diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 8a4b0ab4..82cef4c3 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -119,6 +119,12 @@ jobs: shell: bash -l {0} run: | # rm -rf ${{ matrix.folder_cache }}/ros-rolling-moveit-ros-perception* 2>/dev/null || true + rm -rf ${{ matrix.folder_cache }}/ros-rolling-cyclonedds* 2>/dev/null || true + rm -rf ${{ matrix.folder_cache }}/ros-rolling-rmw-cyclonedds* 2>/dev/null || true + rm -rf ${{ matrix.folder_cache }}/ros-rolling-iceoryx* 2>/dev/null || true + rm -rf ${{ matrix.folder_cache }}/ros2-cyclonedds* 2>/dev/null || true + rm -rf ${{ matrix.folder_cache }}/ros2-rmw-cyclonedds* 2>/dev/null || true + rm -rf ${{ matrix.folder_cache }}/ros2-iceoryx* 2>/dev/null || true mkdir -p ${{ matrix.folder_cache }} pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force diff --git a/conda_build_config.yaml b/conda_build_config.yaml index 36ea312a..3564a259 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -3,9 +3,9 @@ numpy: assimp: - 6.0.5 libprotobuf: - - 6.33.5 + - 7.35.1 protobuf: - - 6.33.5 + - 7.35.1 spdlog: - 1.17 pugixml: @@ -19,24 +19,19 @@ graphviz: # Mitigation for # https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380 libcap: - - 2.77 + - 2.78 fmt: - 12.1 lua: - 5.4 tbb: - - '2022' + - '2023' tbb_devel: - - '2022' - -# Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697 -cmake: - - 3.* + - '2023' eigen_abi_devel: - 5.0.1 - cdt_name: # [linux] - conda # [linux] @@ -51,22 +46,22 @@ c_compiler: - vs2022 # [win] c_compiler_version: # [unix] - 14 # [linux] - - 18 # [osx] + - 19 # [osx] c_stdlib: - sysroot # [linux] - macosx_deployment_target # [osx] - vs # [win] c_stdlib_version: # [unix] - 2.28 # [linux] - - 11.0 # [osx and x86_64] - - 11.0 # [osx and arm64] + - 14.0 # [osx and x86_64] + - 14.0 # [osx and arm64] cxx_compiler: - gxx # [linux] - clangxx # [osx] - vs2022 # [win] cxx_compiler_version: # [unix] - 14 # [linux] - - 18 # [osx] + - 19 # [osx] libzenohc: - 1.9.0 @@ -74,4 +69,4 @@ libzenohcxx: - 1.9.0 libhwloc: - - 2.12.2 + - 2.13.0 diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 51f303b7..59435c25 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -90,15 +90,6 @@ rtabmap: add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "libdc1394", "libusb", "vtk"] backward_ros: add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros-rolling-ament-cmake-libraries"] -nav2_smac_planner: - add_build: ["${{ 'llvm-openmp' if osx }}"] - add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode"] -nav2_util: - add_host: ["libboost-devel"] -nav2_constrained_smoother: - add_host: ["${{ 'openblas' if win }}", "ceres-solver * cpu*"] -nav2_mppi_controller: - add_build: ["${{ 'clang <19' if osx }}"] ompl: add_host: ["ompl"] pybind11_vendor: @@ -283,7 +274,7 @@ grid_map_octomap: add_host: ["octomap"] add_run: ["octomap"] py_trees: - add_host: ["poetry-core"] + add_host: ["hatchling"] py_trees_js: add_host: ["poetry-core"] py_trees_ros: diff --git a/patch/ros-rolling-ament-cmake-python.patch b/patch/ros-rolling-ament-cmake-python.patch new file mode 100644 index 00000000..836332bc --- /dev/null +++ b/patch/ros-rolling-ament-cmake-python.patch @@ -0,0 +1,24 @@ +diff --git a/cmake/ament_python_install_module.cmake b/cmake/ament_python_install_module.cmake +index 6d61edc..ed972cf 100644 +--- a/cmake/ament_python_install_module.cmake ++++ b/cmake/ament_python_install_module.cmake +@@ -60,6 +60,7 @@ function(_ament_cmake_python_install_module module_file) + get_filename_component(module_file "${module_file}" NAME) + if(NOT ARG_SKIP_COMPILE) + get_executable_path(python_interpreter Python3::Interpreter CONFIGURE) ++ string(REPLACE "\\" "/" python_interpreter "${python_interpreter}") + # compile Python files + install(CODE + "execute_process( +diff --git a/cmake/ament_python_install_registered_packages.cmake b/cmake/ament_python_install_registered_packages.cmake +index 305d92f..dd4f7de 100644 +--- a/cmake/ament_python_install_registered_packages.cmake ++++ b/cmake/ament_python_install_registered_packages.cmake +@@ -167,6 +167,7 @@ endmacro() + + macro(_ament_cmake_python_byte_compile package_name) + get_executable_path(python_interpreter_config Python3::Interpreter CONFIGURE) ++ string(REPLACE "\\" "/" python_interpreter_config "${python_interpreter_config}") + # compile Python files + install(CODE + "execute_process( diff --git a/patch/ros-rolling-autoware-behavior-velocity-planner.patch b/patch/ros-rolling-autoware-behavior-velocity-planner.patch new file mode 100644 index 00000000..378c7258 --- /dev/null +++ b/patch/ros-rolling-autoware-behavior-velocity-planner.patch @@ -0,0 +1,46 @@ +diff --git a/src/test_utils.cpp b/src/test_utils.cpp +index dc62bd6..2305a0e 100644 +--- a/src/test_utils.cpp ++++ b/src/test_utils.cpp +@@ -17 +17 @@ +-#include ++#include +@@ -44 +44 @@ +- ament_index_cpp::get_package_share_directory("autoware_test_utils"); ++ ament_index_cpp::get_package_share_path("autoware_test_utils"); +@@ -46 +46 @@ +- ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner_common"); ++ ament_index_cpp::get_package_share_path("autoware_behavior_velocity_planner_common"); +@@ -48 +48 @@ +- ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner"); ++ ament_index_cpp::get_package_share_path("autoware_behavior_velocity_planner"); +@@ -50 +50 @@ +- ament_index_cpp::get_package_share_directory("autoware_velocity_smoother"); ++ ament_index_cpp::get_package_share_path("autoware_velocity_smoother"); +@@ -54 +54 @@ +- const auto package_path = ament_index_cpp::get_package_share_directory(package_name); ++ const auto package_path = ament_index_cpp::get_package_share_path(package_name); +@@ -55 +55 @@ +- return package_path + "/config/" + module + ".param.yaml"; ++ return (package_path / "config" / (module + ".param.yaml")).string(); +@@ -69 +69 @@ +- autoware_test_utils_dir + "/config/test_common.param.yaml", ++ (autoware_test_utils_dir / "config/test_common.param.yaml").string(), +@@ -70 +70 @@ +- autoware_test_utils_dir + "/config/test_nearest_search.param.yaml", ++ (autoware_test_utils_dir / "config/test_nearest_search.param.yaml").string(), +@@ -71 +71 @@ +- autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml", ++ (autoware_test_utils_dir / "config/test_vehicle_info.param.yaml").string(), +@@ -72 +72 @@ +- velocity_smoother_dir + "/config/default_velocity_smoother.param.yaml", ++ (velocity_smoother_dir / "config/default_velocity_smoother.param.yaml").string(), +@@ -73 +73 @@ +- velocity_smoother_dir + "/config/Analytical.param.yaml", ++ (velocity_smoother_dir / "config/Analytical.param.yaml").string(), +@@ -74 +74 @@ +- behavior_velocity_planner_common_dir + "/config/behavior_velocity_planner_common.param.yaml", ++ (behavior_velocity_planner_common_dir / "config/behavior_velocity_planner_common.param.yaml").string(), +@@ -75 +75 @@ +- behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml"}; ++ (behavior_velocity_planner_dir / "config/behavior_velocity_planner.param.yaml").string()}; diff --git a/patch/ros-rolling-autoware-ekf-localizer.patch b/patch/ros-rolling-autoware-ekf-localizer.patch index dd274c4e..e8c24b67 100644 --- a/patch/ros-rolling-autoware-ekf-localizer.patch +++ b/patch/ros-rolling-autoware-ekf-localizer.patch @@ -11,3 +11,18 @@ index 6ace0b4..5781ddc 100644 function(add_testcase filepath) get_filename_component(filename ${filepath} NAME) +diff --git a/src/ekf_localizer.cpp b/src/ekf_localizer.cpp +index 77dbddc..e34f765 100644 +--- a/src/ekf_localizer.cpp ++++ b/src/ekf_localizer.cpp +@@ -96,8 +96,7 @@ EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options) + std::bind( + &EKFLocalizer::service_trigger_node, this, std::placeholders::_1, std::placeholders::_2), + service_trigger_qos); + +- tf_br_ = std::make_shared( +- std::shared_ptr(this, [](auto) {})); ++ tf_br_ = std::make_shared(*this); + + ekf_module_ = std::make_unique(warning_, params_); + logger_configure_ = std::make_unique(this); diff --git a/patch/ros-rolling-autoware-lanelet2-utils.patch b/patch/ros-rolling-autoware-lanelet2-utils.patch new file mode 100644 index 00000000..85b75a6c --- /dev/null +++ b/patch/ros-rolling-autoware-lanelet2-utils.patch @@ -0,0 +1,14 @@ +diff --git a/src/geometry.cpp b/src/geometry.cpp +index 7d92097..d80b4ce 100644 +--- a/src/geometry.cpp ++++ b/src/geometry.cpp +@@ -17,7 +17,9 @@ + #include + #include +- ++#include ++#include ++ + #include + #include + #include diff --git a/patch/ros-rolling-autoware-localization-util.patch b/patch/ros-rolling-autoware-localization-util.patch new file mode 100644 index 00000000..5de1d29e --- /dev/null +++ b/patch/ros-rolling-autoware-localization-util.patch @@ -0,0 +1,16 @@ +diff --git a/include/autoware/localization_util/util_func.hpp b/include/autoware/localization_util/util_func.hpp +index 4853f603..b476f2d5 100644 +--- a/include/autoware/localization_util/util_func.hpp ++++ b/include/autoware/localization_util/util_func.hpp +@@ -17,0 +18,3 @@ ++#include ++#include ++ +diff --git a/src/util_func.cpp b/src/util_func.cpp +index 5c7d9af3..9ee6ef75 100644 +--- a/src/util_func.cpp ++++ b/src/util_func.cpp +@@ -18,0 +19,3 @@ ++#include ++#include ++ diff --git a/patch/ros-rolling-autoware-objects-of-interest-marker-interface.patch b/patch/ros-rolling-autoware-objects-of-interest-marker-interface.patch new file mode 100644 index 00000000..ed4cd886 --- /dev/null +++ b/patch/ros-rolling-autoware-objects-of-interest-marker-interface.patch @@ -0,0 +1,13 @@ +diff --git a/src/marker_utils.cpp b/src/marker_utils.cpp +index 0f8fa3e..42407ad 100644 +--- a/src/marker_utils.cpp ++++ b/src/marker_utils.cpp +@@ -14,6 +14,8 @@ + + #include "autoware/objects_of_interest_marker_interface/marker_utils.hpp" + ++#include ++ + #include + + namespace autoware::objects_of_interest_marker_interface::marker_utils diff --git a/patch/ros-rolling-autoware-osqp-interface.patch b/patch/ros-rolling-autoware-osqp-interface.patch index 605d9333..1cd17b5a 100644 --- a/patch/ros-rolling-autoware-osqp-interface.patch +++ b/patch/ros-rolling-autoware-osqp-interface.patch @@ -1,11 +1,14 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 9688962a..c219242b 100644 +index 9688962a6..c219242b6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -34,9 +34,9 @@ target_include_directories(${PROJECT_NAME} +@@ -31,15 +31,15 @@ target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast) + target_include_directories(${PROJECT_NAME} + SYSTEM PUBLIC + "${OSQP_INCLUDE_DIR}" "${EIGEN3_INCLUDE_DIR}" ) - + -ament_target_dependencies(${PROJECT_NAME} - Eigen3 - osqp_vendor @@ -13,13 +16,83 @@ index 9688962a..c219242b 100644 + Eigen3::Eigen + osqp::osqp ) - + # crucial so downstream package builds because autoware_osqp_interface exposes osqp.hpp + ament_export_include_directories("${OSQP_INCLUDE_DIR}") + # crucial so the linking order is correct in a downstream package: libosqp_interface.a should come before libosqp.a + ament_export_libraries(osqp::osqp) +diff --git a/include/autoware/osqp_interface/csc_matrix_conv.hpp b/include/autoware/osqp_interface/csc_matrix_conv.hpp +index 62138933c..b6dda2f71 100644 +--- a/include/autoware/osqp_interface/csc_matrix_conv.hpp ++++ b/include/autoware/osqp_interface/csc_matrix_conv.hpp +@@ -13,18 +13,22 @@ + // limitations under the License. + + #ifndef AUTOWARE__OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ + #define AUTOWARE__OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ + + #include "autoware/osqp_interface/visibility_control.hpp" +-#include "osqp/glob_opts.h" // for 'c_int' type ('long' or 'long long') ++#include "osqp/osqp.h" + + #include + + #include + ++// Preserve the OSQP 0.6 type names used by this package's public API. ++using c_float = OSQPFloat; ++using c_int = OSQPInt; ++ + namespace autoware::osqp_interface + { + /// \brief Compressed-Column-Sparse Matrix + struct OSQP_INTERFACE_PUBLIC CSC_Matrix + { + /// Vector of non-zero values. Ex: [4,1,1,2] +diff --git a/include/autoware/osqp_interface/osqp_interface.hpp b/include/autoware/osqp_interface/osqp_interface.hpp +index 31b2b1ae7..82e7c2080 100644 +--- a/include/autoware/osqp_interface/osqp_interface.hpp ++++ b/include/autoware/osqp_interface/osqp_interface.hpp +@@ -46,28 +46,28 @@ struct OSQPResult + * Implementation of a native C++ interface for the OSQP solver. + * + */ + class OSQP_INTERFACE_PUBLIC OSQPInterface + { + private: +- std::unique_ptr> m_work; ++ std::unique_ptr> m_work; + std::unique_ptr m_settings; +- std::unique_ptr m_data; + // store last work info since work is cleaned up at every execution to prevent memory leak. + OSQPInfo m_latest_work_info; + // Number of parameters to optimize + int64_t m_param_n; ++ int64_t m_constraint_n; + // Flag to check if the current work exists + bool m_work_initialized = false; + // Exitflag + int64_t m_exitflag; + + // Runs the solver on the stored problem. + OSQPResult solve(); + +- static void OSQPWorkspaceDeleter(OSQPWorkspace * ptr) noexcept; ++ static void OSQPSolverDeleter(OSQPSolver * ptr) noexcept; + + public: + /// \brief Constructor without problem formulation + explicit