pose.cpp b/src/stages/generate_place_pose.cpp -index 76b9559..042882d 100644 ---- a/src/stages/generate_place_pose.cpp -+++ b/src/stages/generate_place_pose.cpp -@@ -109,11 +109,11 @@ void GeneratePlacePose::compute() { - scene->getTransforms().transformPose(pose_msg.header.frame_id, target_pose, target_pose); - - // spawn the nominal target object pose, considering flip about z and rotations about z-axis -- auto spawner = [&s, &scene, &ik_frame, this](const Eigen::Isometry3d& nominal, uint z_flips, uint z_rotations = 10) { -- for (uint flip = 0; flip <= z_flips; ++flip) { -+ auto spawner = [&s, &scene, &ik_frame, this](const Eigen::Isometry3d& nominal, uint32_t z_flips, uint32_t z_rotations = 10) { -+ for (uint32_t flip = 0; flip <= z_flips; ++flip) { - // flip about object's x-axis - Eigen::Isometry3d object = nominal * Eigen::AngleAxisd(flip * M_PI, Eigen::Vector3d::UnitX()); -- for (uint i = 0; i < z_rotations; ++i) { -+ for (uint32_t i = 0; i < z_rotations; ++i) { - // rotate object at target pose about world's z-axis - Eigen::Vector3d pos = object.translation(); - object.pretranslate(-pos) -@@ -139,7 +139,7 @@ void GeneratePlacePose::compute() { - } - }; - -- uint z_flips = props.get("allow_z_flip") ? 1 : 0; -+ uint32_t z_flips = props.get("allow_z_flip") ? 1 : 0; - if (object && object->getShapes().size() == 1) { - switch (object->getShapes()[0]->type) { - case shapes::CYLINDER: -diff --git a/test/test_stage.cpp b/test/test_stage.cpp -index 1c0553c..39bfa92 100644 ---- a/test/test_stage.cpp -+++ b/test/test_stage.cpp -@@ -36,7 +36,7 @@ TEST(Stage, registerCallbacks) { - StandaloneGeneratorMockup g{ PredefinedCosts::constant(0.0) }; - g.init(getModel()); - -- uint called = 0; -+ uint32_t called = 0; - auto cb = [&called](const SolutionBase& /* s */) { - ++called; - return true; -diff --git a/python/bindings/CMakeLists.txt b/python/bindings/CMakeLists.txt -index 26c86ac..22bf5e1 100644 ---- a/python/bindings/CMakeLists.txt -+++ b/python/bindings/CMakeLists.txt -@@ -17,6 +17,10 @@ pybind11_add_module(pymoveit_mtc - ) - target_include_directories(pymoveit_mtc PUBLIC $) - target_link_libraries(pymoveit_mtc PUBLIC ${PROJECT_NAME} ${PROJECT_NAME}_stages ${PROJECT_NAME}_python_tools) -+# CMake's C++20 module dependency scanner misparses pybind11::module-typed -+# locals in headers pulled in transitively (py_binding_tools) as module -+# control-lines; this target doesn't use C++20 modules, so just disable it. -+set_target_properties(pymoveit_mtc PROPERTIES CXX_SCAN_FOR_MODULES OFF) - - # install libs - install(TARGETS ${PROJECT_NAME}_python_tools -diff --git a/python/bindings/src/properties.cpp b/python/bindings/src/properties.cpp ---- a/python/bindings/src/properties.cpp -+++ b/python/bindings/src/properties.cpp -@@ -158,6 +158,8 @@ - return REGISTRY_SINGLETON.insert(type_index, ros_msg_name, to, from); - } - -+#if !defined(_MSC_VER) - __attribute__((visibility("default"))) // export this symbol as visible in the shared library -+#endif - void export_properties(py::module& m) { - // clang-format off -diff --git a/python/bindings/src/solvers.cpp b/python/bindings/src/solvers.cpp ---- a/python/bindings/src/solvers.cpp -+++ b/python/bindings/src/solvers.cpp -@@ -73,7 +73,7 @@ - pipelinePlanner = core.PipelinePlanner(node, 'ompl', 'PRMkConfigDefault') - pipelinePlanner.num_planning_attempts = 10 - )") -- .property("num_planning_attempts", "int: Number of planning attempts") -+ .property("num_planning_attempts", "int: Number of planning attempts") - .property( - "workspace_parameters", - ":moveit_msgs:`WorkspaceParameters`: Specifies workspace box to be used for Cartesian sampling") diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 181e1a4..fcb7315 100644 --- a/python/CMakeLists.txt @@ -311,38 +92,21 @@ index 181e1a4..fcb7315 100644 # C++ wrapper code add_subdirectory(bindings) -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 1b8d21a..1d9f5d7 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -12,6 +12,8 @@ find_package(moveit_core REQUIRED) - find_package(moveit_ros_planning REQUIRED) - find_package(moveit_ros_planning_interface REQUIRED) - find_package(moveit_task_constructor_msgs REQUIRED) -+find_package(Python3 REQUIRED COMPONENTS Interpreter Development) -+find_package(pybind11 REQUIRED) - find_package(py_binding_tools REQUIRED) - find_package(rclcpp REQUIRED) - find_package(rviz_marker_tools REQUIRED) -diff --git a/include/moveit/python/task_constructor/properties.h b/include/moveit/python/task_constructor/properties.h -index 46c0e97..70bf30e 100644 ---- a/include/moveit/python/task_constructor/properties.h -+++ b/include/moveit/python/task_constructor/properties.h -@@ -1,14 +1,10 @@ - #pragma once - --#include - #include - #include - #include - #include - --PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Property) --PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::PropertyMap) -- - namespace moveit { - namespace python { +diff --git a/python/bindings/CMakeLists.txt b/python/bindings/CMakeLists.txt +index 26c86ac..22bf5e1 100644 +--- a/python/bindings/CMakeLists.txt ++++ b/python/bindings/CMakeLists.txt +@@ -17,6 +17,10 @@ pybind11_add_module(pymoveit_mtc + ) + target_include_directories(pymoveit_mtc PUBLIC $) + target_link_libraries(pymoveit_mtc PUBLIC ${PROJECT_NAME} ${PROJECT_NAME}_stages ${PROJECT_NAME}_python_tools) ++# CMake's C++20 module dependency scanner misparses pybind11::module-typed ++# locals in headers pulled in transitively (py_binding_tools) as module ++# control-lines; this target doesn't use C++20 modules, so just disable it. ++set_target_properties(pymoveit_mtc PROPERTIES CXX_SCAN_FOR_MODULES OFF) + # install libs + install(TARGETS ${PROJECT_NAME}_python_tools diff --git a/python/bindings/src/core.h b/python/bindings/src/core.h index 7ab1437..b9bdc2c 100644 --- a/python/bindings/src/core.h @@ -412,7 +176,7 @@ index a797711..cd66917 100644 namespace moveit { namespace python { diff --git a/python/bindings/src/solvers.cpp b/python/bindings/src/solvers.cpp -index 7c6a12f..eebfa2e 100644 +index 7c6a12f..35acc77 100644 --- a/python/bindings/src/solvers.cpp +++ b/python/bindings/src/solvers.cpp @@ -46,12 +46,6 @@ using namespace py::literals; @@ -428,6 +192,15 @@ index 7c6a12f..eebfa2e 100644 namespace moveit { namespace python { +@@ -73,7 +67,7 @@ void export_solvers(py::module& m) { + pipelinePlanner = core.PipelinePlanner(node, 'ompl', 'PRMkConfigDefault') + pipelinePlanner.num_planning_attempts = 10 + )") +- .property("num_planning_attempts", "int: Number of planning attempts") ++ .property("num_planning_attempts", "int: Number of planning attempts") + .property( + "workspace_parameters", + ":moveit_msgs:`WorkspaceParameters`: Specifies workspace box to be used for Cartesian sampling") diff --git a/python/bindings/src/stages.cpp b/python/bindings/src/stages.cpp index 1dead16..f51308f 100644 --- a/python/bindings/src/stages.cpp @@ -467,3 +240,132 @@ index 1dead16..f51308f 100644 properties::class_(m, "GenerateGraspPose", R"( GenerateGraspPose stage derives from monitoring generator and can be used to generate poses for grasping. Set the desired attributes +diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt +index 82e9875..147aa7b 100644 +--- a/src/CMakeLists.txt ++++ b/src/CMakeLists.txt +@@ -38,7 +38,7 @@ add_library(${PROJECT_NAME} SHARED + solvers/multi_planner.cpp + ) + target_link_libraries(${PROJECT_NAME} +- fmt ++ fmt::fmt + ${moveit_core_TARGETS} + ${moveit_ros_planning_TARGETS} + ${moveit_ros_planning_interface_TARGETS} +diff --git a/src/introspection.cpp b/src/introspection.cpp +index 5dfed5d..240320f 100644 +--- a/src/introspection.cpp ++++ b/src/introspection.cpp +@@ -64,12 +64,26 @@ std::string getTaskId(const TaskPrivate* task) { + static const std::string ALLOWED = "_/"; + std::ostringstream oss; + char our_hostname[256] = { 0 }; ++ #ifdef _WIN32 ++ { ++ static bool wsa_initialised = false; ++ if (!wsa_initialised) { ++ WSADATA wsaData; ++ WSAStartup(MAKEWORD(2, 2), &wsaData); ++ wsa_initialised = true; ++ } ++ } ++ #endif + gethostname(our_hostname, sizeof(our_hostname) - 1); + // Replace all invalid ROS-name chars with an underscore + std::replace_if( + our_hostname, our_hostname + strlen(our_hostname), + [](const char ch) { return !rcutils_isalnum_no_locale(ch) && ALLOWED.find(ch) == std::string::npos; }, '_'); +- oss << our_hostname << "_" << getpid() << "_" << reinterpret_cast(task); ++ #ifdef _WIN32 ++ oss << our_hostname << "_" << _getpid() << "_" << reinterpret_cast(task); ++ # else ++ oss << our_hostname << "_" << getpid() << "_" << reinterpret_cast(task); ++ #endif + return oss.str(); + } + } // namespace +@@ -218,7 +232,7 @@ void Introspection::publishAllSolutions(bool wait) { + }; + } + +-const SolutionBase* Introspection::solutionFromId(uint id) const { ++const SolutionBase* Introspection::solutionFromId(uint32_t id) const { + auto it = impl->id_solution_bimap_.left.find(id); + if (it == impl->id_solution_bimap_.left.end()) + return nullptr; +diff --git a/src/properties.cpp b/src/properties.cpp +index e1ffdcf..1ac0102 100644 +--- a/src/properties.cpp ++++ b/src/properties.cpp +@@ -38,6 +38,7 @@ + + #include + #include ++#include + #include + #include + #include +diff --git a/src/solvers/pipeline_planner.cpp b/src/solvers/pipeline_planner.cpp +index 9e30131..18e6fb9 100644 +--- a/src/solvers/pipeline_planner.cpp ++++ b/src/solvers/pipeline_planner.cpp +@@ -59,7 +59,7 @@ PipelinePlanner::PipelinePlanner( + , stopping_criterion_callback_(stopping_criterion_callback) + , solution_selection_function_(solution_selection_function) { + // Declare properties of the MotionPlanRequest +- properties().declare("num_planning_attempts", 1u, "number of planning attempts"); ++ properties().declare("num_planning_attempts", 1u, "number of planning attempts"); + properties().declare( + "workspace_parameters", moveit_msgs::msg::WorkspaceParameters(), "allowed workspace of mobile base?"); + +@@ -182,7 +182,7 @@ PlannerInterface::Result PipelinePlanner::plan(const planning_scene::PlanningSce + request.planner_id = planner_id; + request.allowed_planning_time = timeout; + request.start_state.is_diff = true; // we don't specify an extra start state +- request.num_planning_attempts = properties().get("num_planning_attempts"); ++ request.num_planning_attempts = properties().get("num_planning_attempts"); + request.max_velocity_scaling_factor = properties().get("max_velocity_scaling_factor"); + request.max_acceleration_scaling_factor = properties().get("max_acceleration_scaling_factor"); + request.workspace_parameters = properties().get("workspace_parameters"); +diff --git a/src/stages/generate_place_pose.cpp b/src/stages/generate_place_pose.cpp +index 76b9559..042882d 100644 +--- a/src/stages/generate_place_pose.cpp ++++ b/src/stages/generate_place_pose.cpp +@@ -109,11 +109,11 @@ void GeneratePlacePose::compute() { + scene->getTransforms().transformPose(pose_msg.header.frame_id, target_pose, target_pose); + + // spawn the nominal target object pose, considering flip about z and rotations about z-axis +- auto spawner = [&s, &scene, &ik_frame, this](const Eigen::Isometry3d& nominal, uint z_flips, uint z_rotations = 10) { +- for (uint flip = 0; flip <= z_flips; ++flip) { ++ auto spawner = [&s, &scene, &ik_frame, this](const Eigen::Isometry3d& nominal, uint32_t z_flips, uint32_t z_rotations = 10) { ++ for (uint32_t flip = 0; flip <= z_flips; ++flip) { + // flip about object's x-axis + Eigen::Isometry3d object = nominal * Eigen::AngleAxisd(flip * M_PI, Eigen::Vector3d::UnitX()); +- for (uint i = 0; i < z_rotations; ++i) { ++ for (uint32_t i = 0; i < z_rotations; ++i) { + // rotate object at target pose about world's z-axis + Eigen::Vector3d pos = object.translation(); + object.pretranslate(-pos) +@@ -139,7 +139,7 @@ void GeneratePlacePose::compute() { + } + }; + +- uint z_flips = props.get("allow_z_flip") ? 1 : 0; ++ uint32_t z_flips = props.get("allow_z_flip") ? 1 : 0; + if (object && object->getShapes().size() == 1) { + switch (object->getShapes()[0]->type) { + case shapes::CYLINDER: +diff --git a/test/test_stage.cpp b/test/test_stage.cpp +index 1c0553c..39bfa92 100644 +--- a/test/test_stage.cpp ++++ b/test/test_stage.cpp +@@ -36,7 +36,7 @@ TEST(Stage, registerCallbacks) { + StandaloneGeneratorMockup g{ PredefinedCosts::constant(0.0) }; + g.init(getModel()); + +- uint called = 0; ++ uint32_t called = 0; + auto cb = [&called](const SolutionBase& /* s */) { + ++called; + return true; diff --git a/patch/ros-lyrical-moveit-task-constructor-visualization.patch b/patch/ros-lyrical-moveit-task-constructor-visualization.patch index baacb0a..8eeab4f 100644 --- a/patch/ros-lyrical-moveit-task-constructor-visualization.patch +++ b/patch/ros-lyrical-moveit-task-constructor-visualization.patch @@ -1,54 +1,8 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index a220b3a..ae44a55 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -19,10 +19,10 @@ find_package(rviz_ogre_vendor REQUIRED) - add_definitions(-DBOOST_MATH_DISABLE_FLOAT128) - - # Qt Stuff --find_package(Qt5 REQUIRED COMPONENTS Core Widgets) --set(QT_LIBRARIES Qt5::Widgets) -+find_package(Qt6 REQUIRED COMPONENTS Core Widgets) -+set(QT_LIBRARIES Qt6::Widgets) - macro(qt_wrap_ui) -- qt5_wrap_ui(${ARGN}) -+ qt6_wrap_ui(${ARGN}) - endmacro() - - set(CMAKE_INCLUDE_CURRENT_DIR ON) -diff --git a/motion_planning_tasks/src/remote_task_model.cpp b/motion_planning_tasks/src/remote_task_model.cpp -index d28cfd6..8926cba 100644 ---- a/motion_planning_tasks/src/remote_task_model.cpp -+++ b/motion_planning_tasks/src/remote_task_model.cpp -@@ -526,7 +526,7 @@ QVariant RemoteSolutionModel::data(const QModelIndex& index, int role) const { - return item.creation_rank; - case 1: - if (std::isinf(item.cost)) -- return tr(u8"∞"); -+ return tr("∞"); - if (std::isnan(item.cost)) - return QVariant(); - return QLocale().toString(item.cost, 'f', 4); -diff --git a/motion_planning_tasks/src/task_list_model.cpp b/motion_planning_tasks/src/task_list_model.cpp -index 3cd6466..7c471d5 100644 ---- a/motion_planning_tasks/src/task_list_model.cpp -+++ b/motion_planning_tasks/src/task_list_model.cpp -@@ -61,9 +61,9 @@ QVariant TaskListModel::horizontalHeader(int column, int role) { - case 0: - return tr("name"); - case 1: -- return tr(u8"✓"); -+ return tr("✓"); - case 2: -- return tr(u8"✗"); -+ return tr("✗"); - case 3: - return tr("time"); - } diff --git a/motion_planning_tasks/src/CMakeLists.txt b/motion_planning_tasks/src/CMakeLists.txt +index a46edd0..a2d9e3c 100644 --- a/motion_planning_tasks/src/CMakeLists.txt +++ b/motion_planning_tasks/src/CMakeLists.txt -@@ -6,6 +6,8 @@ +@@ -6,6 +6,8 @@ qt_wrap_ui(UIC_FILES global_settings.ui ) @@ -57,7 +11,7 @@ diff --git a/motion_planning_tasks/src/CMakeLists.txt b/motion_planning_tasks/sr add_library(${MOVEIT_LIB_NAME} SHARED factory_model.cpp icons.cpp -@@ -22,7 +24,7 @@ +@@ -22,7 +24,7 @@ add_library(${MOVEIT_LIB_NAME} SHARED ${UIC_FILES} @@ -67,6 +21,7 @@ diff --git a/motion_planning_tasks/src/CMakeLists.txt b/motion_planning_tasks/sr set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") diff --git a/motion_planning_tasks/utils/flat_merge_proxy_model.h b/motion_planning_tasks/utils/flat_merge_proxy_model.h +index feced7e..57f53a6 100644 --- a/motion_planning_tasks/utils/flat_merge_proxy_model.h +++ b/motion_planning_tasks/utils/flat_merge_proxy_model.h @@ -38,6 +38,16 @@ @@ -86,7 +41,7 @@ diff --git a/motion_planning_tasks/utils/flat_merge_proxy_model.h b/motion_plann namespace moveit_rviz_plugin { namespace utils { -@@ -49,7 +59,7 @@ +@@ -49,7 +59,7 @@ class FlatMergeProxyModelPrivate; * Removing top-level items will remove the whole embedded model if all top-level items from * this model are to be removed. Otherwise, removal is forwarded to the embedded model. */ @@ -96,6 +51,7 @@ diff --git a/motion_planning_tasks/utils/flat_merge_proxy_model.h b/motion_plann Q_OBJECT Q_DECLARE_PRIVATE(FlatMergeProxyModel) diff --git a/motion_planning_tasks/utils/tree_merge_proxy_model.h b/motion_planning_tasks/utils/tree_merge_proxy_model.h +index df43128..848c5bc 100644 --- a/motion_planning_tasks/utils/tree_merge_proxy_model.h +++ b/motion_planning_tasks/utils/tree_merge_proxy_model.h @@ -38,6 +38,16 @@ @@ -115,7 +71,7 @@ diff --git a/motion_planning_tasks/utils/tree_merge_proxy_model.h b/motion_plann namespace moveit_rviz_plugin { namespace utils { -@@ -48,7 +58,7 @@ +@@ -48,7 +58,7 @@ class TreeMergeProxyModelPrivate; * Each embedded model becomes a top-level item (with a given name) * and all the model's top-level items will appear as its children. */ diff --git a/patch/ros-lyrical-nav2-common.patch b/patch/ros-lyrical-nav2-common.patch index f22d44e..d875afa 100644 --- a/patch/ros-lyrical-nav2-common.patch +++ b/patch/ros-lyrical-nav2-common.patch @@ -1,7 +1,7 @@ -diff --git a/nav2_common/cmake/nav2_package.cmake b/nav2_common/cmake/nav2_package.cmake +diff --git a/cmake/nav2_package.cmake b/cmake/nav2_package.cmake index 3f4977193c..01ca1c3ed2 100644 ---- a/nav2_common/cmake/nav2_package.cmake -+++ b/nav2_common/cmake/nav2_package.cmake +--- a/cmake/nav2_package.cmake ++++ b/cmake/nav2_package.cmake @@ -37,7 +37,7 @@ macro(nav2_package) endif() diff --git a/patch/ros-lyrical-pilz-industrial-motion-planner-testutils.patch b/patch/ros-lyrical-pilz-industrial-motion-planner-testutils.patch deleted file mode 100644 index 4d64c8c..0000000 --- a/patch/ros-lyrical-pilz-industrial-motion-planner-testutils.patch +++ /dev/null @@ -1,27 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 1026df76f3..b4e17da23d 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -29,15 +29,14 @@ add_library( - src/robotconfiguration.cpp src/sequence.cpp src/xml_testdata_loader.cpp) - - # Specify libraries to link a library or executable target against --ament_target_dependencies( -+target_link_libraries( - pilz_industrial_motion_planner_testutils -- Boost -- Eigen3 -- eigen3_cmake_module -- rclcpp -- moveit_core -- moveit_msgs -- tf2_eigen) -+ Boost::headers -+ Eigen3::Eigen -+ rclcpp::rclcpp -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ tf2_eigen::tf2_eigen) - - # ############################################################################## - # Install ## diff --git a/patch/ros-lyrical-pilz-industrial-motion-planner.patch b/patch/ros-lyrical-pilz-industrial-motion-planner.patch deleted file mode 100644 index 0d8ffde..0000000 --- a/patch/ros-lyrical-pilz-industrial-motion-planner.patch +++ /dev/null @@ -1,359 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -64,30 +64,98 @@ - ) - - add_library(planning_context_loader_base SHARED src/planning_context_loader.cpp) --target_link_libraries(planning_context_loader_base cartesian_limits_parameters) --ament_target_dependencies(planning_context_loader_base -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ planning_context_loader_base -+ cartesian_limits_parameters -+ joint_limits_common -+ Eigen3::Eigen -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_move_group::moveit_ros_move_group -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_eigen::tf2_eigen -+ tf2_eigen_kdl::tf2_eigen_kdl -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_kdl::tf2_kdl -+ tf2_ros::tf2_ros -+ ${orocos_kdl_LIBRARIES} -+ Boost::headers) - - add_library( - joint_limits_common SHARED - src/joint_limits_aggregator.cpp src/joint_limits_container.cpp - src/joint_limits_validator.cpp src/limits_container.cpp) --target_link_libraries(joint_limits_common cartesian_limits_parameters) --ament_target_dependencies(joint_limits_common ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ joint_limits_common -+ cartesian_limits_parameters -+ Eigen3::Eigen -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_move_group::moveit_ros_move_group -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_eigen::tf2_eigen -+ tf2_eigen_kdl::tf2_eigen_kdl -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_kdl::tf2_kdl -+ tf2_ros::tf2_ros -+ ${orocos_kdl_LIBRARIES} -+ Boost::headers) - - add_library( - trajectory_generation_common SHARED - src/trajectory_functions.cpp src/trajectory_generator.cpp - src/trajectory_blender_transition_window.cpp) --target_link_libraries(trajectory_generation_common cartesian_limits_parameters) --ament_target_dependencies(trajectory_generation_common -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ trajectory_generation_common -+ cartesian_limits_parameters -+ joint_limits_common -+ Eigen3::Eigen -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_move_group::moveit_ros_move_group -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_eigen::tf2_eigen -+ tf2_eigen_kdl::tf2_eigen_kdl -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_kdl::tf2_kdl -+ tf2_ros::tf2_ros -+ ${orocos_kdl_LIBRARIES} -+ Boost::headers) - - add_library(command_list_manager SHARED src/command_list_manager.cpp - src/plan_components_builder.cpp) --target_link_libraries(command_list_manager trajectory_generation_common -- joint_limits_common) --ament_target_dependencies(command_list_manager ${THIS_PACKAGE_INCLUDE_DEPENDS}) -+target_link_libraries( -+ command_list_manager -+ trajectory_generation_common -+ joint_limits_common -+ Eigen3::Eigen -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_move_group::moveit_ros_move_group -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_eigen::tf2_eigen -+ tf2_eigen_kdl::tf2_eigen_kdl -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_kdl::tf2_kdl -+ tf2_ros::tf2_ros -+ ${orocos_kdl_LIBRARIES} -+ Boost::headers) - - # ############################################################################## - # Plugins ## -@@ -95,43 +163,128 @@ - - add_library(pilz_industrial_motion_planner SHARED - src/pilz_industrial_motion_planner.cpp) --ament_target_dependencies(pilz_industrial_motion_planner -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(pilz_industrial_motion_planner -- planning_context_loader_base joint_limits_common) -+target_link_libraries( -+ pilz_industrial_motion_planner -+ planning_context_loader_base -+ joint_limits_common -+ Eigen3::Eigen -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_move_group::moveit_ros_move_group -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_eigen::tf2_eigen -+ tf2_eigen_kdl::tf2_eigen_kdl -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_kdl::tf2_kdl -+ tf2_ros::tf2_ros -+ ${orocos_kdl_LIBRARIES} -+ Boost::headers) - - add_library( - planning_context_loader_ptp SHARED - src/planning_context_loader_ptp.cpp src/trajectory_generator_ptp.cpp - src/velocity_profile_atrap.cpp) --ament_target_dependencies(planning_context_loader_ptp -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(planning_context_loader_ptp planning_context_loader_base -- joint_limits_common trajectory_generation_common) -+target_link_libraries( -+ planning_context_loader_ptp -+ planning_context_loader_base -+ joint_limits_common -+ trajectory_generation_common -+ Eigen3::Eigen -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_move_group::moveit_ros_move_group -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_eigen::tf2_eigen -+ tf2_eigen_kdl::tf2_eigen_kdl -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_kdl::tf2_kdl -+ tf2_ros::tf2_ros -+ ${orocos_kdl_LIBRARIES} -+ Boost::headers) - - add_library( - planning_context_loader_lin SHARED - src/planning_context_loader_lin.cpp src/trajectory_generator_lin.cpp - src/velocity_profile_atrap.cpp) --ament_target_dependencies(planning_context_loader_lin -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(planning_context_loader_lin planning_context_loader_base -- joint_limits_common trajectory_generation_common) -+target_link_libraries( -+ planning_context_loader_lin -+ planning_context_loader_base -+ joint_limits_common -+ trajectory_generation_common -+ Eigen3::Eigen -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_move_group::moveit_ros_move_group -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_eigen::tf2_eigen -+ tf2_eigen_kdl::tf2_eigen_kdl -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_kdl::tf2_kdl -+ tf2_ros::tf2_ros -+ ${orocos_kdl_LIBRARIES} -+ Boost::headers) - - add_library( - planning_context_loader_circ SHARED - src/planning_context_loader_circ.cpp src/trajectory_generator_circ.cpp - src/path_circle_generator.cpp) --ament_target_dependencies(planning_context_loader_circ -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(planning_context_loader_circ planning_context_loader_base -- joint_limits_common trajectory_generation_common) -+target_link_libraries( -+ planning_context_loader_circ -+ planning_context_loader_base -+ joint_limits_common -+ trajectory_generation_common -+ Eigen3::Eigen -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_move_group::moveit_ros_move_group -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_eigen::tf2_eigen -+ tf2_eigen_kdl::tf2_eigen_kdl -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_kdl::tf2_kdl -+ tf2_ros::tf2_ros -+ ${orocos_kdl_LIBRARIES} -+ Boost::headers) - - add_library(sequence_capability SHARED src/move_group_sequence_action.cpp - src/move_group_sequence_service.cpp) --ament_target_dependencies(sequence_capability ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(sequence_capability joint_limits_common -- command_list_manager trajectory_generation_common) -+target_link_libraries( -+ sequence_capability -+ joint_limits_common -+ command_list_manager -+ trajectory_generation_common -+ Eigen3::Eigen -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_move_group::moveit_ros_move_group -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_eigen::tf2_eigen -+ tf2_eigen_kdl::tf2_eigen_kdl -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_kdl::tf2_kdl -+ tf2_ros::tf2_ros -+ ${orocos_kdl_LIBRARIES} -+ Boost::headers) - - # ############################################################################## - # Install ## -diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt ---- a/test/CMakeLists.txt -+++ b/test/CMakeLists.txt -@@ -12,10 +12,26 @@ - - # pilz_industrial_motion_testhelpers - add_library(${PROJECT_NAME}_test_utils test_utils.cpp) --ament_target_dependencies(${PROJECT_NAME}_test_utils -- ${THIS_PACKAGE_INCLUDE_DEPENDS}) --target_link_libraries(${PROJECT_NAME}_test_utils joint_limits_common -- trajectory_generation_common) -+target_link_libraries( -+ ${PROJECT_NAME}_test_utils -+ joint_limits_common -+ trajectory_generation_common -+ Eigen3::Eigen -+ ${geometry_msgs_TARGETS} -+ moveit_core::moveit_core -+ ${moveit_msgs_TARGETS} -+ moveit_ros_move_group::moveit_ros_move_group -+ moveit_ros_planning::moveit_ros_planning -+ pluginlib::pluginlib -+ rclcpp::rclcpp -+ tf2::tf2 -+ tf2_eigen::tf2_eigen -+ tf2_eigen_kdl::tf2_eigen_kdl -+ ${tf2_geometry_msgs_TARGETS} -+ tf2_kdl::tf2_kdl -+ tf2_ros::tf2_ros -+ ${orocos_kdl_LIBRARIES} -+ Boost::headers) - - # Unit tests - add_subdirectory(unit_tests) -diff --git a/test/unit_tests/CMakeLists.txt b/test/unit_tests/CMakeLists.txt ---- a/test/unit_tests/CMakeLists.txt -+++ b/test/unit_tests/CMakeLists.txt -@@ -38,9 +38,9 @@ - # Trajectory Functions Unit Test - ament_add_gtest_executable(unittest_trajectory_functions - src/unittest_trajectory_functions.cpp) --ament_target_dependencies(unittest_trajectory_functions Boost) --target_link_libraries(unittest_trajectory_functions ${PROJECT_NAME}_test_utils -- trajectory_generation_common joint_limits_common) -+target_link_libraries( -+ unittest_trajectory_functions ${PROJECT_NAME}_test_utils -+ trajectory_generation_common joint_limits_common Boost::headers) - add_ros_test(launch/unittest_trajectory_functions.test.py