OSQPInterface( + const c_float eps_abs = std::numeric_limits::epsilon(), const bool polish = true); + /// \brief Constructor with problem setup diff --git a/src/csc_matrix_conv.cpp b/src/csc_matrix_conv.cpp -index c6e1a0a4..7c169c82 100644 +index c6e1a0a42..7c169c82b 100644 --- a/src/csc_matrix_conv.cpp +++ b/src/csc_matrix_conv.cpp -@@ -25,9 +25,9 @@ namespace autoware::osqp_interface +@@ -22,15 +22,15 @@ + #include + + namespace autoware::osqp_interface { CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat) { @@ -27,17 +100,360 @@ index c6e1a0a4..7c169c82 100644 const Eigen::Index rows = mat.rows(); const Eigen::Index cols = mat.cols(); + const size_t elem = static_cast(rows * cols); - + std::vector vals; vals.reserve(elem); -@@ -66,9 +66,9 @@ CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat) - + std::vector row_idxs; + row_idxs.reserve(elem); + std::vector col_idxs; +@@ -63,15 +63,15 @@ CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat) + + return csc_matrix; + } + CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & mat) { - const size_t elem = static_cast(mat.nonZeros()); const Eigen::Index rows = mat.rows(); const Eigen::Index cols = mat.cols(); + const size_t elem = static_cast(rows * (rows + 1) / 2); - + if (rows != cols) { throw std::invalid_argument("Matrix must be square (n, n)"); + } + + std::vector vals; +diff --git a/src/osqp_interface.cpp b/src/osqp_interface.cpp +index 8b11ed148..1600c03b4 100644 +--- a/src/osqp_interface.cpp ++++ b/src/osqp_interface.cpp +@@ -25,28 +25,27 @@ + #include + #include + + namespace autoware::osqp_interface + { + OSQPInterface::OSQPInterface(const c_float eps_abs, const bool polish) +-: m_work{nullptr, OSQPWorkspaceDeleter} ++: m_work{nullptr, OSQPSolverDeleter} + { + m_settings = std::make_unique(); +- m_data = std::make_unique(); + + if (m_settings) { + osqp_set_default_settings(m_settings.get()); + m_settings->alpha = 1.6; // Change alpha parameter + m_settings->eps_rel = 1.0E-4; + m_settings->eps_abs = eps_abs; + m_settings->eps_prim_inf = 1.0E-4; + m_settings->eps_dual_inf = 1.0E-4; +- m_settings->warm_start = true; ++ m_settings->warm_starting = true; + m_settings->max_iter = 4000; + m_settings->verbose = false; +- m_settings->polish = polish; ++ m_settings->polishing = polish; + } + m_exitflag = 0; + } + + OSQPInterface::OSQPInterface( + const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector & q, +@@ -61,19 +60,15 @@ OSQPInterface::OSQPInterface( + const std::vector & l, const std::vector & u, const c_float eps_abs) + : OSQPInterface(eps_abs) + { + initializeProblem(P, A, q, l, u); + } + +-OSQPInterface::~OSQPInterface() +-{ +- if (m_data->P) free(m_data->P); +- if (m_data->A) free(m_data->A); +-} ++OSQPInterface::~OSQPInterface() = default; + +-void OSQPInterface::OSQPWorkspaceDeleter(OSQPWorkspace * ptr) noexcept ++void OSQPInterface::OSQPSolverDeleter(OSQPSolver * ptr) noexcept + { + if (ptr != nullptr) { + osqp_cleanup(ptr); + } + } + +@@ -86,103 +81,107 @@ void OSQPInterface::updateP(const Eigen::MatrixXd & P_new) + Eigen::SparseMatrix P_sparse = P_trap.sparseView(); + double *P_val_ptr = P_sparse.valuePtr(); + // Convert dynamic 'int' arrays to 'c_int' arrays (OSQP input type) + c_int P_elem_N = P_sparse.nonZeros(); + */ + CSC_Matrix P_csc = calCSCMatrixTrapezoidal(P_new); +- osqp_update_P( +- m_work.get(), P_csc.m_vals.data(), OSQP_NULL, static_cast(P_csc.m_vals.size())); ++ osqp_update_data_mat( ++ m_work.get(), P_csc.m_vals.data(), OSQP_NULL, static_cast(P_csc.m_vals.size()), ++ OSQP_NULL, OSQP_NULL, 0); + } + + void OSQPInterface::updateCscP(const CSC_Matrix & P_csc) + { +- osqp_update_P( +- m_work.get(), P_csc.m_vals.data(), OSQP_NULL, static_cast(P_csc.m_vals.size())); ++ osqp_update_data_mat( ++ m_work.get(), P_csc.m_vals.data(), OSQP_NULL, static_cast(P_csc.m_vals.size()), ++ OSQP_NULL, OSQP_NULL, 0); + } + + void OSQPInterface::updateA(const Eigen::MatrixXd & A_new) + { + /* + // Transform 'A' into a sparse matrix and extract data as dynamic arrays + Eigen::SparseMatrix A_sparse = A_new.sparseView(); + double *A_val_ptr = A_sparse.valuePtr(); + // Convert dynamic 'int' arrays to 'c_int' arrays (OSQP input type) + c_int A_elem_N = A_sparse.nonZeros(); + */ + CSC_Matrix A_csc = calCSCMatrix(A_new); +- osqp_update_A( +- m_work.get(), A_csc.m_vals.data(), OSQP_NULL, static_cast(A_csc.m_vals.size())); ++ osqp_update_data_mat( ++ m_work.get(), OSQP_NULL, OSQP_NULL, 0, A_csc.m_vals.data(), OSQP_NULL, ++ static_cast(A_csc.m_vals.size())); + return; + } + + void OSQPInterface::updateCscA(const CSC_Matrix & A_csc) + { +- osqp_update_A( +- m_work.get(), A_csc.m_vals.data(), OSQP_NULL, static_cast(A_csc.m_vals.size())); ++ osqp_update_data_mat( ++ m_work.get(), OSQP_NULL, OSQP_NULL, 0, A_csc.m_vals.data(), OSQP_NULL, ++ static_cast(A_csc.m_vals.size())); + } + + void OSQPInterface::updateQ(const std::vector & q_new) + { + std::vector q_tmp(q_new.begin(), q_new.end()); + double * q_dyn = q_tmp.data(); +- osqp_update_lin_cost(m_work.get(), q_dyn); ++ osqp_update_data_vec(m_work.get(), q_dyn, OSQP_NULL, OSQP_NULL); + } + + void OSQPInterface::updateL(const std::vector & l_new) + { + std::vector l_tmp(l_new.begin(), l_new.end()); + double * l_dyn = l_tmp.data(); +- osqp_update_lower_bound(m_work.get(), l_dyn); ++ osqp_update_data_vec(m_work.get(), OSQP_NULL, l_dyn, OSQP_NULL); + } + + void OSQPInterface::updateU(const std::vector & u_new) + { + std::vector u_tmp(u_new.begin(), u_new.end()); + double * u_dyn = u_tmp.data(); +- osqp_update_upper_bound(m_work.get(), u_dyn); ++ osqp_update_data_vec(m_work.get(), OSQP_NULL, OSQP_NULL, u_dyn); + } + + void OSQPInterface::updateBounds( + const std::vector & l_new, const std::vector & u_new) + { + std::vector l_tmp(l_new.begin(), l_new.end()); + std::vector u_tmp(u_new.begin(), u_new.end()); + double * l_dyn = l_tmp.data(); + double * u_dyn = u_tmp.data(); +- osqp_update_bounds(m_work.get(), l_dyn, u_dyn); ++ osqp_update_data_vec(m_work.get(), OSQP_NULL, l_dyn, u_dyn); + } + + void OSQPInterface::updateEpsAbs(const double eps_abs) + { + m_settings->eps_abs = eps_abs; // for default setting + if (m_work_initialized) { +- osqp_update_eps_abs(m_work.get(), eps_abs); // for current work ++ osqp_update_settings(m_work.get(), m_settings.get()); // for current work + } + } + + void OSQPInterface::updateEpsRel(const double eps_rel) + { + m_settings->eps_rel = eps_rel; // for default setting + if (m_work_initialized) { +- osqp_update_eps_rel(m_work.get(), eps_rel); // for current work ++ osqp_update_settings(m_work.get(), m_settings.get()); // for current work + } + } + + void OSQPInterface::updateMaxIter(const int max_iter) + { + m_settings->max_iter = max_iter; // for default setting + if (m_work_initialized) { +- osqp_update_max_iter(m_work.get(), max_iter); // for current work ++ osqp_update_settings(m_work.get(), m_settings.get()); // for current work + } + } + + void OSQPInterface::updateVerbose(const bool is_verbose) + { + m_settings->verbose = is_verbose; // for default setting + if (m_work_initialized) { +- osqp_update_verbose(m_work.get(), is_verbose); // for current work ++ osqp_update_settings(m_work.get(), m_settings.get()); // for current work + } + } + + void OSQPInterface::updateRhoInterval(const int rho_interval) + { + m_settings->adaptive_rho_interval = rho_interval; // for default setting +@@ -197,52 +196,52 @@ void OSQPInterface::updateRho(const double rho) + } + + void OSQPInterface::updateAlpha(const double alpha) + { + m_settings->alpha = alpha; + if (m_work_initialized) { +- osqp_update_alpha(m_work.get(), alpha); ++ osqp_update_settings(m_work.get(), m_settings.get()); + } + } + + void OSQPInterface::updateScaling(const int scaling) + { + m_settings->scaling = scaling; + } + + void OSQPInterface::updatePolish(const bool polish) + { +- m_settings->polish = polish; ++ m_settings->polishing = polish; + if (m_work_initialized) { +- osqp_update_polish(m_work.get(), polish); ++ osqp_update_settings(m_work.get(), m_settings.get()); + } + } + + void OSQPInterface::updatePolishRefinementIteration(const int polish_refine_iter) + { + if (polish_refine_iter < 0) { + std::cerr << "Polish refinement iterations must be positive" << std::endl; + return; + } + + m_settings->polish_refine_iter = polish_refine_iter; + if (m_work_initialized) { +- osqp_update_polish_refine_iter(m_work.get(), polish_refine_iter); ++ osqp_update_settings(m_work.get(), m_settings.get()); + } + } + + void OSQPInterface::updateCheckTermination(const int check_termination) + { + if (check_termination < 0) { + std::cerr << "Check termination must be positive" << std::endl; + return; + } + + m_settings->check_termination = check_termination; + if (m_work_initialized) { +- osqp_update_check_termination(m_work.get(), check_termination); ++ osqp_update_settings(m_work.get(), m_settings.get()); + } + } + + bool OSQPInterface::setWarmStart( + const std::vector & primal_variables, const std::vector & dual_variables) + { +@@ -252,13 +251,13 @@ bool OSQPInterface::setWarmStart( + bool OSQPInterface::setPrimalVariables(const std::vector & primal_variables) + { + if (!m_work_initialized) { + return false; + } + +- const auto result = osqp_warm_start_x(m_work.get(), primal_variables.data()); ++ const auto result = osqp_warm_start(m_work.get(), primal_variables.data(), OSQP_NULL); + if (result != 0) { + std::cerr << "Failed to set primal variables for warm start" << std::endl; + return false; + } + + return true; +@@ -267,13 +266,13 @@ bool OSQPInterface::setPrimalVariables(const std::vector & primal_variab + bool OSQPInterface::setDualVariables(const std::vector & dual_variables) + { + if (!m_work_initialized) { + return false; + } + +- const auto result = osqp_warm_start_y(m_work.get(), dual_variables.data()); ++ const auto result = osqp_warm_start(m_work.get(), OSQP_NULL, dual_variables.data()); + if (result != 0) { + std::cerr << "Failed to set dual variables for warm start" << std::endl; + return false; + } + + return true; +@@ -329,35 +328,33 @@ int64_t OSQPInterface::initializeProblem( + double * u_dyn = u_tmp.data(); + + /********************** + * OBJECTIVE FUNCTION + **********************/ + m_param_n = static_cast(q.size()); +- m_data->m = static_cast(l.size()); ++ m_constraint_n = static_cast(l.size()); + + /***************** + * POPULATE DATA + *****************/ +- m_data->n = m_param_n; +- if (m_data->P) free(m_data->P); +- m_data->P = csc_matrix( +- m_data->n, m_data->n, static_cast(P_csc.m_vals.size()), P_csc.m_vals.data(), ++ OSQPCscMatrix P; ++ OSQPCscMatrix_set_data( ++ &P, m_param_n, m_param_n, static_cast(P_csc.m_vals.size()), P_csc.m_vals.data(), + P_csc.m_row_idxs.data(), P_csc.m_col_idxs.data()); +- m_data->q = q_dyn; +- if (m_data->A) free(m_data->A); +- m_data->A = csc_matrix( +- m_data->m, m_data->n, static_cast(A_csc.m_vals.size()), A_csc.m_vals.data(), ++ OSQPCscMatrix A; ++ OSQPCscMatrix_set_data( ++ &A, m_constraint_n, m_param_n, static_cast(A_csc.m_vals.size()), ++ A_csc.m_vals.data(), + A_csc.m_row_idxs.data(), A_csc.m_col_idxs.data()); +- m_data->l = l_dyn; +- m_data->u = u_dyn; + + // Setup workspace +- OSQPWorkspace * workspace; +- m_exitflag = osqp_setup(&workspace, m_data.get(), m_settings.get()); +- m_work.reset(workspace); +- m_work_initialized = true; ++ OSQPSolver * solver = nullptr; ++ m_exitflag = osqp_setup( ++ &solver, &P, q_dyn, &A, l_dyn, u_dyn, m_constraint_n, m_param_n, m_settings.get()); ++ m_work.reset(solver); ++ m_work_initialized = m_exitflag == 0; + + return m_exitflag; + } + + OSQPResult OSQPInterface::solve() + { +@@ -367,13 +364,13 @@ OSQPResult OSQPInterface::solve() + /******************** + * EXTRACT SOLUTION + ********************/ + double * sol_x = m_work->solution->x; + double * sol_y = m_work->solution->y; + std::vector sol_primal(sol_x, sol_x + m_param_n); +- std::vector sol_lagrange_multiplier(sol_y, sol_y + m_data->m); ++ std::vector sol_lagrange_multiplier(sol_y, sol_y + m_constraint_n); + + int64_t status_polish = m_work->info->status_polish; + int64_t status_solution = m_work->info->status_val; + int64_t status_iteration = m_work->info->iter; + + // Result tuple diff --git a/patch/ros-rolling-autoware-path-generator.patch b/patch/ros-rolling-autoware-path-generator.patch new file mode 100644 index 00000000..c57debf9 --- /dev/null +++ b/patch/ros-rolling-autoware-path-generator.patch @@ -0,0 +1,7 @@ +diff --git a/src/utils.cpp b/src/utils.cpp +index f6e853d..eb09682 100644 +--- a/src/utils.cpp ++++ b/src/utils.cpp +@@ -29,0 +30,2 @@ ++#include ++ diff --git a/patch/ros-rolling-autoware-qp-interface.patch b/patch/ros-rolling-autoware-qp-interface.patch index 18891898..3c6d44a9 100644 --- a/patch/ros-rolling-autoware-qp-interface.patch +++ b/patch/ros-rolling-autoware-qp-interface.patch @@ -1,11 +1,13 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index a402b138..8b50b5ae 100644 +index a402b1381..8b50b5ae0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -38,10 +38,10 @@ target_include_directories(${PROJECT_NAME} +@@ -36,14 +36,14 @@ target_include_directories(${PROJECT_NAME} + SYSTEM