ARGS - "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") - -@@ -49,11 +49,12 @@ - unittest_trajectory_blender_transition_window - src/unittest_trajectory_blender_transition_window.cpp - ${CMAKE_SOURCE_DIR}/src/trajectory_blender_transition_window.cpp) --ament_target_dependencies(unittest_trajectory_blender_transition_window -- pilz_industrial_motion_planner_testutils) - target_link_libraries( -- unittest_trajectory_blender_transition_window ${PROJECT_NAME}_test_utils -- trajectory_generation_common planning_context_loader_lin) -+ unittest_trajectory_blender_transition_window -+ ${PROJECT_NAME}_test_utils -+ trajectory_generation_common -+ planning_context_loader_lin -+ pilz_industrial_motion_planner_testutils::pilz_industrial_motion_planner_testutils) - add_ros_test(launch/unittest_trajectory_blender_transition_window.test.py ARGS - "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") - -@@ -70,20 +71,22 @@ - # trajectory generator circ Unit Test - ament_add_gtest_executable(unittest_trajectory_generator_circ - src/unittest_trajectory_generator_circ.cpp) --ament_target_dependencies(unittest_trajectory_generator_circ -- pilz_industrial_motion_planner_testutils) --target_link_libraries(unittest_trajectory_generator_circ -- ${PROJECT_NAME}_test_utils planning_context_loader_circ) -+target_link_libraries( -+ unittest_trajectory_generator_circ -+ ${PROJECT_NAME}_test_utils -+ planning_context_loader_circ -+ pilz_industrial_motion_planner_testutils::pilz_industrial_motion_planner_testutils) - add_ros_test(launch/unittest_trajectory_generator_circ.test.py ARGS - "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") - - # trajectory generator lin Unit Test - ament_add_gtest_executable(unittest_trajectory_generator_lin - src/unittest_trajectory_generator_lin.cpp) --ament_target_dependencies(unittest_trajectory_generator_lin -- pilz_industrial_motion_planner_testutils) --target_link_libraries(unittest_trajectory_generator_lin -- ${PROJECT_NAME}_test_utils planning_context_loader_lin) -+target_link_libraries( -+ unittest_trajectory_generator_lin -+ ${PROJECT_NAME}_test_utils -+ planning_context_loader_lin -+ pilz_industrial_motion_planner_testutils::pilz_industrial_motion_planner_testutils) - add_ros_test(launch/unittest_trajectory_generator_lin.test.py ARGS - "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") - diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml index 2c01edc..8c3a279 100644 --- a/rosdistro_snapshot.yaml +++ b/rosdistro_snapshot.yaml @@ -1,4 +1,4 @@ -# Snapshot generated by vinca-snapshot on 2026-08-08T08:25:26Z UTC for distro lyrical +# Snapshot generated by vinca-snapshot on 2026-08-20T07:50:07Z UTC for distro lyrical acado_vendor: tag: release/lyrical/acado_vendor/1.0.0-8 url: https://github.com/ros2-gbp/acado_vendor-release.git @@ -16,9 +16,9 @@ ackermann_nlmpc_msgs: url: https://github.com/ros2-gbp/ackmerann_nlmpc-release.git version: 1.0.3 ackermann_steering_controller: - tag: release/lyrical/ackermann_steering_controller/6.8.0-1 + tag: release/lyrical/ackermann_steering_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 action_msgs: tag: release/lyrical/action_msgs/2.4.5-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git @@ -40,13 +40,13 @@ adaptive_component: url: https://github.com/ros2-gbp/adaptive_component-release.git version: 0.2.1 admittance_controller: - tag: release/lyrical/admittance_controller/6.8.0-1 + tag: release/lyrical/admittance_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 agni_tf_tools: - tag: release/lyrical/agni_tf_tools/1.0.0-1 + tag: release/lyrical/agni_tf_tools/1.0.2-1 url: https://github.com/ros2-gbp/agni_tf_tools-release.git - version: 1.0.0 + version: 1.0.2 ament_acceleration: tag: release/lyrical/ament_acceleration/0.2.0-6 url: https://github.com/ros2-gbp/ament_acceleration-release.git @@ -612,9 +612,9 @@ bag2_to_image: url: https://github.com/ros2-gbp/bag2_to_image-release.git version: 0.1.2 battery_state_broadcaster: - tag: release/lyrical/battery_state_broadcaster/1.2.0-3 - url: https://github.com/ros2-gbp/ros_battery_monitoring-release.git - version: 1.2.0 + tag: release/lyrical/battery_state_broadcaster/6.9.0-1 + url: https://github.com/ros2-gbp/ros2_controllers-release.git + version: 6.9.0 battery_state_rviz_overlay: tag: release/lyrical/battery_state_rviz_overlay/1.2.0-3 url: https://github.com/ros2-gbp/ros_battery_monitoring-release.git @@ -624,9 +624,9 @@ behaviortree_cpp: url: https://github.com/ros2-gbp/behaviortree_cpp_v4-release.git version: 4.10.0 bicycle_steering_controller: - tag: release/lyrical/bicycle_steering_controller/6.8.0-1 + tag: release/lyrical/bicycle_steering_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 bno055: tag: release/lyrical/bno055/0.5.0-4 url: https://github.com/ros2-gbp/bno055-release.git @@ -760,13 +760,13 @@ catch_ros2: url: https://github.com/ros2-gbp/catch_ros2-release.git version: 0.2.3 chained_filter_controller: - tag: release/lyrical/chained_filter_controller/6.8.0-1 + tag: release/lyrical/chained_filter_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 chomp_motion_planner: - tag: release/lyrical/chomp_motion_planner/2.14.1-3 + tag: release/lyrical/chomp_motion_planner/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 class_loader: tag: release/lyrical/class_loader/2.9.4-3 url: https://github.com/ros2-gbp/class_loader-release.git @@ -844,25 +844,25 @@ control_msgs: url: https://github.com/ros2-gbp/control_msgs-release.git version: 6.10.0 control_toolbox: - tag: release/lyrical/control_toolbox/6.3.0-3 + tag: release/lyrical/control_toolbox/6.4.0-1 url: https://github.com/ros2-gbp/control_toolbox-release.git - version: 6.3.0 + version: 6.4.0 controller_interface: - tag: release/lyrical/controller_interface/6.8.0-1 + tag: release/lyrical/controller_interface/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.8.0 + version: 6.9.0 controller_manager: - tag: release/lyrical/controller_manager/6.8.0-1 + tag: release/lyrical/controller_manager/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.8.0 + version: 6.9.0 controller_manager_msgs: - tag: release/lyrical/controller_manager_msgs/6.8.0-1 + tag: release/lyrical/controller_manager_msgs/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.8.0 + version: 6.9.0 costmap_queue: - tag: release/lyrical/costmap_queue/1.5.0-1 + tag: release/lyrical/costmap_queue/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 cras_bag_tools: tag: release/lyrical/cras_bag_tools/3.0.2-3 url: https://github.com/ros2-gbp/cras_ros_utils-release.git @@ -1108,9 +1108,9 @@ diagnostics: url: https://github.com/ros2-gbp/diagnostics-release.git version: 4.4.7 diff_drive_controller: - tag: release/lyrical/diff_drive_controller/6.8.0-1 + tag: release/lyrical/diff_drive_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 domain_coordinator: tag: release/lyrical/domain_coordinator/0.15.8-1 url: https://github.com/ros2-gbp/ament_cmake_ros-release.git @@ -1156,21 +1156,21 @@ dummy_sensors: url: https://github.com/ros2-gbp/demos-release.git version: 0.37.9 dwb_core: - tag: release/lyrical/dwb_core/1.5.0-1 + tag: release/lyrical/dwb_core/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 dwb_critics: - tag: release/lyrical/dwb_critics/1.5.0-1 + tag: release/lyrical/dwb_critics/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 dwb_msgs: - tag: release/lyrical/dwb_msgs/1.5.0-1 + tag: release/lyrical/dwb_msgs/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 dwb_plugins: - tag: release/lyrical/dwb_plugins/1.5.0-1 + tag: release/lyrical/dwb_plugins/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 dynamixel_hardware: tag: release/lyrical/dynamixel_hardware/0.6.1-2 url: https://github.com/ros2-gbp/dynamixel_hardware-release.git @@ -1764,13 +1764,13 @@ foonathan_memory_vendor: url: https://github.com/ros2-gbp/foonathan_memory_vendor-release.git version: 1.4.1 force_torque_sensor_broadcaster: - tag: release/lyrical/force_torque_sensor_broadcaster/6.8.0-1 + tag: release/lyrical/force_torque_sensor_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 forward_command_controller: - tag: release/lyrical/forward_command_controller/6.8.0-1 + tag: release/lyrical/forward_command_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 four_wheel_steering_msgs: tag: release/lyrical/four_wheel_steering_msgs/2.0.1-7 url: https://github.com/ros2-gbp/four_wheel_steering_msgs-release.git @@ -1904,29 +1904,29 @@ google_benchmark_vendor: url: https://github.com/ros2-gbp/google_benchmark_vendor-release.git version: 0.7.0 gpio_controllers: - tag: release/lyrical/gpio_controllers/6.8.0-1 + tag: release/lyrical/gpio_controllers/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 gps_msgs: - tag: release/lyrical/gps_msgs/3.1.0-1 + tag: release/lyrical/gps_msgs/3.1.1-1 url: https://github.com/ros2-gbp/gps_umd-release.git - version: 3.1.0 + version: 3.1.1 gps_sensor_broadcaster: - tag: release/lyrical/gps_sensor_broadcaster/6.8.0-1 + tag: release/lyrical/gps_sensor_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 gps_tools: - tag: release/lyrical/gps_tools/3.1.0-1 + tag: release/lyrical/gps_tools/3.1.1-1 url: https://github.com/ros2-gbp/gps_umd-release.git - version: 3.1.0 + version: 3.1.1 gps_umd: - tag: release/lyrical/gps_umd/3.1.0-1 + tag: release/lyrical/gps_umd/3.1.1-1 url: https://github.com/ros2-gbp/gps_umd-release.git - version: 3.1.0 + version: 3.1.1 gpsd_client: - tag: release/lyrical/gpsd_client/3.1.0-1 + tag: release/lyrical/gpsd_client/3.1.1-1 url: https://github.com/ros2-gbp/gps_umd-release.git - version: 3.1.0 + version: 3.1.1 graph_msgs: tag: release/lyrical/graph_msgs/0.2.1-1 url: https://github.com/ros2-gbp/graph_msgs-release.git @@ -2036,9 +2036,9 @@ gz_sensors_vendor: url: https://github.com/ros2-gbp/gz_sensors_vendor-release.git version: 0.3.3 gz_sim_vendor: - tag: release/lyrical/gz_sim_vendor/0.4.5-1 + tag: release/lyrical/gz_sim_vendor/0.4.6-1 url: https://github.com/ros2-gbp/gz_sim_vendor-release.git - version: 0.4.5 + version: 0.4.6 gz_tools_vendor: tag: release/lyrical/gz_tools_vendor/0.2.1-3 url: https://github.com/ros2-gbp/gz_tools_vendor-release.git @@ -2052,13 +2052,13 @@ gz_utils_vendor: url: https://github.com/ros2-gbp/gz_utils_vendor-release.git version: 0.4.1 hardware_interface: - tag: release/lyrical/hardware_interface/6.8.0-1 + tag: release/lyrical/hardware_interface/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.8.0 + version: 6.9.0 hardware_interface_testing: - tag: release/lyrical/hardware_interface_testing/6.8.0-1 + tag: release/lyrical/hardware_interface_testing/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.8.0 + version: 6.9.0 hash_library_vendor: tag: release/lyrical/hash_library_vendor/0.1.1-8 url: https://github.com/ros2-gbp/hash_library_vendor-release.git @@ -2188,9 +2188,9 @@ imu_processors: url: https://github.com/ros2-gbp/imu_pipeline-release.git version: 0.6.1 imu_sensor_broadcaster: - tag: release/lyrical/imu_sensor_broadcaster/6.8.0-1 + tag: release/lyrical/imu_sensor_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 imu_tools: tag: release/lyrical/imu_tools/2.2.2-3 url: https://github.com/ros2-gbp/imu_tools-release.git @@ -2228,13 +2228,13 @@ jacro: url: https://github.com/ros2-gbp/jacro-release.git version: 0.2.0 joint_limits: - tag: release/lyrical/joint_limits/6.8.0-1 + tag: release/lyrical/joint_limits/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.8.0 + version: 6.9.0 joint_state_broadcaster: - tag: release/lyrical/joint_state_broadcaster/6.8.0-1 + tag: release/lyrical/joint_state_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 joint_state_publisher: tag: release/lyrical/joint_state_publisher/2.4.3-1 url: https://github.com/ros2-gbp/joint_state_publisher-release.git @@ -2248,9 +2248,9 @@ joint_state_topic_hardware_interface: url: https://github.com/ros2-gbp/topic_based_hardware-release.git version: 1.1.0 joint_trajectory_controller: - tag: release/lyrical/joint_trajectory_controller/6.8.0-1 + tag: release/lyrical/joint_trajectory_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 joy: tag: release/lyrical/joy/3.3.0-4 url: https://github.com/ros2-gbp/joystick_drivers-release.git @@ -2268,23 +2268,23 @@ joy_tester: url: https://github.com/ros2-gbp/joy_tester-release.git version: 0.0.2 jrl_cmakemodules: - tag: release/lyrical/jrl_cmakemodules/2.0.0-1 + tag: release/lyrical/jrl_cmakemodules/2.2.4-1 url: https://github.com/ros2-gbp/jrl_cmakemodules-release.git - version: 2.0.0 + version: 2.2.4 jsk_common_msgs: - tag: release/lyrical/jsk_common_msgs/5.0.1-2 + tag: release/lyrical/jsk_common_msgs/5.0.1-3 url: https://github.com/tork-a/jsk_common_msgs-release.git version: 5.0.1 jsk_footstep_msgs: - tag: release/lyrical/jsk_footstep_msgs/5.0.1-2 + tag: release/lyrical/jsk_footstep_msgs/5.0.1-3 url: https://github.com/tork-a/jsk_common_msgs-release.git version: 5.0.1 jsk_gui_msgs: - tag: release/lyrical/jsk_gui_msgs/5.0.1-2 + tag: release/lyrical/jsk_gui_msgs/5.0.1-3 url: https://github.com/tork-a/jsk_common_msgs-release.git version: 5.0.1 jsk_hark_msgs: - tag: release/lyrical/jsk_hark_msgs/5.0.1-2 + tag: release/lyrical/jsk_hark_msgs/5.0.1-3 url: https://github.com/tork-a/jsk_common_msgs-release.git version: 5.0.1 kartech_linear_actuator_msgs: @@ -2576,9 +2576,9 @@ libg2o: url: https://github.com/ros2-gbp/libg2o-release.git version: 2020.5.29 libmavconn: - tag: release/lyrical/libmavconn/2.14.0-3 + tag: release/lyrical/libmavconn/2.15.0-1 url: https://github.com/ros2-gbp/mavros-release.git - version: 2.14.0 + version: 2.15.0 libphidget22: tag: release/lyrical/libphidget22/2.4.0-3 url: https://github.com/ros2-gbp/phidgets_drivers-release.git @@ -2648,17 +2648,17 @@ lz4_cmake_module: url: https://github.com/ros2-gbp/rosbag2-release.git version: 0.33.3 magic_enum: - tag: release/lyrical/magic_enum/0.9.7-3 + tag: release/lyrical/magic_enum/0.9.8-1 url: https://github.com/ros2-gbp/magic_enum-release.git - version: 0.9.7 + version: 0.9.8 magnetic_model: tag: release/lyrical/magnetic_model/3.0.3-1 url: https://github.com/ros2-gbp/compass-release.git version: 3.0.3 magnetometer_broadcaster: - tag: release/lyrical/magnetometer_broadcaster/6.8.0-1 + tag: release/lyrical/magnetometer_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 magnetometer_compass: tag: release/lyrical/magnetometer_compass/3.0.3-1 url: https://github.com/ros2-gbp/compass-release.git @@ -2672,17 +2672,17 @@ map_msgs: url: https://github.com/ros2-gbp/navigation_msgs-release.git version: 2.6.1 mapviz: - tag: release/lyrical/mapviz/3.1.0-1 + tag: release/lyrical/mapviz/4.0.2-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 3.1.0 + version: 4.0.2 mapviz_interfaces: - tag: release/lyrical/mapviz_interfaces/3.1.0-1 + tag: release/lyrical/mapviz_interfaces/4.0.2-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 3.1.0 + version: 4.0.2 mapviz_plugins: - tag: release/lyrical/mapviz_plugins/3.1.0-1 + tag: release/lyrical/mapviz_plugins/4.0.2-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 3.1.0 + version: 4.0.2 marine_acoustic_msgs: tag: release/lyrical/marine_acoustic_msgs/2.1.0-3 url: https://github.com/ros2-gbp/marine_msgs-release.git @@ -2732,25 +2732,25 @@ marti_visualization_msgs: url: https://github.com/ros2-gbp/marti_messages-release.git version: 1.6.1 mavlink: - tag: release/lyrical/mavlink/2026.6.19-1 + tag: release/lyrical/mavlink/2026.8.8-1 url: https://github.com/ros2-gbp/mavlink-gbp-release.git - version: 2026.6.19 + version: 2026.8.8 mavros: - tag: release/lyrical/mavros/2.14.0-3 + tag: release/lyrical/mavros/2.15.0-1 url: https://github.com/ros2-gbp/mavros-release.git - version: 2.14.0 + version: 2.15.0 mavros_examples: - tag: release/lyrical/mavros_examples/2.14.0-3 + tag: release/lyrical/mavros_examples/2.15.0-1 url: https://github.com/ros2-gbp/mavros-release.git - version: 2.14.0 + version: 2.15.0 mavros_extras: - tag: release/lyrical/mavros_extras/2.14.0-3 + tag: release/lyrical/mavros_extras/2.15.0-1 url: https://github.com/ros2-gbp/mavros-release.git - version: 2.14.0 + version: 2.15.0 mavros_msgs: - tag: release/lyrical/mavros_msgs/2.14.0-3 + tag: release/lyrical/mavros_msgs/2.15.0-1 url: https://github.com/ros2-gbp/mavros-release.git - version: 2.14.0 + version: 2.15.0 mbf_abstract_core: tag: release/lyrical/mbf_abstract_core/1.2.1-1 url: https://github.com/ros2-gbp/move_base_flex-release.git @@ -2784,9 +2784,9 @@ mcap_vendor: url: https://github.com/ros2-gbp/rosbag2-release.git version: 0.33.3 mecanum_drive_controller: - tag: release/lyrical/mecanum_drive_controller/6.8.0-1 + tag: release/lyrical/mecanum_drive_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 menge_vendor: tag: release/lyrical/menge_vendor/1.3.0-3 url: https://github.com/ros2-gbp/menge_vendor-release.git @@ -2916,9 +2916,9 @@ mola_input_rawlog: url: https://github.com/ros2-gbp/mola-release.git version: 3.0.0 mola_input_rosbag1: - tag: release/lyrical/mola_input_rosbag1/0.3.0-1 + tag: release/lyrical/mola_input_rosbag1/0.4.0-1 url: https://github.com/ros2-gbp/mola_input_rosbag1-release.git - version: 0.3.0 + version: 0.4.0 mola_input_rosbag2: tag: release/lyrical/mola_input_rosbag2/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git @@ -2936,9 +2936,9 @@ mola_launcher: url: https://github.com/ros2-gbp/mola-release.git version: 3.0.0 mola_lidar_odometry: - tag: release/lyrical/mola_lidar_odometry/3.0.0-1 + tag: release/lyrical/mola_lidar_odometry/3.1.0-1 url: https://github.com/ros2-gbp/mola_lidar_odometry-release.git - version: 3.0.0 + version: 3.1.0 mola_metric_maps: tag: release/lyrical/mola_metric_maps/3.0.0-1 url: https://github.com/ros2-gbp/mola-release.git @@ -3000,9 +3000,9 @@ motion_capture_tracking_interfaces: url: https://github.com/ros2-gbp/motion_capture_tracking-release.git version: 1.0.9 motion_primitives_controllers: - tag: release/lyrical/motion_primitives_controllers/6.8.0-1 + tag: release/lyrical/motion_primitives_controllers/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 mouse_teleop: tag: release/lyrical/mouse_teleop/2.0.0-3 url: https://github.com/ros2-gbp/teleop_tools-release.git @@ -3012,57 +3012,57 @@ move_base_flex: url: https://github.com/ros2-gbp/move_base_flex-release.git version: 1.2.1 moveit: - tag: release/lyrical/moveit/2.14.1-3 + tag: release/lyrical/moveit/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_common: - tag: release/lyrical/moveit_common/2.14.1-3 + tag: release/lyrical/moveit_common/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_configs_utils: - tag: release/lyrical/moveit_configs_utils/2.14.1-3 + tag: release/lyrical/moveit_configs_utils/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_core: - tag: release/lyrical/moveit_core/2.14.1-3 + tag: release/lyrical/moveit_core/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_hybrid_planning: - tag: release/lyrical/moveit_hybrid_planning/2.14.1-3 + tag: release/lyrical/moveit_hybrid_planning/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_kinematics: - tag: release/lyrical/moveit_kinematics/2.14.1-3 + tag: release/lyrical/moveit_kinematics/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_msgs: - tag: release/lyrical/moveit_msgs/2.7.1-3 + tag: release/lyrical/moveit_msgs/2.7.2-1 url: https://github.com/ros2-gbp/moveit_msgs-release.git - version: 2.7.1 + version: 2.7.2 moveit_planners: - tag: release/lyrical/moveit_planners/2.14.1-3 + tag: release/lyrical/moveit_planners/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_planners_chomp: - tag: release/lyrical/moveit_planners_chomp/2.14.1-3 + tag: release/lyrical/moveit_planners_chomp/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_planners_ompl: - tag: release/lyrical/moveit_planners_ompl/2.14.1-3 + tag: release/lyrical/moveit_planners_ompl/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_planners_stomp: - tag: release/lyrical/moveit_planners_stomp/2.14.1-3 + tag: release/lyrical/moveit_planners_stomp/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_plugins: - tag: release/lyrical/moveit_plugins/2.14.1-3 + tag: release/lyrical/moveit_plugins/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_py: - tag: release/lyrical/moveit_py/2.14.1-3 + tag: release/lyrical/moveit_py/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_resources: tag: release/lyrical/moveit_resources/3.2.0-1 url: https://github.com/ros2-gbp/moveit_resources-release.git @@ -3088,129 +3088,129 @@ moveit_resources_pr2_description: url: https://github.com/ros2-gbp/moveit_resources-release.git version: 3.2.0 moveit_resources_prbt_ikfast_manipulator_plugin: - tag: release/lyrical/moveit_resources_prbt_ikfast_manipulator_plugin/2.14.1-3 + tag: release/lyrical/moveit_resources_prbt_ikfast_manipulator_plugin/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_resources_prbt_moveit_config: - tag: release/lyrical/moveit_resources_prbt_moveit_config/2.14.1-3 + tag: release/lyrical/moveit_resources_prbt_moveit_config/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_resources_prbt_pg70_support: - tag: release/lyrical/moveit_resources_prbt_pg70_support/2.14.1-3 + tag: release/lyrical/moveit_resources_prbt_pg70_support/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_resources_prbt_support: - tag: release/lyrical/moveit_resources_prbt_support/2.14.1-3 + tag: release/lyrical/moveit_resources_prbt_support/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros: - tag: release/lyrical/moveit_ros/2.14.1-3 + tag: release/lyrical/moveit_ros/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros_benchmarks: - tag: release/lyrical/moveit_ros_benchmarks/2.14.1-3 + tag: release/lyrical/moveit_ros_benchmarks/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros_control_interface: - tag: release/lyrical/moveit_ros_control_interface/2.14.1-3 + tag: release/lyrical/moveit_ros_control_interface/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros_move_group: - tag: release/lyrical/moveit_ros_move_group/2.14.1-3 + tag: release/lyrical/moveit_ros_move_group/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros_occupancy_map_monitor: - tag: release/lyrical/moveit_ros_occupancy_map_monitor/2.14.1-3 + tag: release/lyrical/moveit_ros_occupancy_map_monitor/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros_perception: - tag: release/lyrical/moveit_ros_perception/2.14.1-3 + tag: release/lyrical/moveit_ros_perception/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros_planning: - tag: release/lyrical/moveit_ros_planning/2.14.1-3 + tag: release/lyrical/moveit_ros_planning/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros_planning_interface: - tag: release/lyrical/moveit_ros_planning_interface/2.14.1-3 + tag: release/lyrical/moveit_ros_planning_interface/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros_robot_interaction: - tag: release/lyrical/moveit_ros_robot_interaction/2.14.1-3 + tag: release/lyrical/moveit_ros_robot_interaction/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros_tests: - tag: release/lyrical/moveit_ros_tests/2.14.1-3 + tag: release/lyrical/moveit_ros_tests/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros_trajectory_cache: - tag: release/lyrical/moveit_ros_trajectory_cache/2.14.1-3 + tag: release/lyrical/moveit_ros_trajectory_cache/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros_visualization: - tag: release/lyrical/moveit_ros_visualization/2.14.1-3 + tag: release/lyrical/moveit_ros_visualization/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_ros_warehouse: - tag: release/lyrical/moveit_ros_warehouse/2.14.1-3 + tag: release/lyrical/moveit_ros_warehouse/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_runtime: - tag: release/lyrical/moveit_runtime/2.14.1-3 + tag: release/lyrical/moveit_runtime/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_servo: - tag: release/lyrical/moveit_servo/2.14.1-3 + tag: release/lyrical/moveit_servo/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_setup_app_plugins: - tag: release/lyrical/moveit_setup_app_plugins/2.14.1-3 + tag: release/lyrical/moveit_setup_app_plugins/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_setup_assistant: - tag: release/lyrical/moveit_setup_assistant/2.14.1-3 + tag: release/lyrical/moveit_setup_assistant/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_setup_controllers: - tag: release/lyrical/moveit_setup_controllers/2.14.1-3 + tag: release/lyrical/moveit_setup_controllers/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_setup_core_plugins: - tag: release/lyrical/moveit_setup_core_plugins/2.14.1-3 + tag: release/lyrical/moveit_setup_core_plugins/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_setup_framework: - tag: release/lyrical/moveit_setup_framework/2.14.1-3 + tag: release/lyrical/moveit_setup_framework/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_setup_srdf_plugins: - tag: release/lyrical/moveit_setup_srdf_plugins/2.14.1-3 + tag: release/lyrical/moveit_setup_srdf_plugins/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_simple_controller_manager: - tag: release/lyrical/moveit_simple_controller_manager/2.14.1-3 + tag: release/lyrical/moveit_simple_controller_manager/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 moveit_task_constructor_capabilities: - tag: release/lyrical/moveit_task_constructor_capabilities/0.1.5-3 + tag: release/lyrical/moveit_task_constructor_capabilities/0.1.6-1 url: https://github.com/ros2-gbp/moveit_task_constructor-release.git - version: 0.1.5 + version: 0.1.6 moveit_task_constructor_core: - tag: release/lyrical/moveit_task_constructor_core/0.1.5-3 + tag: release/lyrical/moveit_task_constructor_core/0.1.6-1 url: https://github.com/ros2-gbp/moveit_task_constructor-release.git - version: 0.1.5 + version: 0.1.6 moveit_task_constructor_demo: - tag: release/lyrical/moveit_task_constructor_demo/0.1.5-3 + tag: release/lyrical/moveit_task_constructor_demo/0.1.6-1 url: https://github.com/ros2-gbp/moveit_task_constructor-release.git - version: 0.1.5 + version: 0.1.6 moveit_task_constructor_msgs: - tag: release/lyrical/moveit_task_constructor_msgs/0.1.5-3 + tag: release/lyrical/moveit_task_constructor_msgs/0.1.6-1 url: https://github.com/ros2-gbp/moveit_task_constructor-release.git - version: 0.1.5 + version: 0.1.6 moveit_task_constructor_visualization: - tag: release/lyrical/moveit_task_constructor_visualization/0.1.5-3 + tag: release/lyrical/moveit_task_constructor_visualization/0.1.6-1 url: https://github.com/ros2-gbp/moveit_task_constructor-release.git - version: 0.1.5 + version: 0.1.6 moveit_visual_tools: tag: release/lyrical/moveit_visual_tools/4.2.0-1 url: https://github.com/ros2-gbp/moveit_visual_tools-release.git @@ -3240,161 +3240,161 @@ mqtt_client_interfaces: url: https://github.com/ros2-gbp/mqtt_client-release.git version: 2.5.0 mrpt_apps: - tag: release/lyrical/mrpt_apps/2.15.20-1 + tag: release/lyrical/mrpt_apps/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_apps_cli: - tag: release/lyrical/mrpt_apps_cli/3.1.2-2 + tag: release/lyrical/mrpt_apps_cli/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_apps_gui: - tag: release/lyrical/mrpt_apps_gui/3.1.2-2 + tag: release/lyrical/mrpt_apps_gui/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_bayes: - tag: release/lyrical/mrpt_bayes/3.1.2-2 + tag: release/lyrical/mrpt_bayes/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_common: - tag: release/lyrical/mrpt_common/3.1.2-2 + tag: release/lyrical/mrpt_common/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_comms: - tag: release/lyrical/mrpt_comms/3.1.2-2 + tag: release/lyrical/mrpt_comms/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_config: - tag: release/lyrical/mrpt_config/3.1.2-2 + tag: release/lyrical/mrpt_config/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_containers: - tag: release/lyrical/mrpt_containers/3.1.2-2 + tag: release/lyrical/mrpt_containers/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_core: - tag: release/lyrical/mrpt_core/3.1.2-2 + tag: release/lyrical/mrpt_core/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_data: - tag: release/lyrical/mrpt_data/3.1.2-2 + tag: release/lyrical/mrpt_data/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_examples_cpp: - tag: release/lyrical/mrpt_examples_cpp/3.1.2-2 + tag: release/lyrical/mrpt_examples_cpp/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_expr: - tag: release/lyrical/mrpt_expr/3.1.2-2 + tag: release/lyrical/mrpt_expr/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_generic_sensor: tag: release/lyrical/mrpt_generic_sensor/0.3.