PUBLIC + "${OSQP_INCLUDE_DIR}" "${EIGEN3_INCLUDE_DIR}" ) - + -ament_target_dependencies(${PROJECT_NAME} - Eigen3 - osqp_vendor @@ -15,13 +17,78 @@ index a402b138..8b50b5ae 100644 + osqp::osqp + proxsuite::proxsuite ) - + # crucial so downstream package builds because osqp_interface exposes osqp.hpp + ament_export_include_directories("${OSQP_INCLUDE_DIR}") + # crucial so the linking order is correct in a downstream package: libosqp_interface.a should come before libosqp.a +diff --git a/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp b/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp +index 5d447e5ce..8dcc3615c 100644 +--- a/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp ++++ b/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp +@@ -15,14 +15,18 @@ + #ifndef AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ + #define AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ + + #include + +-#include ++#include + + #include + ++// Preserve the OSQP 0.6 type names used by this package's public API. ++using c_float = OSQPFloat; ++using c_int = OSQPInt; ++ + namespace autoware::qp_interface + { + /// \brief Compressed-Column-Sparse Matrix + struct CSC_Matrix + { +diff --git a/include/autoware/qp_interface/osqp_interface.hpp b/include/autoware/qp_interface/osqp_interface.hpp +index c8e8f6962..c4ff18953 100644 +--- a/include/autoware/qp_interface/osqp_interface.hpp ++++ b/include/autoware/qp_interface/osqp_interface.hpp +@@ -56,11 +56,11 @@ public: + const std::vector & l, const std::vector & u, + const bool enable_warm_start = false, + const c_float eps_abs = std::numeric_limits::epsilon()); + ~OSQPInterface() override; + +- static void OSQPWorkspaceDeleter(OSQPWorkspace * ptr) noexcept; ++ static void OSQPSolverDeleter(OSQPSolver * ptr) noexcept; + + std::vector optimize( + CSC_Matrix P, CSC_Matrix A, const std::vector & q, const std::vector & l, + const std::vector & u); + +@@ -120,17 +120,17 @@ public: + const std::vector & primal_variables, const std::vector & dual_variables); + bool setPrimalVariables(const std::vector & primal_variables); + bool setDualVariables(const std::vector & dual_variables); + + private: +- std::unique_ptr> work_; ++ std::unique_ptr> work_; + std::unique_ptr settings_; +- std::unique_ptr data_; + // store last work info since work is cleaned up at every execution to prevent memory leak. + OSQPInfo latest_work_info_; + // Number of parameters to optimize + int64_t param_n_; ++ int64_t constraint_n_; + // Flag to check if the current work exists + bool work__initialized = false; + // Exitflag + int64_t exitflag_; + diff --git a/src/osqp_csc_matrix_conv.cpp b/src/osqp_csc_matrix_conv.cpp -index 15314a9e..96056753 100644 +index 15314a9e4..960567534 100644 --- a/src/osqp_csc_matrix_conv.cpp +++ b/src/osqp_csc_matrix_conv.cpp -@@ -25,9 +25,9 @@ namespace autoware::qp_interface +@@ -23,13 +23,13 @@ + + namespace autoware::qp_interface { CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat) { @@ -29,17 +96,338 @@ index 15314a9e..96056753 100644 const Eigen::Index rows = mat.rows(); const Eigen::Index cols = mat.cols(); + const size_t elem = static_cast(rows * cols); - + std::vector vals; vals.reserve(elem); -@@ -66,9 +66,9 @@ CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat) - + std::vector row_idxs; + row_idxs.reserve(elem); +@@ -64,13 +64,13 @@ CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat) + return csc_matrix; + } + CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & mat) { - const size_t elem = static_cast(mat.nonZeros()); const Eigen::Index rows = mat.rows(); const Eigen::Index cols = mat.cols(); + const size_t elem = static_cast(rows * (rows + 1) / 2); - + if (rows != cols) { throw std::invalid_argument("Matrix must be square (n, n)"); + } + +diff --git a/src/osqp_interface.cpp b/src/osqp_interface.cpp +index 89a0b10e0..4dcb14f43 100644 +--- a/src/osqp_interface.cpp ++++ b/src/osqp_interface.cpp +@@ -26,26 +26,25 @@ + namespace autoware::qp_interface + { + OSQPInterface::OSQPInterface( + const bool enable_warm_start, const int max_iteration, const c_float eps_abs, + const c_float eps_rel, const bool polish, const bool verbose) +-: QPInterface(enable_warm_start), work_{nullptr, OSQPWorkspaceDeleter} ++: QPInterface(enable_warm_start), work_{nullptr, OSQPSolverDeleter} + { + settings_ = std::make_unique(); +- data_ = std::make_unique(); + + if (settings_) { + osqp_set_default_settings(settings_.get()); + settings_->alpha = 1.6; // Change alpha parameter + settings_->eps_rel = eps_rel; + settings_->eps_abs = eps_abs; + settings_->eps_prim_inf = 1.0E-4; + settings_->eps_dual_inf = 1.0E-4; +- settings_->warm_start = enable_warm_start; ++ settings_->warm_starting = enable_warm_start; + settings_->max_iter = max_iteration; + settings_->verbose = verbose; +- settings_->polish = polish; ++ settings_->polishing = polish; + } + exitflag_ = 0; + } + + OSQPInterface::OSQPInterface( +@@ -64,15 +63,11 @@ OSQPInterface::OSQPInterface( + : OSQPInterface(enable_warm_start, OSQP_MAX_ITERATION, eps_abs) + { + initializeCSCProblemImpl(P, A, q, l, u); + } + +-OSQPInterface::~OSQPInterface() +-{ +- if (data_->P) free(data_->P); +- if (data_->A) free(data_->A); +-} ++OSQPInterface::~OSQPInterface() = default; + + void OSQPInterface::initializeProblemImpl( + const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector & q, + const std::vector & l, const std::vector & u) + { +@@ -95,71 +90,68 @@ void OSQPInterface::initializeCSCProblemImpl( + + /********************** + * OBJECTIVE FUNCTION + **********************/ + param_n_ = static_cast(q.size()); +- data_->m = static_cast(l.size()); ++ constraint_n_ = static_cast(l.size()); + + /***************** + * POPULATE DATA + *****************/ +- data_->n = param_n_; +- if (data_->P) free(data_->P); +- data_->P = csc_matrix( +- data_->n, data_->n, static_cast(P_csc.vals_.size()), P_csc.vals_.data(), ++ OSQPCscMatrix P; ++ OSQPCscMatrix_set_data( ++ &P, param_n_, param_n_, static_cast(P_csc.vals_.size()), P_csc.vals_.data(), + P_csc.row_idxs_.data(), P_csc.col_idxs_.data()); +- data_->q = q_dyn; +- if (data_->A) free(data_->A); +- data_->A = csc_matrix( +- data_->m, data_->n, static_cast(A_csc.vals_.size()), A_csc.vals_.data(), ++ OSQPCscMatrix A; ++ OSQPCscMatrix_set_data( ++ &A, constraint_n_, param_n_, static_cast(A_csc.vals_.size()), A_csc.vals_.data(), + A_csc.row_idxs_.data(), A_csc.col_idxs_.data()); +- data_->l = l_dyn; +- data_->u = u_dyn; + + // Setup workspace +- OSQPWorkspace * workspace; +- exitflag_ = osqp_setup(&workspace, data_.get(), settings_.get()); +- work_.reset(workspace); +- work__initialized = true; ++ OSQPSolver * solver = nullptr; ++ exitflag_ = osqp_setup( ++ &solver, &P, q_dyn, &A, l_dyn, u_dyn, constraint_n_, param_n_, settings_.get()); ++ work_.reset(solver); ++ work__initialized = exitflag_ == 0; + } + +-void OSQPInterface::OSQPWorkspaceDeleter(OSQPWorkspace * ptr) noexcept ++void OSQPInterface::OSQPSolverDeleter(OSQPSolver * ptr) noexcept + { + if (ptr != nullptr) { + osqp_cleanup(ptr); + } + } + + void OSQPInterface::updateEpsAbs(const double eps_abs) + { + settings_->eps_abs = eps_abs; // for default setting + if (work__initialized) { +- osqp_update_eps_abs(work_.get(), eps_abs); // for current work ++ osqp_update_settings(work_.get(), settings_.get()); // for current work + } + } + + void OSQPInterface::updateEpsRel(const double eps_rel) + { + settings_->eps_rel = eps_rel; // for default setting + if (work__initialized) { +- osqp_update_eps_rel(work_.get(), eps_rel); // for current work ++ osqp_update_settings(work_.get(), settings_.get()); // for current work + } + } + + void OSQPInterface::updateMaxIter(const int max_iter) + { + settings_->max_iter = max_iter; // for default setting + if (work__initialized) { +- osqp_update_max_iter(work_.get(), max_iter); // for current work ++ osqp_update_settings(work_.get(), settings_.get()); // for current work + } + } + + void OSQPInterface::updateVerbose(const bool is_verbose) + { + settings_->verbose = is_verbose; // for default setting + if (work__initialized) { +- osqp_update_verbose(work_.get(), is_verbose); // for current work ++ osqp_update_settings(work_.get(), settings_.get()); // for current work + } + } + + void OSQPInterface::updateRhoInterval(const int rho_interval) + { +@@ -176,24 +168,24 @@ void OSQPInterface::updateRho(const double rho) + + void OSQPInterface::updateAlpha(const double alpha) + { + settings_->alpha = alpha; + if (work__initialized) { +- osqp_update_alpha(work_.get(), alpha); ++ osqp_update_settings(work_.get(), settings_.get()); + } + } + + void OSQPInterface::updateScaling(const int scaling) + { + settings_->scaling = scaling; + } + + void OSQPInterface::updatePolish(const bool polish) + { +- settings_->polish = polish; ++ settings_->polishing = polish; + if (work__initialized) { +- osqp_update_polish(work_.get(), polish); ++ osqp_update_settings(work_.get(), settings_.get()); + } + } + + void OSQPInterface::updatePolishRefinementIteration(const int polish_refine_iter) + { +@@ -202,11 +194,11 @@ void OSQPInterface::updatePolishRefinementIteration(const int polish_refine_iter + return; + } + + settings_->polish_refine_iter = polish_refine_iter; + if (work__initialized) { +- osqp_update_polish_refine_iter(work_.get(), polish_refine_iter); ++ osqp_update_settings(work_.get(), settings_.get()); + } + } + + void OSQPInterface::updateCheckTermination(const int check_termination) + { +@@ -215,11 +207,11 @@ void OSQPInterface::updateCheckTermination(const int check_termination) + return; + } + + settings_->check_termination = check_termination; + if (work__initialized) { +- osqp_update_check_termination(work_.get(), check_termination); ++ osqp_update_settings(work_.get(), settings_.get()); + } + } + + bool OSQPInterface::setWarmStart( + const std::vector & primal_variables, const std::vector & dual_variables) +@@ -231,11 +223,11 @@ bool OSQPInterface::setPrimalVariables(const std::vector & primal_variab + { + if (!work__initialized) { + return false; + } + +- const auto result = osqp_warm_start_x(work_.get(), primal_variables.data()); ++ const auto result = osqp_warm_start(work_.get(), primal_variables.data(), OSQP_NULL); + if (result != 0) { + std::cerr << "Failed to set primal variables for warm start" << std::endl; + return false; + } + +@@ -246,11 +238,11 @@ bool OSQPInterface::setDualVariables(const std::vector & dual_variables) + { + if (!work__initialized) { + return false; + } + +- const auto result = osqp_warm_start_y(work_.get(), dual_variables.data()); ++ const auto result = osqp_warm_start(work_.get(), OSQP_NULL, dual_variables.data()); + if (result != 0) { + std::cerr << "Failed to set dual variables for warm start" << std::endl; + return false; + } + +@@ -267,16 +259,20 @@ void OSQPInterface::updateP(const Eigen::MatrixXd & P_new) + double *P_val_ptr = P_sparse.valuePtr(); + // Convert dynamic 'int' arrays to 'c_int' arrays (OSQP input type) + c_int P_elem_N = P_sparse.nonZeros(); + */ + CSC_Matrix P_csc = calCSCMatrixTrapezoidal(P_new); +- osqp_update_P(work_.get(), P_csc.vals_.data(), OSQP_NULL, static_cast(P_csc.vals_.size())); ++ osqp_update_data_mat( ++ work_.get(), P_csc.vals_.data(), OSQP_NULL, static_cast(P_csc.vals_.size()), ++ OSQP_NULL, OSQP_NULL, 0); + } + + void OSQPInterface::updateCscP(const CSC_Matrix & P_csc) + { +- osqp_update_P(work_.get(), P_csc.vals_.data(), OSQP_NULL, static_cast(P_csc.vals_.size())); ++ osqp_update_data_mat( ++ work_.get(), P_csc.vals_.data(), OSQP_NULL, static_cast(P_csc.vals_.size()), ++ OSQP_NULL, OSQP_NULL, 0); + } + + void OSQPInterface::updateA(const Eigen::MatrixXd & A_new) + { + /* +@@ -285,48 +281,52 @@ void OSQPInterface::updateA(const Eigen::MatrixXd & A_new) + double *A_val_ptr = A_sparse.valuePtr(); + // Convert dynamic 'int' arrays to 'c_int' arrays (OSQP input type) + c_int A_elem_N = A_sparse.nonZeros(); + */ + CSC_Matrix A_csc = calCSCMatrix(A_new); +- osqp_update_A(work_.get(), A_csc.vals_.data(), OSQP_NULL, static_cast(A_csc.vals_.size())); ++ osqp_update_data_mat( ++ work_.get(), OSQP_NULL, OSQP_NULL, 0, A_csc.vals_.data(), OSQP_NULL, ++ static_cast(A_csc.vals_.size())); + return; + } + + void OSQPInterface::updateCscA(const CSC_Matrix & A_csc) + { +- osqp_update_A(work_.get(), A_csc.vals_.data(), OSQP_NULL, static_cast(A_csc.vals_.size())); ++ osqp_update_data_mat( ++ work_.get(), OSQP_NULL, OSQP_NULL, 0, A_csc.vals_.data(), OSQP_NULL, ++ static_cast(A_csc.vals_.size())); + } + + void OSQPInterface::updateQ(const std::vector & q_new) + { + std::vector q_tmp(q_new.begin(), q_new.end()); + double * q_dyn = q_tmp.data(); +- osqp_update_lin_cost(work_.get(), q_dyn); ++ osqp_update_data_vec(work_.get(), q_dyn, OSQP_NULL, OSQP_NULL); + } + + void OSQPInterface::updateL(const std::vector & l_new) + { + std::vector l_tmp(l_new.begin(), l_new.end()); + double * l_dyn = l_tmp.data(); +- osqp_update_lower_bound(work_.get(), l_dyn); ++ osqp_update_data_vec(work_.get(), OSQP_NULL, l_dyn, OSQP_NULL); + } + + void OSQPInterface::updateU(const std::vector & u_new) + { + std::vector u_tmp(u_new.begin(), u_new.end()); + double * u_dyn = u_tmp.data(); +- osqp_update_upper_bound(work_.get(), u_dyn); ++ osqp_update_data_vec(work_.get(), OSQP_NULL, OSQP_NULL, u_dyn); + } + + void OSQPInterface::updateBounds( + const std::vector & l_new, const std::vector & u_new) + { + std::vector l_tmp(l_new.begin(), l_new.end()); + std::vector u_tmp(u_new.begin(), u_new.end()); + double * l_dyn = l_tmp.data(); + double * u_dyn = u_tmp.data(); +- osqp_update_bounds(work_.get(), l_dyn, u_dyn); ++ osqp_update_data_vec(work_.get(), OSQP_NULL, l_dyn, u_dyn); + } + + int OSQPInterface::getIterationNumber() const + { + return work_->info->iter; +@@ -348,11 +348,11 @@ int OSQPInterface::getPolishStatus() const + } + + std::vector OSQPInterface::getDualSolution() const + { + double * sol_y = work_->solution->y; +- std::vector dual_solution(sol_y, sol_y + data_->m); ++ std::vector dual_solution(sol_y, sol_y + constraint_n_); + return dual_solution; + } + + std::vector OSQPInterface::optimizeImpl() + { diff --git a/patch/ros-rolling-autoware-test-utils.patch b/patch/ros-rolling-autoware-test-utils.patch index 79eab1ed..78217c25 100644 --- a/patch/ros-rolling-autoware-test-utils.patch +++ b/patch/ros-rolling-autoware-test-utils.patch @@ -9,7 +9,7 @@ index eb50d67..6be3b86 100644 - yaml-cpp + yaml-cpp::yaml-cpp ) - + +if(NOT MSVC) + target_compile_options(autoware_test_utils + PUBLIC @@ -18,5 +18,113 @@ index eb50d67..6be3b86 100644 +endif() + ament_auto_add_executable(topic_snapshot_saver src/topic_snapshot_saver.cpp) - + target_link_libraries(topic_snapshot_saver autoware_test_utils yaml-cpp) +diff --git a/include/autoware_test_utils/autoware_test_utils.hpp b/include/autoware_test_utils/autoware_test_utils.hpp +index 39a4689..7c20e90 100644 +--- a/include/autoware_test_utils/autoware_test_utils.hpp ++++ b/include/autoware_test_utils/autoware_test_utils.hpp +@@ -15,7 +15,7 @@ + #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ + #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ + +-#include ++#include + #include + + #include +diff --git a/src/autoware_test_utils.cpp b/src/autoware_test_utils.cpp +index 97e3dc4..cf515fc 100644 +--- a/src/autoware_test_utils.cpp ++++ b/src/autoware_test_utils.cpp +@@ -12,7 +12,7 @@ + // See the License for the specific language governing permissions and + // limitations under the License. + +-#include ++#include + #include + #include + #include +@@ -174,21 +174,21 @@ builtin_interfaces::msg::Time generate_ros_time(const double t) + std::string get_absolute_path_to_lanelet_map( + const std::string & package_name, const std::string & map_filename) + { +- const auto dir = ament_index_cpp::get_package_share_directory(package_name); +- return dir + "/test_map/" + map_filename; ++ const auto dir = ament_index_cpp::get_package_share_path(package_name); ++ return (dir / "test_map" / map_filename).string(); + } + + std::string get_absolute_path_to_route( + const std::string & package_name, const std::string & route_filename) + { +- const auto dir = ament_index_cpp::get_package_share_directory(package_name); +- return dir + "/test_route/" + route_filename; ++ const auto dir = ament_index_cpp::get_package_share_path(package_name); ++ return (dir / "test_route" / route_filename).string(); + } + + std::string get_absolute_path_to_config( + const std::string & package_name, const std::string & config_filename) + { +- const auto dir = ament_index_cpp::get_package_share_directory(package_name); +- return dir + "/config/" + config_filename; ++ const auto dir = ament_index_cpp::get_package_share_path(package_name); ++ return (dir / "config" / config_filename).string(); + } + +diff --git a/src/autoware_test_utils.cpp b/src/autoware_test_utils.cpp +index cf515fc..64d80a1 100644 +--- a/src/autoware_test_utils.cpp ++++ b/src/autoware_test_utils.cpp +@@ -392,11 +392,11 @@ std::optional resolve_pkg_share_uri(const std::string & uri_path) + { + std::smatch match; + std::regex pattern(R"(package://([^/]+)/(.+))"); + if (std::regex_match(uri_path, match, pattern)) { +- const std::string pkg_name = ament_index_cpp::get_package_share_directory(match[1].str()); ++ const auto pkg_name = ament_index_cpp::get_package_share_path(match[1].str()); + const std::string resource_path = match[2].str(); + const auto path = std::filesystem::path(pkg_name) / std::filesystem::path(resource_path); + return std::filesystem::exists(path) ? std::make_optional(path) : std::nullopt; + } + return std::nullopt; + } +diff --git a/test/test_mock_data_parser.cpp b/test/test_mock_data_parser.cpp +index 3e972d2..d3ef49c 100644 +--- a/test/test_mock_data_parser.cpp ++++ b/test/test_mock_data_parser.cpp +@@ -15,7 +15,7 @@ + #include + + // Assuming the parseRouteFile function is in 'RouteHandler.h' +-#include "ament_index_cpp/get_package_share_directory.hpp" ++#include "ament_index_cpp/get_package_share_path.hpp" + #include "autoware_test_utils/mock_data_parser.hpp" + + #include +@@ -787,9 +787,9 @@ TEST(ParseFunction, Complete) + TEST(ParseFunction, CompleteFromFilename) + { + const auto autoware_test_utils_dir = +- ament_index_cpp::get_package_share_directory("autoware_test_utils"); ++ ament_index_cpp::get_package_share_path("autoware_test_utils"); + const auto parser_test_route = +- autoware_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml"; ++ (autoware_test_utils_dir / "test_data/lanelet_route_parser_test.yaml").string(); + + if (const auto lanelet_route_opt = parse>(parser_test_route)) { + const auto & lanelet_route = *lanelet_route_opt; +@@ -834,9 +834,9 @@ TEST(ParseFunction, CompleteFromFilename) + TEST(ParseFunction, ParsePathWithLaneID) + { + const auto autoware_test_utils_dir = +- ament_index_cpp::get_package_share_directory("autoware_test_utils"); ++ ament_index_cpp::get_package_share_path("autoware_test_utils"); + const auto parser_test_path = +- autoware_test_utils_dir + "/test_data/path_with_lane_id_parser_test.yaml"; ++ (autoware_test_utils_dir / "test_data/path_with_lane_id_parser_test.yaml").string(); + + if (const auto path_opt = parse>(parser_test_path)) { + const auto & path = *path_opt; diff --git a/patch/ros-rolling-autoware-trajectory.patch b/patch/ros-rolling-autoware-trajectory.patch index afaad999..6fa4e12b 100644 --- a/patch/ros-rolling-autoware-trajectory.patch +++ b/patch/ros-rolling-autoware-trajectory.patch @@ -157,3 +157,68 @@ index b8beb1b8..db8aec3f 100644 } bool is_waypoint_inside_lanelet( +diff --git a/examples/example_reference_path.cpp b/examples/example_reference_path.cpp +index 