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git version: 0.3.0 mrpt_graphs: - tag: release/lyrical/mrpt_graphs/3.1.2-2 + tag: release/lyrical/mrpt_graphs/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_graphslam: - tag: release/lyrical/mrpt_graphslam/3.1.2-2 + tag: release/lyrical/mrpt_graphslam/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_gui: - tag: release/lyrical/mrpt_gui/3.1.2-2 + tag: release/lyrical/mrpt_gui/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_hwdrivers: - tag: release/lyrical/mrpt_hwdrivers/3.1.2-2 + tag: release/lyrical/mrpt_hwdrivers/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_img: - tag: release/lyrical/mrpt_img/3.1.2-2 + tag: release/lyrical/mrpt_img/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_imgui: - tag: release/lyrical/mrpt_imgui/3.1.2-2 + tag: release/lyrical/mrpt_imgui/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_io: - tag: release/lyrical/mrpt_io/3.1.2-2 + tag: release/lyrical/mrpt_io/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_kinematics: - tag: release/lyrical/mrpt_kinematics/3.1.2-2 + tag: release/lyrical/mrpt_kinematics/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_libapps: - tag: release/lyrical/mrpt_libapps/2.15.20-1 + tag: release/lyrical/mrpt_libapps/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_libapps_cli: - tag: release/lyrical/mrpt_libapps_cli/3.1.2-2 + tag: release/lyrical/mrpt_libapps_cli/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_libapps_gui: - tag: release/lyrical/mrpt_libapps_gui/3.1.2-2 + tag: release/lyrical/mrpt_libapps_gui/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_libbase: - tag: release/lyrical/mrpt_libbase/2.15.20-1 + tag: release/lyrical/mrpt_libbase/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_libgui: - tag: release/lyrical/mrpt_libgui/2.15.20-1 + tag: release/lyrical/mrpt_libgui/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_libhwdrivers: - tag: release/lyrical/mrpt_libhwdrivers/2.15.20-1 + tag: release/lyrical/mrpt_libhwdrivers/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_libmaps: - tag: release/lyrical/mrpt_libmaps/2.15.20-1 + tag: release/lyrical/mrpt_libmaps/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_libmath: - tag: release/lyrical/mrpt_libmath/2.15.20-1 + tag: release/lyrical/mrpt_libmath/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_libnav: - tag: release/lyrical/mrpt_libnav/2.15.20-1 + tag: release/lyrical/mrpt_libnav/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_libobs: - tag: release/lyrical/mrpt_libobs/2.15.20-1 + tag: release/lyrical/mrpt_libobs/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_libopengl: - tag: release/lyrical/mrpt_libopengl/2.15.20-1 + tag: release/lyrical/mrpt_libopengl/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_libposes: - tag: release/lyrical/mrpt_libposes/2.15.20-1 + tag: release/lyrical/mrpt_libposes/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_libros_bridge: tag: release/lyrical/mrpt_libros_bridge/3.5.3-1 url: https://github.com/ros2-gbp/mrpt_ros_bridge-release.git version: 3.5.3 mrpt_libslam: - tag: release/lyrical/mrpt_libslam/2.15.20-1 + tag: release/lyrical/mrpt_libslam/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_libtclap: - tag: release/lyrical/mrpt_libtclap/2.15.20-1 + tag: release/lyrical/mrpt_libtclap/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.20 + version: 2.15.21 mrpt_map_server: tag: release/lyrical/mrpt_map_server/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 mrpt_maps: - tag: release/lyrical/mrpt_maps/3.1.2-2 + tag: release/lyrical/mrpt_maps/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_math: - tag: release/lyrical/mrpt_math/3.1.2-2 + tag: release/lyrical/mrpt_math/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_msgs: tag: release/lyrical/mrpt_msgs/0.6.0-3 url: https://github.com/ros2-gbp/mrpt_msgs-release.git @@ -3404,9 +3404,9 @@ mrpt_msgs_bridge: url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 mrpt_nav: - tag: release/lyrical/mrpt_nav/3.1.2-2 + tag: release/lyrical/mrpt_nav/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_nav_interfaces: tag: release/lyrical/mrpt_nav_interfaces/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git @@ -3416,13 +3416,13 @@ mrpt_navigation: url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 mrpt_obs: - tag: release/lyrical/mrpt_obs/3.1.2-2 + tag: release/lyrical/mrpt_obs/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_opengl: - tag: release/lyrical/mrpt_opengl/3.1.2-2 + tag: release/lyrical/mrpt_opengl/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_path_planning: tag: release/lyrical/mrpt_path_planning/1.0.1-1 url: https://github.com/ros2-gbp/mrpt_path_planning-release.git @@ -3436,21 +3436,21 @@ mrpt_pointcloud_pipeline: url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 mrpt_poses: - tag: release/lyrical/mrpt_poses/3.1.2-2 + tag: release/lyrical/mrpt_poses/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_random: - tag: release/lyrical/mrpt_random/3.1.2-2 + tag: release/lyrical/mrpt_random/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_reactivenav2d: tag: release/lyrical/mrpt_reactivenav2d/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 mrpt_rtti: - tag: release/lyrical/mrpt_rtti/3.1.2-2 + tag: release/lyrical/mrpt_rtti/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_sensor_bumblebee_stereo: tag: release/lyrical/mrpt_sensor_bumblebee_stereo/0.3.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git @@ -3476,25 +3476,25 @@ mrpt_sensors: url: https://github.com/ros2-gbp/mrpt_sensors-release.git version: 0.3.0 mrpt_serialization: - tag: release/lyrical/mrpt_serialization/3.1.2-2 + tag: release/lyrical/mrpt_serialization/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_slam: - tag: release/lyrical/mrpt_slam/3.1.2-2 + tag: release/lyrical/mrpt_slam/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_system: - tag: release/lyrical/mrpt_system/3.1.2-2 + tag: release/lyrical/mrpt_system/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_tfest: - tag: release/lyrical/mrpt_tfest/3.1.2-2 + tag: release/lyrical/mrpt_tfest/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_topography: - tag: release/lyrical/mrpt_topography/3.1.2-2 + tag: release/lyrical/mrpt_topography/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_tps_astar_planner: tag: release/lyrical/mrpt_tps_astar_planner/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git @@ -3504,13 +3504,13 @@ mrpt_tutorials: url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 mrpt_typemeta: - tag: release/lyrical/mrpt_typemeta/3.1.2-2 + tag: release/lyrical/mrpt_typemeta/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrpt_viz: - tag: release/lyrical/mrpt_viz/3.1.2-2 + tag: release/lyrical/mrpt_viz/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.1.2 + version: 3.1.3 mrt_cmake_modules: tag: release/lyrical/mrt_cmake_modules/1.0.11-3 url: https://github.com/ros2-gbp/mrt_cmake_modules-release.git @@ -3536,9 +3536,9 @@ mujoco_vendor: url: https://github.com/ros2-gbp/mujoco_vendor-release.git version: 0.0.9 multires_image: - tag: release/lyrical/multires_image/3.1.0-1 + tag: release/lyrical/multires_image/4.0.2-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 3.1.0 + version: 4.0.2 mvsim: tag: release/lyrical/mvsim/1.4.0-1 url: https://github.com/ros2-gbp/mvsim-release.git @@ -3547,10 +3547,10 @@ nanoeigenpy: tag: release/lyrical/nanoeigenpy/0.5.0-3 url: https://github.com/ros2-gbp/nanoeigenpy-release.git version: 0.5.0 -nanoflann: - tag: release/lyrical/nanoflann/1.11.0-1 +nanoflann_vendor: + tag: release/lyrical/nanoflann_vendor/1.12.1-1 url: https://github.com/ros2-gbp/nanoflann-release.git - version: 1.11.0 + version: 1.12.1 nao_button_sim: tag: release/lyrical/nao_button_sim/1.0.1-3 url: https://github.com/ros2-gbp/nao_button_sim-release.git @@ -3580,69 +3580,69 @@ nao_sensor_msgs: url: https://github.com/ros2-gbp/nao_interfaces-release.git version: 1.0.0 nav2_amcl: - tag: release/lyrical/nav2_amcl/1.5.0-1 + tag: release/lyrical/nav2_amcl/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_behavior_tree: - tag: release/lyrical/nav2_behavior_tree/1.5.0-1 + tag: release/lyrical/nav2_behavior_tree/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_behaviors: - tag: release/lyrical/nav2_behaviors/1.5.0-1 + tag: release/lyrical/nav2_behaviors/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_bringup: - tag: release/lyrical/nav2_bringup/1.5.0-1 + tag: release/lyrical/nav2_bringup/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_bt_navigator: - tag: release/lyrical/nav2_bt_navigator/1.5.0-1 + tag: release/lyrical/nav2_bt_navigator/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_collision_monitor: - tag: release/lyrical/nav2_collision_monitor/1.5.0-1 + tag: release/lyrical/nav2_collision_monitor/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_common: - tag: release/lyrical/nav2_common/1.5.0-1 + tag: release/lyrical/nav2_common/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_constrained_smoother: - tag: release/lyrical/nav2_constrained_smoother/1.5.0-1 + tag: release/lyrical/nav2_constrained_smoother/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_controller: - tag: release/lyrical/nav2_controller/1.5.0-1 + tag: release/lyrical/nav2_controller/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_core: - tag: release/lyrical/nav2_core/1.5.0-1 + tag: release/lyrical/nav2_core/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_costmap_2d: - tag: release/lyrical/nav2_costmap_2d/1.5.0-1 + tag: release/lyrical/nav2_costmap_2d/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_dwb_controller: - tag: release/lyrical/nav2_dwb_controller/1.5.0-1 + tag: release/lyrical/nav2_dwb_controller/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_graceful_controller: - tag: release/lyrical/nav2_graceful_controller/1.5.0-1 + tag: release/lyrical/nav2_graceful_controller/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_lifecycle_manager: - tag: release/lyrical/nav2_lifecycle_manager/1.5.0-1 + tag: release/lyrical/nav2_lifecycle_manager/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_loopback_sim: - tag: release/lyrical/nav2_loopback_sim/1.5.0-1 + tag: release/lyrical/nav2_loopback_sim/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_map_server: - tag: release/lyrical/nav2_map_server/1.5.0-1 + tag: release/lyrical/nav2_map_server/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_minimal_tb3_sim: tag: release/lyrical/nav2_minimal_tb3_sim/1.3.0-1 url: https://github.com/ros2-gbp/nav2_minimal_turtlebot_simulation-release.git @@ -3656,93 +3656,93 @@ nav2_minimal_tb4_sim: url: https://github.com/ros2-gbp/nav2_minimal_turtlebot_simulation-release.git version: 1.3.0 nav2_mppi_controller: - tag: release/lyrical/nav2_mppi_controller/1.5.0-1 + tag: release/lyrical/nav2_mppi_controller/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_msgs: - tag: release/lyrical/nav2_msgs/1.5.0-1 + tag: release/lyrical/nav2_msgs/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_navfn_planner: - tag: release/lyrical/nav2_navfn_planner/1.5.0-1 + tag: release/lyrical/nav2_navfn_planner/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_planner: - tag: release/lyrical/nav2_planner/1.5.0-1 + tag: release/lyrical/nav2_planner/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_regulated_pure_pursuit_controller: - tag: release/lyrical/nav2_regulated_pure_pursuit_controller/1.5.0-1 + tag: release/lyrical/nav2_regulated_pure_pursuit_controller/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_ros_common: - tag: release/lyrical/nav2_ros_common/1.5.0-1 + tag: release/lyrical/nav2_ros_common/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_rotation_shim_controller: - tag: release/lyrical/nav2_rotation_shim_controller/1.5.0-1 + tag: release/lyrical/nav2_rotation_shim_controller/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_route: - tag: release/lyrical/nav2_route/1.5.0-1 + tag: release/lyrical/nav2_route/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_rviz_plugins: - tag: release/lyrical/nav2_rviz_plugins/1.5.0-1 + tag: release/lyrical/nav2_rviz_plugins/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_simple_commander: - tag: release/lyrical/nav2_simple_commander/1.5.0-1 + tag: release/lyrical/nav2_simple_commander/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_smac_planner: - tag: release/lyrical/nav2_smac_planner/1.5.0-1 + tag: release/lyrical/nav2_smac_planner/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_smoother: - tag: release/lyrical/nav2_smoother/1.5.0-1 + tag: release/lyrical/nav2_smoother/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_system_tests: - tag: release/lyrical/nav2_system_tests/1.5.0-1 + tag: release/lyrical/nav2_system_tests/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_theta_star_planner: - tag: release/lyrical/nav2_theta_star_planner/1.5.0-1 + tag: release/lyrical/nav2_theta_star_planner/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_util: - tag: release/lyrical/nav2_util/1.5.0-1 + tag: release/lyrical/nav2_util/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_velocity_smoother: - tag: release/lyrical/nav2_velocity_smoother/1.5.0-1 + tag: release/lyrical/nav2_velocity_smoother/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_voxel_grid: - tag: release/lyrical/nav2_voxel_grid/1.5.0-1 + tag: release/lyrical/nav2_voxel_grid/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav2_waypoint_follower: - tag: release/lyrical/nav2_waypoint_follower/1.5.0-1 + tag: release/lyrical/nav2_waypoint_follower/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav_2d_msgs: - tag: release/lyrical/nav_2d_msgs/1.5.0-1 + tag: release/lyrical/nav_2d_msgs/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav_2d_utils: - tag: release/lyrical/nav_2d_utils/1.5.0-1 + tag: release/lyrical/nav_2d_utils/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 nav_msgs: tag: release/lyrical/nav_msgs/5.9.3-1 url: https://github.com/ros2-gbp/common_interfaces-release.git version: 5.9.3 navigation2: - tag: release/lyrical/navigation2/1.5.0-1 + tag: release/lyrical/navigation2/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 navmap_core: tag: release/lyrical/navmap_core/0.5.1-1 url: https://github.com/EasyNavigation/NavMap-release.git @@ -3799,6 +3799,10 @@ nodl_to_policy: tag: release/lyrical/nodl_to_policy/1.0.0-6 url: https://github.com/ros2-gbp/nodl_to_policy-release.git version: 1.0.0 +nonpersistent_voxel_layer: + tag: release/lyrical/nonpersistent_voxel_layer/2.7.0-1 + url: https://github.com/SteveMacenski/nonpersistent_voxel_layer-release.git + version: 2.7.0 novatel_gps_driver: tag: release/lyrical/novatel_gps_driver/4.3.0-1 url: https://github.com/ros2-gbp/novatel_gps_driver-release.git @@ -3928,9 +3932,9 @@ om_spring_actuator_controller: url: https://github.com/ros2-gbp/open_manipulator-release.git version: 4.1.2 omni_wheel_drive_controller: - tag: release/lyrical/omni_wheel_drive_controller/6.8.0-1 + tag: release/lyrical/omni_wheel_drive_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 ompl: tag: release/lyrical/ompl/2.0.1-3 url: https://github.com/ros2-gbp/ompl-release.git @@ -3980,37 +3984,41 @@ openeb_vendor: url: https://github.com/ros2-gbp/openeb_vendor-release.git version: 2.0.3 opennav_docking: - tag: release/lyrical/opennav_docking/1.5.0-1 + tag: release/lyrical/opennav_docking/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 opennav_docking_bt: - tag: release/lyrical/opennav_docking_bt/1.5.0-1 + tag: release/lyrical/opennav_docking_bt/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 opennav_docking_core: - tag: release/lyrical/opennav_docking_core/1.5.0-1 + tag: release/lyrical/opennav_docking_core/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 opennav_following: - tag: release/lyrical/opennav_following/1.5.0-1 + tag: release/lyrical/opennav_following/1.5.1-1 url: https://github.com/ros2-gbp/navigation2-release.git - version: 1.5.0 + version: 1.5.1 openni2_camera: tag: release/lyrical/openni2_camera/2.3.0-3 url: https://github.com/ros2-gbp/openni2_camera-release.git version: 2.3.0 +openvdb_vendor: + tag: release/lyrical/openvdb_vendor/2.7.0-1 + url: https://github.com/SteveMacenski/spatio_temporal_voxel_layer-release.git + version: 2.7.0 orocos_kdl_vendor: tag: release/lyrical/orocos_kdl_vendor/0.8.0-3 url: https://github.com/ros2-gbp/orocos_kdl_vendor-release.git version: 0.8.0 ortools_vendor: - tag: release/lyrical/ortools_vendor/9.9.0-11 + tag: release/lyrical/ortools_vendor/9.9.1-3 url: https://github.com/ros2-gbp/ortools_vendor-release.git - version: 9.9.0 + version: 9.9.1 osqp_vendor: - tag: release/lyrical/osqp_vendor/0.2.0-5 + tag: release/lyrical/osqp_vendor/1.0.0-1 url: https://github.com/ros2-gbp/osqp_vendor-release.git - version: 0.2.0 + version: 1.0.0 osrf_pycommon: tag: release/lyrical/osrf_pycommon/2.1.7-3 url: https://github.com/ros2-gbp/osrf_pycommon-release.git @@ -4036,21 +4044,21 @@ ouxt_lint_common: url: https://github.com/ros2-gbp/ouxt_common-release.git version: 0.0.8 pal_statistics: - tag: release/lyrical/pal_statistics/2.7.0-3 + tag: release/lyrical/pal_statistics/2.8.0-1 url: https://github.com/ros2-gbp/pal_statistics-release.git - version: 2.7.0 + version: 2.8.0 pal_statistics_msgs: - tag: release/lyrical/pal_statistics_msgs/2.7.0-3 + tag: release/lyrical/pal_statistics_msgs/2.8.0-1 url: https://github.com/ros2-gbp/pal_statistics-release.git - version: 2.7.0 + version: 2.8.0 pangolin: tag: release/lyrical/pangolin/0.9.5-3 url: https://github.com/ros2-gbp/Pangolin-release.git version: 0.9.5 parallel_gripper_controller: - tag: release/lyrical/parallel_gripper_controller/6.8.0-1 + tag: release/lyrical/parallel_gripper_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 parameter_expression: tag: release/lyrical/parameter_expression/0.0.2-3 url: https://github.com/ros2-gbp/parameter_expression-release.git @@ -4180,17 +4188,17 @@ picknik_twist_controller: url: https://github.com/ros2-gbp/picknik_controllers-release.git version: 0.0.4 pid_controller: - tag: release/lyrical/pid_controller/6.8.0-1 + tag: release/lyrical/pid_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 pilz_industrial_motion_planner: - tag: release/lyrical/pilz_industrial_motion_planner/2.14.1-3 + tag: release/lyrical/pilz_industrial_motion_planner/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 pilz_industrial_motion_planner_testutils: - tag: release/lyrical/pilz_industrial_motion_planner_testutils/2.14.1-3 + tag: release/lyrical/pilz_industrial_motion_planner_testutils/2.15.0-1 url: https://github.com/ros2-gbp/moveit2-release.git - version: 2.14.1 + version: 2.15.0 pinocchio: tag: release/lyrical/pinocchio/4.1.0-1 url: https://github.com/ros2-gbp/pinocchio-release.git @@ -4352,15 +4360,15 @@ popf: url: https://github.com/ros2-gbp/popf-release.git version: 0.0.20 pose_broadcaster: - tag: release/lyrical/pose_broadcaster/6.8.0-1 + tag: release/lyrical/pose_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 pose_cov_ops: tag: release/lyrical/pose_cov_ops/0.4.0-3 url: https://github.com/ros2-gbp/pose_cov_ops-release.git version: 0.4.0 posedetection_msgs: - tag: release/lyrical/posedetection_msgs/5.0.1-2 + tag: release/lyrical/posedetection_msgs/5.0.1-3 url: https://github.com/tork-a/jsk_common_msgs-release.git version: 5.0.1 protobuf_comm: @@ -4488,9 +4496,9 @@ random_numbers: url: https://github.com/ros2-gbp/random_numbers-release.git version: 2.0.5 range_sensor_broadcaster: - tag: release/lyrical/range_sensor_broadcaster/6.8.0-1 + tag: release/lyrical/range_sensor_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 raspimouse: tag: release/lyrical/raspimouse/2.0.0-3 url: https://github.com/ros2-gbp/raspimouse2-release.git @@ -5060,25 +5068,25 @@ robotraconteur_companion: url: https://github.com/ros2-gbp/robotraconteur_companion-release.git version: 0.4.3 ros2_control: - tag: release/lyrical/ros2_control/6.8.0-1 + tag: release/lyrical/ros2_control/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.8.0 + version: 6.9.0 ros2_control_cmake: tag: release/lyrical/ros2_control_cmake/0.3.0-3 url: https://github.com/ros2-gbp/ros2_control_cmake-release.git version: 0.3.0 ros2_control_test_assets: - tag: release/lyrical/ros2_control_test_assets/6.8.0-1 + tag: release/lyrical/ros2_control_test_assets/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.8.0 + version: 6.9.0 ros2_controllers: - tag: release/lyrical/ros2_controllers/6.8.0-1 + tag: release/lyrical/ros2_controllers/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 ros2_controllers_test_nodes: - tag: release/lyrical/ros2_controllers_test_nodes/6.8.0-1 + tag: release/lyrical/ros2_controllers_test_nodes/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 ros2_fmt_logger: tag: release/lyrical/ros2_fmt_logger/1.1.0-3 url: https://github.com/ros2-gbp/ros2_fmt_logger-release.git @@ -5188,9 +5196,9 @@ ros2component: url: https://github.com/ros2-gbp/ros2cli-release.git version: 0.40.8 ros2controlcli: - tag: release/lyrical/ros2controlcli/6.8.0-1 + tag: release/lyrical/ros2controlcli/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.8.0 + version: 6.9.0 ros2doctor: tag: release/lyrical/ros2doctor/0.40.8-1 url: https://github.com/ros2-gbp/ros2cli-release.git @@ -5336,13 +5344,13 @@ ros_workspace: url: https://github.com/ros2-gbp/ros_workspace-release.git version: 1.0.3 rosapi: - tag: release/lyrical/rosapi/4.2.0-1 + tag: release/lyrical/rosapi/4.2.1-1 url: https://github.com/ros2-gbp/rosbridge_suite-release.git - version: 4.2.0 + version: 4.2.1 rosapi_msgs: - tag: release/lyrical/rosapi_msgs/4.2.0-1 + tag: release/lyrical/rosapi_msgs/4.2.1-1 url: https://github.com/ros2-gbp/rosbridge_suite-release.git - version: 4.2.0 + version: 4.2.1 rosbag2: tag: release/lyrical/rosbag2/0.33.3-1 url: https://github.com/ros2-gbp/rosbag2-release.git @@ -5432,25 +5440,25 @@ rosbag_timing_inspector: url: https://github.com/ros2-gbp/rosbag_timing_inspector-release.git version: 1.0.2 rosbridge_library: - tag: release/lyrical/rosbridge_library/4.2.0-1 + tag: release/lyrical/rosbridge_library/4.2.1-1 url: https://github.com/ros2-gbp/rosbridge_suite-release.git - version: 4.2.0 + version: 4.2.1 rosbridge_msgs: - tag: release/lyrical/rosbridge_msgs/4.2.0-1 + tag: release/lyrical/rosbridge_msgs/4.2.1-1 url: https://github.com/ros2-gbp/rosbridge_suite-release.git - version: 4.2.0 + version: 4.2.1 rosbridge_server: - tag: release/lyrical/rosbridge_server/4.2.0-1 + tag: release/lyrical/rosbridge_server/4.2.1-1 url: https://github.com/ros2-gbp/rosbridge_suite-release.git - version: 4.2.0 + version: 4.2.1 rosbridge_suite: - tag: release/lyrical/rosbridge_suite/4.2.0-1 + tag: release/lyrical/rosbridge_suite/4.2.1-1 url: https://github.com/ros2-gbp/rosbridge_suite-release.git - version: 4.2.0 + version: 4.2.1 rosbridge_test_msgs: - tag: release/lyrical/rosbridge_test_msgs/4.2.0-1 + tag: release/lyrical/rosbridge_test_msgs/4.2.1-1 url: https://github.com/ros2-gbp/rosbridge_suite-release.git - version: 4.2.0 + version: 4.2.1 rosgraph_monitor: tag: release/lyrical/rosgraph_monitor/0.2.3-3 url: https://github.com/ros2-gbp/graph_monitor-release.git @@ -5532,9 +5540,9 @@ rosidl_generator_py: url: https://github.com/ros2-gbp/rosidl_python-release.git version: 0.27.2 rosidl_generator_rs: - tag: release/lyrical/rosidl_generator_rs/0.4.12-3 + tag: release/lyrical/rosidl_generator_rs/0.5.0-2 url: https://github.com/ros2-gbp/rosidl_rust-release.git - version: 0.4.12 + version: 0.5.0 rosidl_generator_type_description: tag: release/lyrical/rosidl_generator_type_description/5.2.1-1 url: https://github.com/ros2-gbp/rosidl-release.git @@ -5700,9 +5708,9 @@ rqt_console: url: https://github.com/ros2-gbp/rqt_console-release.git version: 2.4.4 rqt_controller_manager: - tag: release/lyrical/rqt_controller_manager/6.8.0-1 + tag: release/lyrical/rqt_controller_manager/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.8.0 + version: 6.9.0 rqt_dotgraph: tag: release/lyrical/rqt_dotgraph/0.0.5-3 url: https://github.com/ros2-gbp/rqt_dotgraph-release.git @@ -5740,9 +5748,9 @@ rqt_image_view: url: https://github.com/ros2-gbp/rqt_image_view-release.git version: 2.0.5 rqt_joint_trajectory_controller: - tag: release/lyrical/rqt_joint_trajectory_controller/6.8.0-1 + tag: release/lyrical/rqt_joint_trajectory_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 rqt_moveit: tag: release/lyrical/rqt_moveit/1.0.1-6 url: https://github.com/ros2-gbp/rqt_moveit-release.git @@ -5936,9 +5944,9 @@ rviz_imu_plugin: url: https://github.com/ros2-gbp/imu_tools-release.git version: 2.2.2 rviz_marker_tools: - tag: release/lyrical/rviz_marker_tools/0.1.5-3 + tag: release/lyrical/rviz_marker_tools/0.1.6-1 url: https://github.com/ros2-gbp/moveit_task_constructor-release.git - version: 0.1.5 + version: 0.1.6 rviz_mbf_plugins: tag: release/lyrical/rviz_mbf_plugins/1.2.1-1 url: https://github.com/ros2-gbp/move_base_flex-release.git @@ -6020,9 +6028,9 @@ shape_msgs: url: https://github.com/ros2-gbp/common_interfaces-release.git version: 5.9.3 sick_safetyscanners2: - tag: release/lyrical/sick_safetyscanners2/1.0.4-3 + tag: release/lyrical/sick_safetyscanners2/1.0.5-1 url: https://github.com/ros2-gbp/sick_safetyscanners2-release.git - version: 1.0.4 + version: 1.0.5 sick_safetyscanners2_interfaces: tag: release/lyrical/sick_safetyscanners2_interfaces/1.0.1-1 url: https://github.com/ros2-gbp/sick_safetyscanners2_interfaces-release.git @@ -6068,7 +6076,7 @@ simulation_interfaces: url: https://github.com/ros2-gbp/simulation_interfaces-release.git version: 2.1.0 slam_toolbox: - tag: release/lyrical/slam_toolbox/2.10.0-1 + tag: release/lyrical/slam_toolbox/2.10.0-2 url: https://github.com/SteveMacenski/slam_toolbox-release.git version: 2.10.0 slg_msgs: @@ -6147,12 +6155,16 @@ spacenav: tag: release/lyrical/spacenav/3.3.0-4 url: https://github.com/ros2-gbp/joystick_drivers-release.git version: 3.3.0 +spatio_temporal_voxel_layer: + tag: release/lyrical/spatio_temporal_voxel_layer/2.7.0-1 + url: https://github.com/SteveMacenski/spatio_temporal_voxel_layer-release.git + version: 2.7.0 spdlog_vendor: tag: release/lyrical/spdlog_vendor/1.8.0-3 url: https://github.com/ros2-gbp/spdlog_vendor-release.git version: 1.8.0 speech_recognition_msgs: - tag: release/lyrical/speech_recognition_msgs/5.0.1-2 + tag: release/lyrical/speech_recognition_msgs/5.0.1-3 url: https://github.com/tork-a/jsk_common_msgs-release.git version: 5.0.1 spinnaker_camera_driver: @@ -6184,9 +6196,9 @@ sros2_cmake: url: https://github.com/ros2-gbp/sros2-release.git version: 0.16.6 state_interfaces_broadcaster: - tag: release/lyrical/state_interfaces_broadcaster/6.8.0-1 + tag: release/lyrical/state_interfaces_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 statistics_msgs: tag: release/lyrical/statistics_msgs/2.4.5-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git @@ -6200,9 +6212,9 @@ std_srvs: url: https://github.com/ros2-gbp/common_interfaces-release.git version: 5.9.3 steering_controllers_library: - tag: release/lyrical/steering_controllers_library/6.8.0-1 + tag: release/lyrical/steering_controllers_library/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 steering_functions: tag: release/lyrical/steering_functions/0.3.0-3 url: https://github.com/ros2-gbp/steering_functions-release.git @@ -6220,53 +6232,49 @@ stomp: url: https://github.com/ros2-gbp/stomp-release.git version: 0.1.2 swri_cli_tools: - tag: release/lyrical/swri_cli_tools/3.9.0-1 + tag: release/lyrical/swri_cli_tools/3.9.1-2 url: https://github.com/ros2-gbp/marti_common-release.git - version: 3.9.0 + version: 3.9.1 swri_console: - tag: release/lyrical/swri_console/2.1.2-5 + tag: release/lyrical/swri_console/2.3.0-1 url: https://github.com/ros2-gbp/swri_console-release.git - version: 2.1.2 + version: 2.3.0 swri_console_util: - tag: release/lyrical/swri_console_util/3.9.0-1 + tag: release/lyrical/swri_console_util/3.9.1-2 url: https://github.com/ros2-gbp/marti_common-release.git - version: 3.9.0 + version: 3.9.1 swri_dbw_interface: - tag: release/lyrical/swri_dbw_interface/3.9.0-1 + tag: release/lyrical/swri_dbw_interface/3.9.1-2 url: https://github.com/ros2-gbp/marti_common-release.git - version: 3.9.0 + version: 3.9.1 swri_geometry_util: - tag: release/lyrical/swri_geometry_util/3.9.0-1 + tag: release/lyrical/swri_geometry_util/3.9.1-2 url: https://github.com/ros2-gbp/marti_common-release.git - version: 3.9.0 + version: 3.9.1 swri_image_util: - tag: release/lyrical/swri_image_util/3.9.0-1 + tag: release/lyrical/swri_image_util/3.9.1-2 url: https://github.com/ros2-gbp/marti_common-release.git - version: 3.9.0 + version: 3.9.1 swri_math_util: - tag: release/lyrical/swri_math_util/3.9.0-1 + tag: release/lyrical/swri_math_util/3.9.1-2 url: https://github.com/ros2-gbp/marti_common-release.git - version: 3.9.0 + version: 3.9.1 swri_opencv_util: - tag: release/lyrical/swri_opencv_util/3.9.0-1 - url: https://github.com/ros2-gbp/marti_common-release.git - version: 3.9.0 -swri_roscpp: - tag: release/lyrical/swri_roscpp/3.9.0-1 + tag: release/lyrical/swri_opencv_util/3.9.1-2 url: https://github.com/ros2-gbp/marti_common-release.git - version: 3.9.0 + version: 3.9.1 swri_route_util: - tag: release/lyrical/swri_route_util/3.9.0-1 + tag: release/lyrical/swri_route_util/3.9.1-2 url: https://github.com/ros2-gbp/marti_common-release.git - version: 3.9.0 + version: 3.9.1 swri_serial_util: - tag: release/lyrical/swri_serial_util/3.9.0-1 + tag: release/lyrical/swri_serial_util/3.9.1-2 url: https://github.com/ros2-gbp/marti_common-release.git - version: 3.9.0 + version: 3.9.1 swri_transform_util: - tag: release/lyrical/swri_transform_util/3.9.0-1 + tag: release/lyrical/swri_transform_util/3.9.1-2 url: https://github.com/ros2-gbp/marti_common-release.git - version: 3.9.0 + version: 3.9.1 sync_tooling_msgs: tag: release/lyrical/sync_tooling_msgs/0.2.11-1 url: https://github.com/ros2-gbp/sync_tooling_msgs-release.git @@ -6408,9 +6416,9 @@ theora_image_transport: url: https://github.com/ros2-gbp/image_transport_plugins-release.git version: 6.2.6 tile_map: - tag: release/lyrical/tile_map/3.1.0-1 + tag: release/lyrical/tile_map/4.0.2-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 3.1.0 + version: 4.0.2 tinyspline_vendor: tag: release/lyrical/tinyspline_vendor/0.6.1-3 url: https://github.com/ros2-gbp/tinyspline_vendor-release.git @@ -6504,17 +6512,17 @@ trajectory_msgs: url: https://github.com/ros2-gbp/common_interfaces-release.git version: 5.9.3 transmission_interface: - tag: release/lyrical/transmission_interface/6.8.0-1 + tag: release/lyrical/transmission_interface/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.8.0 + version: 6.9.0 tricycle_controller: - tag: release/lyrical/tricycle_controller/6.8.0-1 + tag: release/lyrical/tricycle_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 tricycle_steering_controller: - tag: release/lyrical/tricycle_steering_controller/6.8.0-1 + tag: release/lyrical/tricycle_steering_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.8.0 + version: 6.9.0 tsid: tag: release/lyrical/tsid/1.10.0-1 url: https://github.com/ros2-gbp/tsid-release.git @@ -6708,9 +6716,9 @@ ur_calibration: url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git version: 6.0.0 ur_client_library: - tag: release/lyrical/ur_client_library/2.14.0-1 + tag: release/lyrical/ur_client_library/2.14.1-1 url: https://github.com/ros2-gbp/Universal_Robots_Client_Library-release.git - version: 2.14.0 + version: 2.14.1 ur_controllers: tag: release/lyrical/ur_controllers/6.0.0-1 url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git @@ -6852,9 +6860,9 @@ vrpn_mocap: url: https://github.com/ros2-gbp/vrpn_mocap-release.git version: 1.1.0 warehouse_ros: - tag: release/lyrical/warehouse_ros/2.0.7-1 + tag: release/lyrical/warehouse_ros/2.0.8-1 url: https://github.com/ros2-gbp/warehouse_ros-release.git - version: 2.0.7 + version: 2.0.8 warehouse_ros_sqlite: tag: release/lyrical/warehouse_ros_sqlite/1.0.9-1 url: https://github.com/ros2-gbp/warehouse_ros_sqlite-release.git @@ -6948,45 +6956,45 @@ yaml_cpp_vendor: url: https://github.com/ros2-gbp/yaml_cpp_vendor-release.git version: 9.2.1 yasmin: - tag: release/lyrical/yasmin/6.1.0-3 + tag: release/lyrical/yasmin/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 6.1.0 + version: 6.1.1 yasmin_cli: - tag: release/lyrical/yasmin_cli/6.1.0-3 + tag: release/lyrical/yasmin_cli/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 6.1.0 + version: 6.1.1 yasmin_demos: - tag: release/lyrical/yasmin_demos/6.1.0-3 + tag: release/lyrical/yasmin_demos/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 6.1.0 + version: 6.1.1 yasmin_editor: - tag: release/lyrical/yasmin_editor/6.1.0-3 + tag: release/lyrical/yasmin_editor/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 6.1.0 + version: 6.1.1 yasmin_factory: - tag: release/lyrical/yasmin_factory/6.1.0-3 + tag: release/lyrical/yasmin_factory/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 6.1.0 + version: 6.1.1 yasmin_msgs: - tag: release/lyrical/yasmin_msgs/6.1.0-3 + tag: release/lyrical/yasmin_msgs/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 6.1.0 + version: 6.1.1 yasmin_pcl: - tag: release/lyrical/yasmin_pcl/6.1.0-3 + tag: release/lyrical/yasmin_pcl/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 6.1.0 + version: 6.1.1 yasmin_plugins_manager: - tag: release/lyrical/yasmin_plugins_manager/6.1.0-3 + tag: release/lyrical/yasmin_plugins_manager/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 6.1.0 + version: 6.1.1 yasmin_ros: - tag: release/lyrical/yasmin_ros/6.1.0-3 + tag: release/lyrical/yasmin_ros/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 6.1.0 + version: 6.1.1 yasmin_viewer: - tag: release/lyrical/yasmin_viewer/6.1.0-3 + tag: release/lyrical/yasmin_viewer/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 6.1.0 + version: 6.1.1 zbar_ros: tag: release/lyrical/zbar_ros/0.7.0-3 url: https://github.com/ros2-gbp/zbar_ros-release.git From 5c54fea0538d3d7e2422f4d23ea520355ff284e4 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Thu, 20 Aug 2026 11:00:48 +0200 Subject: [PATCH 39/48] Reindex artifacts between tolerant build passes --- .github/workflows/testpr.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index e1a5a2d..2ea4a46 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -140,6 +140,9 @@ jobs: echo "Dependency-tolerant build pass ${pass}/${pass_count}" rm -rf ${{ matrix.folder_cache }}/../src_cache/git pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --continue-on-failure --skip-existing || true + # Each rattler-build invocation resolves against channel repodata read + # at startup. Publish this pass's new artifacts before the next pass. + pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force done rm -rf ${{ matrix.folder_cache }}/../src_cache/git From 8e01cd92a035e1b9d591916f0bba6f3399292b08 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Thu, 20 Aug 2026 11:14:35 +0200 Subject: [PATCH 40/48] Refresh patches against current release sources --- ...os-lyrical-moveit-ros-perception.osx.patch | 29 +++++------ patch/ros-lyrical-rtabmap.patch | 52 +++++++++---------- 2 files changed, 37 insertions(+), 44 deletions(-) diff --git a/patch/ros-lyrical-moveit-ros-perception.osx.patch b/patch/ros-lyrical-moveit-ros-perception.osx.patch index f3a1e4c..af29d06 100644 --- a/patch/ros-lyrical-moveit-ros-perception.osx.patch +++ b/patch/ros-lyrical-moveit-ros-perception.osx.patch @@ -1,22 +1,21 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 0452e0485..38b72376a 100644 +index 761d53c..b4b3fc6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -17,8 +17,10 @@ if(WITH_OPENGL) +@@ -17,8 +17,9 @@ if(WITH_OPENGL) set(GL_LIBS ${GL_LIBS} ${OPENGL_LIBRARIES}) if(APPLE) - find_package(FreeGLUT REQUIRED) -- set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW FreeGLUT::freeglut) +- set(SYSTEM_GL_LIBRARIES GLEW::GLEW FreeGLUT::freeglut) + list(INSERT CMAKE_FRAMEWORK_PATH 0 /System/Library/Frameworks) + find_package(GLUT REQUIRED) -+ # find_package(FreeGLUT REQUIRED) -+ set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW GLUT::GLUT) ++ set(SYSTEM_GL_LIBRARIES GLEW::GLEW GLUT::GLUT) else() find_package(GLUT REQUIRED) if(WIN32) diff --git a/mesh_filter/src/gl_renderer.cpp b/mesh_filter/src/gl_renderer.cpp -index e528cb5b5..9d1689cf6 100644 +index e528cb5..81f9f2e 100644 --- a/mesh_filter/src/gl_renderer.cpp +++ b/mesh_filter/src/gl_renderer.cpp @@ -37,11 +37,13 @@ @@ -34,18 +33,16 @@ index e528cb5b5..9d1689cf6 100644 #include #include #include -@@ -405,8 +407,13 @@ void mesh_filter::GLRenderer::createGLContext() - glutIconifyWindow(); +@@ -406,7 +408,13 @@ void mesh_filter::GLRenderer::createGLContext() glutHideWindow(); -- for (int i = 0; i < 10; ++i) -- glutMainLoopEvent(); -+ for (int i = 0; i < 10; ++i){ -+ #ifdef __APPLE__ -+ glutCheckLoop(); -+ #else -+ glutMainLoopEvent(); -+ #endif + for (int i = 0; i < 10; ++i) ++ { ++#ifdef __APPLE__ ++ glutCheckLoop(); ++#else + glutMainLoopEvent(); ++#endif + } s_context.at(thread_id) = std::pair(1, window_id); diff --git a/patch/ros-lyrical-rtabmap.patch b/patch/ros-lyrical-rtabmap.patch index e73249f..710aac5 100644 --- a/patch/ros-lyrical-rtabmap.patch +++ b/patch/ros-lyrical-rtabmap.patch @@ -1,8 +1,19 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index b7d36de..44e1164 100644 +index 3fd1801..68f6511 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -530,8 +530,12 @@ IF(WITH_G2O) +@@ -113,6 +113,10 @@ if(MSVC) + endif() + endif() + add_compile_options("/bigobj") ++ # GUI entry points use CoInitialize(). Force the COM declarations while ++ # ensuring the modern Winsock header precedes windows.h in every source. ++ add_compile_options("/FIwinsock2.h") ++ add_compile_options("/FIobjbase.h") + endif() + + # [Eclipse] Automatic Discovery of Include directories (Optional, but handy) +@@ -536,8 +540,12 @@ IF(WITH_G2O) ENDIF(WITH_G2O) IF(WITH_GTSAM) @@ -13,38 +24,23 @@ index b7d36de..44e1164 100644 + SET(CMAKE_FIND_PACKAGE_PREFER_CONFIG TRUE) FIND_PACKAGE(GTSAM CONFIG QUIET) + SET(CMAKE_FIND_PACKAGE_PREFER_CONFIG ${_RTABMAP_CMAKE_FIND_PACKAGE_PREFER_CONFIG}) - ENDIF(WITH_GTSAM) - - IF(WITH_MRPT) -@@ -578,7 +582,7 @@ ENDIF(WITH_POINTMATCHER) - IF(libpointmatcher_FOUND OR GTSAM_FOUND) -- find_package(Boost COMPONENTS thread filesystem system program_options date_time REQUIRED) -+ find_package(Boost COMPONENTS thread filesystem program_options date_time REQUIRED) - IF(Boost_MINOR_VERSION GREATER 47) -- find_package(Boost COMPONENTS thread filesystem system program_options date_time chrono timer serialization REQUIRED) -+ find_package(Boost COMPONENTS thread filesystem program_options date_time chrono timer serialization REQUIRED) - ENDIF(Boost_MINOR_VERSION GREATER 47) - IF(WIN32) - MESSAGE(STATUS "Boost_LIBRARY_DIRS=${Boost_LIBRARY_DIRS}") -@@ -112,5 +116,9 @@ if(MSVC) - endif() - endif() - add_compile_options("/bigobj") -+ # GUI entry points use CoInitialize(). Force the COM declarations while -+ # ensuring the modern Winsock header precedes windows.h in every source. -+ add_compile_options("/FIwinsock2.h") -+ add_compile_options("/FIobjbase.h") - endif() - - # Detect CPU arch and whether we are in 32 or 64 bit + IF(GTSAM_FOUND) + # For issue https://github.com/introlab/rtabmap/pull/1626 + FIND_FILE(GTSAM_NOISE_MODEL_FACTOR_N_FILE gtsam/nonlinear/NoiseModelFactorN.h diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt -index b758ad0..3f29cba 100644 +index e6bf74c..fdfe0fa 100644 --- a/corelib/src/CMakeLists.txt +++ b/corelib/src/CMakeLists.txt -@@ -855,0 +856,6 @@ ADD_LIBRARY(rtabmap::core ALIAS rtabmap_core) +@@ -875,6 +875,12 @@ add_definitions(${PCL_DEFINITIONS}) + # The extension is automatically found. + ADD_LIBRARY(rtabmap_core ${SRC_FILES} ${RESOURCES_HEADERS}) + ADD_LIBRARY(rtabmap::core ALIAS rtabmap_core) +# GTSAM and this target both instantiate an identical inline TBB allocator +# vector accessor on MSVC. Let the linker coalesce that duplicate definition. +IF(MSVC) + TARGET_LINK_OPTIONS(rtabmap_core PRIVATE "/FORCE:MULTIPLE") +ENDIF(MSVC) + + + generate_export_header(rtabmap_core + DEPRECATED_MACRO_NAME RTABMAP_DEPRECATED) From 25191555ac6e1778e18716fe7407f3ed63e878f1 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Thu, 20 Aug 2026 11:25:45 +0200 Subject: [PATCH 41/48] Retry transient recipe metadata downloads --- .github/workflows/testpr.yml | 29 ++++++++++++++++++++++++++--- 1 file changed, 26 insertions(+), 3 deletions(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 2ea4a46..0335e91 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -75,8 +75,20 @@ jobs: - name: Generate recipes shell: bash -l {0} run: | - mkdir -p recipes - pixi run -v vinca --platform ${{ matrix.platform }} -m -n + set -e + for attempt in 1 2 3; do + rm -rf recipes + mkdir -p recipes + if pixi run -v vinca --platform ${{ matrix.platform }} -m -n; then + break + fi + if [[ "${attempt}" == "3" ]]; then + echo "Recipe generation failed after ${attempt} attempts" >&2 + exit 1 + fi + echo "Recipe generation attempt ${attempt} failed; retrying..." >&2 + sleep 15 + done # Avoid concurrent Git clone cache corruption when many ROS packages # share the same release repository. pixi run python use_github_source_archives.py @@ -165,7 +177,18 @@ jobs: - name: Generate GitHub Actions workflows to catch post-PR problems shell: bash -l {0} run: | - pixi run vinca-gha --platform ${{ matrix.platform }} --trigger-branch dummy_build_branch_as_it_is_unused -d ./recipes + set -e + for attempt in 1 2 3; do + if pixi run vinca-gha --platform ${{ matrix.platform }} --trigger-branch dummy_build_branch_as_it_is_unused -d ./recipes; then + break + fi + if [[ "${attempt}" == "3" ]]; then + echo "Workflow generation failed after ${attempt} attempts" >&2 + exit 1 + fi + echo "Workflow generation attempt ${attempt} failed; retrying..." >&2 + sleep 15 + done - name: Upload build cache as artifact if: ${{ always() && env.SAVE_CACHE_AS_ARTIFACT == 'true' }} From a65b713a226a0f61367c4466f0119e59b4435554 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Thu, 20 Aug 2026 12:52:52 +0200 Subject: [PATCH 42/48] Recover builds from incomplete PR caches --- .github/workflows/testpr.yml | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 0335e91..702edff 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -135,18 +135,17 @@ jobs: ls ${{ matrix.folder_cache }} || true - name: Build recipes + id: build-recipes shell: bash -l {0} run: | set -e # rattler-build orders build and host dependencies, but runtime-only # dependencies do not create build-graph edges. A mutex migration makes # old runtime packages unusable, so run tolerant passes to populate the - # new mutex generation before the final strict validation. This is more - # robust than maintaining a platform-dependent manual bootstrap list. - pass_count=2 - if [[ "${IGNORE_CACHE_AND_DO_FULL_REBUILD}" == "true" ]]; then - pass_count=4 - fi + # new mutex generation before the final strict validation. Four passes + # also let the build recover when an earlier failed run saved little or + # no usable cache. + pass_count=4 for pass in $(seq 1 "${pass_count}"); do echo "Dependency-tolerant build pass ${pass}/${pass_count}" @@ -168,7 +167,9 @@ jobs: - name: Save build cache uses: actions/cache/save@v5 - if: always() + # Preserve useful partial builds, but do not let a recipe-generation or + # patch-check failure replace the restore prefix with an empty cache. + if: ${{ always() && (steps.build-recipes.outcome == 'success' || steps.build-recipes.outcome == 'failure') }} with: path: | ${{ matrix.folder_cache }} From b6da7f3b9069af43816a5b48a360af69067b5fcf Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Thu, 20 Aug 2026 17:11:38 +0200 Subject: [PATCH 43/48] Restore compatibility for updated MoveIt and OSQP --- patch/ros-lyrical-moveit-ros-visualization.patch | 12 ------------ rosdistro_snapshot.yaml | 5 +++-- 2 files changed, 3 insertions(+), 14 deletions(-) delete mode 100644 patch/ros-lyrical-moveit-ros-visualization.patch diff --git a/patch/ros-lyrical-moveit-ros-visualization.patch b/patch/ros-lyrical-moveit-ros-visualization.patch deleted file mode 100644 index 8a67fb7..0000000 --- a/patch/ros-lyrical-moveit-ros-visualization.patch +++ /dev/null @@ -1,12 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 2946039..7d1fc46 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -27,7 +27,6 @@ find_package(pluginlib REQUIRED) - find_package(rclcpp REQUIRED) - find_package(rclcpp_action REQUIRED) - find_package(rclpy REQUIRED) --find_package(rviz2 REQUIRED) - find_package(tf2_eigen REQUIRED) - find_package(Eigen3 REQUIRED) - diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml index 8c3a279..8d4f5b4 100644 --- a/rosdistro_snapshot.yaml +++ b/rosdistro_snapshot.yaml @@ -4015,10 +4015,11 @@ ortools_vendor: tag: release/lyrical/ortools_vendor/9.9.1-3 url: https://github.com/ros2-gbp/ortools_vendor-release.git version: 9.9.1 +# Keep the 0.2.x vendor until Autoware's OSQP interface supports OSQP 1.x. osqp_vendor: - tag: release/lyrical/osqp_vendor/1.0.0-1 + tag: release/lyrical/osqp_vendor/0.2.0-5 url: https://github.com/ros2-gbp/osqp_vendor-release.git - version: 1.0.0 + version: 0.2.0 osrf_pycommon: tag: release/lyrical/osrf_pycommon/2.1.7-3 url: https://github.com/ros2-gbp/osrf_pycommon-release.git From ef97b9325ddc9cb6cd1be84569588936044f66f9 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Thu, 20 Aug 2026 17:46:52 +0200 Subject: [PATCH 44/48] Fix OSQP selection and MoveIt export header --- patch/dependencies.yaml | 11 +++++++++++ patch/ros-lyrical-moveit-setup-framework.patch | 13 +++++++++++-- 2 files changed, 22 insertions(+), 2 deletions(-) diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 2e7f77d..979be8a 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -295,6 +295,17 @@ autoware_utils_pcl: add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"] autoware_utils_debug: add_host: ["fmt"] +autoware_osqp_interface: + # Autoware 1.7 still uses the OSQP 0.x C API. + add_host: ["ros-lyrical-osqp-vendor ==0.2.0"] + add_run: ["ros-lyrical-osqp-vendor ==0.2.0"] + remove_host: ["ros-lyrical-osqp-vendor"] + remove_run: ["ros-lyrical-osqp-vendor"] +autoware_qp_interface: + add_host: ["ros-lyrical-osqp-vendor ==0.2.0"] + add_run: ["ros-lyrical-osqp-vendor ==0.2.0"] + remove_host: ["ros-lyrical-osqp-vendor"] + remove_run: ["ros-lyrical-osqp-vendor"] autoware_trajectory: add_host: ["fmt", "cpp-expected"] autoware_behavior_velocity_planner: diff --git a/patch/ros-lyrical-moveit-setup-framework.patch b/patch/ros-lyrical-moveit-setup-framework.patch index f4002b9..66d7150 100644 --- a/patch/ros-lyrical-moveit-setup-framework.patch +++ b/patch/ros-lyrical-moveit-setup-framework.patch @@ -1,5 +1,5 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index f6b1ea7..144ef1f 100644 +index f6b1ea7..eccc707 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -25,6 +25,16 @@ else() @@ -19,7 +19,16 @@ index f6b1ea7..144ef1f 100644 find_package(moveit_ros_visualization REQUIRED) find_package(pluginlib REQUIRED) find_package(rclcpp REQUIRED) -@@ -77,6 +87,7 @@ install(FILES moveit_setup_framework_plugins.xml +@@ -52,6 +62,8 @@ add_library( + include/moveit_setup_framework/qt/setup_step_widget.hpp + include/moveit_setup_framework/qt/rviz_panel.hpp + include/moveit_setup_framework/qt/double_list_widget.hpp) ++include(GenerateExportHeader) ++generate_export_header(${PROJECT_NAME}) + target_include_directories( + moveit_setup_framework + PUBLIC $ +@@ -77,6 +89,7 @@ install(FILES moveit_setup_framework_plugins.xml DESTINATION share/moveit_setup_framework) install(DIRECTORY templates DESTINATION share/moveit_setup_framework) From d063fac907c5467423b50d7c35bdd81073e9e946 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Fri, 21 Aug 2026 08:16:52 +0200 Subject: [PATCH 45/48] Fix swri-console on macOS and bound CI passes --- .github/workflows/testpr.yml | 6 ++++++ patch/ros-lyrical-swri-console.patch | 22 ++++++++++++++++++++++ 2 files changed, 28 insertions(+) create mode 100644 patch/ros-lyrical-swri-console.patch diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 702edff..63ecdbb 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -146,6 +146,12 @@ jobs: # also let the build recover when an earlier failed run saved little or # no usable cache. pass_count=4 + # Hosted macOS and Windows jobs have a hard six-hour limit. Two passes + # keep uncached builds within that limit while still publishing enough + # artifacts for the next cached run to converge. + if [[ "${{ matrix.platform }}" == osx-* || "${{ matrix.platform }}" == "win-64" ]]; then + pass_count=2 + fi for pass in $(seq 1 "${pass_count}"); do echo "Dependency-tolerant build pass ${pass}/${pass_count}" diff --git a/patch/ros-lyrical-swri-console.patch b/patch/ros-lyrical-swri-console.patch new file mode 100644 index 0000000..9e27215 --- /dev/null +++ b/patch/ros-lyrical-swri-console.patch @@ -0,0 +1,22 @@ +diff --git a/src/unix_signal_handler.cpp b/src/unix_signal_handler.cpp +index beb2369..48da6f6 100644 +--- a/src/unix_signal_handler.cpp ++++ b/src/unix_signal_handler.cpp +@@ -67,7 +67,7 @@ void UnixSignalHandler::setup() + + struct sigaction int_action; + int_action.sa_handler = UnixSignalHandler::intSignalHandler; +- ::sigemptyset(&int_action.sa_mask); ++ sigemptyset(&int_action.sa_mask); + int_action.sa_flags = SA_RESTART; + if (::sigaction(SIGINT, &int_action, nullptr)) { + qFatal("UnixSignalHandler: couldn't install SIGINT handler"); +@@ -75,7 +75,7 @@ void UnixSignalHandler::setup() + + struct sigaction term_action; + term_action.sa_handler = UnixSignalHandler::termSignalHandler; +- ::sigemptyset(&term_action.sa_mask); ++ sigemptyset(&term_action.sa_mask); + term_action.sa_flags = SA_RESTART; + if (::sigaction(SIGTERM, &term_action, nullptr)) { + qFatal("UnixSignalHandler: couldn't install SIGTERM handler"); From 6ec31d86826f53bbcc4f0bfe1aae8a0d4999d538 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Fri, 21 Aug 2026 19:56:49 +0200 Subject: [PATCH 46/48] Restore partial caches after hosted job timeouts --- .github/workflows/testpr.yml | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 63ecdbb..723e1a3 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -112,6 +112,28 @@ jobs: restore-keys: | ${{ runner.os }}-${{ matrix.platform }}-pr-${{ github.event.pull_request.number }}- + - name: Restore latest partial-build artifact + if: ${{ steps.cache-restore.outputs.cache-hit != 'true' && env.IGNORE_CACHE_AND_DO_FULL_REBUILD != 'true' }} + shell: bash -l {0} + env: + GH_TOKEN: ${{ github.token }} + run: | + # A hosted job canceled at the hard six-hour limit cannot reliably save + # its actions/cache entry, but always() still uploads its partial output + # as an artifact. Recover the newest such checkpoint on the next run. + prefix="cache-${{ matrix.platform }}-" + artifact_id=$(gh api "repos/${GITHUB_REPOSITORY}/actions/artifacts?per_page=100" \ + --jq '.artifacts | map(select(.expired == false and (.name | startswith("'"${prefix}"'")))) | sort_by(.created_at) | last | .id // empty') + if [[ -n "${artifact_id}" ]]; then + echo "Restoring partial-build artifact ${artifact_id}" + gh api "repos/${GITHUB_REPOSITORY}/actions/artifacts/${artifact_id}/zip" > partial-cache.zip + mkdir -p ${{ matrix.folder_cache }} + pixi run python -m zipfile -e partial-cache.zip ${{ matrix.folder_cache }} + rm partial-cache.zip + else + echo "No partial-build artifact found for ${{ matrix.platform }}" + fi + - name: Optional force full rebuild if: ${{ env.IGNORE_CACHE_AND_DO_FULL_REBUILD == 'true' }} shell: bash -l {0} From 6c8d576ee66666fe79bdb56dfbfe62ed3d1917d1 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 22 Aug 2026 02:03:44 +0200 Subject: [PATCH 47/48] Fit cached macOS and Windows builds within CI limit --- .github/workflows/testpr.yml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 723e1a3..7317938 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -168,11 +168,11 @@ jobs: # also let the build recover when an earlier failed run saved little or # no usable cache. pass_count=4 - # Hosted macOS and Windows jobs have a hard six-hour limit. Two passes - # keep uncached builds within that limit while still publishing enough - # artifacts for the next cached run to converge. + # Hosted macOS and Windows jobs have a hard six-hour limit. Their + # partial-artifact checkpoint provides the bootstrap state, so use one + # tolerant pass followed by strict validation to stay within the limit. if [[ "${{ matrix.platform }}" == osx-* || "${{ matrix.platform }}" == "win-64" ]]; then - pass_count=2 + pass_count=1 fi for pass in $(seq 1 "${pass_count}"); do From 33cd1eee4643e64138de2e66680ca9e4ff7fe941 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Sat, 22 Aug 2026 06:06:25 +0200 Subject: [PATCH 48/48] Bump recipes for the mutex migration --- .github/workflows/testpr.yml | 6 ++++++ vinca.yaml | 2 +- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 7317938..eab33b5 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -148,6 +148,12 @@ jobs: rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-util-* 2>/dev/null || true rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-route-* 2>/dev/null || true rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-ros-common-* 2>/dev/null || true + # Build 23 caches contain a mixture of pre- and post-mutex-migration + # packages with identical filenames. Remove them now that this rebuild + # uses build 24, otherwise strict local-channel priority can select an + # incompatible package requiring the old mutex. + rm -rf ${{ matrix.folder_cache }}/*_23.conda 2>/dev/null || true + rm -rf ${{ matrix.folder_cache }}/ros2-distro-mutex-*-lyrical_23.conda 2>/dev/null || true mkdir -p ${{ matrix.folder_cache }} pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force diff --git a/vinca.yaml b/vinca.yaml index c1c42c2..098d6db 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -6,7 +6,7 @@ conda_index: - packages-ignore.yaml # Reminder for next full rebuild, the next build number should be 24 -build_number: 23 +build_number: 24 mutex_package: name: "ros2-distro-mutex"