46260af7..bbd90a3b 100644 +--- a/examples/example_reference_path.cpp ++++ b/examples/example_reference_path.cpp +@@ -18 +18 @@ +-#include ++#include +@@ -50 +50 @@ +- fs::path(ament_index_cpp::get_package_share_directory("autoware_lanelet2_utils")) / ++ fs::path(ament_index_cpp::get_package_share_path("autoware_lanelet2_utils")) / +@@ -111 +111 @@ +- fs::path(ament_index_cpp::get_package_share_directory("autoware_test_utils")) / ++ fs::path(ament_index_cpp::get_package_share_path("autoware_test_utils")) / +@@ -179 +179 @@ +- std::filesystem::path(ament_index_cpp::get_package_share_directory("autoware_lanelet2_utils")) / ++ std::filesystem::path(ament_index_cpp::get_package_share_path("autoware_lanelet2_utils")) / +@@ -214 +214 @@ +- fs::path(ament_index_cpp::get_package_share_directory("autoware_trajectory")) / ++ fs::path(ament_index_cpp::get_package_share_path("autoware_trajectory")) / +@@ -273 +273 @@ +- fs::path(ament_index_cpp::get_package_share_directory("autoware_trajectory")) / ++ fs::path(ament_index_cpp::get_package_share_path("autoware_trajectory")) / +diff --git a/test/test_case.hpp b/test/test_case.hpp +index 0a11b7b3..559bd44b 100644 +--- a/test/test_case.hpp ++++ b/test/test_case.hpp +@@ -18 +18 @@ +-#include ++#include +@@ -45 +45 @@ +- std::filesystem::path(ament_index_cpp::get_package_share_directory("autoware_lanelet2_utils")) / ++ std::filesystem::path(ament_index_cpp::get_package_share_path("autoware_lanelet2_utils")) / +diff --git a/test/test_reference_path.cpp b/test/test_reference_path.cpp +index 9e4c8ff9..2ac292ed 100644 +--- a/test/test_reference_path.cpp ++++ b/test/test_reference_path.cpp +@@ -19 +19 @@ +-#include ++#include +@@ -56 +56 @@ +- fs::path(ament_index_cpp::get_package_share_directory(Parameter::pkg)) / "sample_map" / ++ fs::path(ament_index_cpp::get_package_share_path(Parameter::pkg)) / "sample_map" / +@@ -429 +429 @@ +-// fs::path(ament_index_cpp::get_package_share_directory(Parameter_Map_Overlap_Lane_00::pkg)) ++// fs::path(ament_index_cpp::get_package_share_path(Parameter_Map_Overlap_Lane_00::pkg)) +diff --git a/test/test_reference_path_vm_10_spec.cpp b/test/test_reference_path_vm_10_spec.cpp +index 89f2ee43..870184c1 100644 +--- a/test/test_reference_path_vm_10_spec.cpp ++++ b/test/test_reference_path_vm_10_spec.cpp +@@ -20 +20 @@ +-#include ++#include +@@ -95 +95 @@ +- std::filesystem::path(ament_index_cpp::get_package_share_directory("autoware_trajectory")) / ++ std::filesystem::path(ament_index_cpp::get_package_share_path("autoware_trajectory")) / +diff --git a/test/test_reference_path_vm_10_spec_invalid.cpp b/test/test_reference_path_vm_10_spec_invalid.cpp +index 53d632cf..007b7302 100644 +--- a/test/test_reference_path_vm_10_spec_invalid.cpp ++++ b/test/test_reference_path_vm_10_spec_invalid.cpp +@@ -20 +20 @@ +-#include ++#include +@@ -95 +95 @@ +- std::filesystem::path(ament_index_cpp::get_package_share_directory("autoware_trajectory")) / ++ std::filesystem::path(ament_index_cpp::get_package_share_path("autoware_trajectory")) / diff --git a/patch/ros-rolling-autoware-utils-tf.patch b/patch/ros-rolling-autoware-utils-tf.patch new file mode 100644 index 00000000..6c1f1106 --- /dev/null +++ b/patch/ros-rolling-autoware-utils-tf.patch @@ -0,0 +1,14 @@ +diff --git a/include/autoware_utils_tf/transform_listener.hpp b/include/autoware_utils_tf/transform_listener.hpp +index fa07f87..f61d57a 100644 +--- a/include/autoware_utils_tf/transform_listener.hpp ++++ b/include/autoware_utils_tf/transform_listener.hpp +@@ -35,8 +35,7 @@ public: + : clock_(node->get_clock()), logger_(node->get_logger()) + { + tf_buffer_ = std::make_shared(clock_); +- auto timer_interface = std::make_shared( +- node->get_node_base_interface(), node->get_node_timers_interface()); ++ auto timer_interface = std::make_shared(*node); + tf_buffer_->setCreateTimerInterface(timer_interface); + tf_listener_ = std::make_shared(*tf_buffer_); + } diff --git a/patch/ros-rolling-autoware-velocity-smoother.patch b/patch/ros-rolling-autoware-velocity-smoother.patch new file mode 100644 index 00000000..6c36b0e7 --- /dev/null +++ b/patch/ros-rolling-autoware-velocity-smoother.patch @@ -0,0 +1,7 @@ +diff --git a/src/resample.cpp b/src/resample.cpp +index a4083144..62fa748e 100644 +--- a/src/resample.cpp ++++ b/src/resample.cpp +@@ -22,0 +23,2 @@ ++#include ++ diff --git a/patch/ros-rolling-chomp-motion-planner.patch b/patch/ros-rolling-chomp-motion-planner.patch deleted file mode 100644 index f3ee7510..00000000 --- a/patch/ros-rolling-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-rolling-cm-executors.patch b/patch/ros-rolling-cm-executors.patch deleted file mode 100644 index f596d268..00000000 --- a/patch/ros-rolling-cm-executors.patch +++ /dev/null @@ -1,26 +0,0 @@ -diff --git a/include/cm_executors/timer_manager.hpp b/include/cm_executors/timer_manager.hpp -index 4fd2330..e455141 100644 ---- a/include/cm_executors/timer_manager.hpp -+++ b/include/cm_executors/timer_manager.hpp -@@ -298,7 +298,7 @@ private: - */ - bool remove_if_dropped(const TimerData * timer_data) - { -- if (timer_data->rcl_ref.unique()) { -+ if (timer_data->rcl_ref.use_count() == 1) { - // clear on reset callback - if(rcl_timer_set_on_reset_callback(timer_data->rcl_ref.get(), nullptr, - nullptr) != RCL_RET_OK) -diff --git a/include/cm_executors/events_cbg_executor.hpp b/include/cm_executors/events_cbg_executor.hpp -index 3009afe..6ded674 100644 ---- a/include/cm_executors/events_cbg_executor.hpp -+++ b/include/cm_executors/events_cbg_executor.hpp -@@ -25,7 +25,7 @@ - - #include "rclcpp/executor.hpp" - #include "rclcpp/macros.hpp" --#include "rclcpp/memory_strategies.hpp" -+#include "rclcpp/memory_strategy.hpp" - #include "rclcpp/visibility_control.hpp" - - namespace rclcpp diff --git a/patch/ros-rolling-foxglove-bridge.osx.patch b/patch/ros-rolling-foxglove-bridge.osx.patch deleted file mode 100644 index 9a0b8c7f..00000000 --- a/patch/ros-rolling-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-rolling-foxglove-bridge.patch b/patch/ros-rolling-foxglove-bridge.patch index ce120dbf..aa403825 100644 --- a/patch/ros-rolling-foxglove-bridge.patch +++ b/patch/ros-rolling-foxglove-bridge.patch @@ -5,19 +5,19 @@ index 8ee07c2..7426013 100644 @@ -98,6 +98,18 @@ 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() diff --git a/patch/ros-rolling-hardware-interface.osx.patch b/patch/ros-rolling-hardware-interface.osx.patch deleted file mode 100644 index fa7c2c03..00000000 --- a/patch/ros-rolling-hardware-interface.osx.patch +++ /dev/null @@ -1,22 +0,0 @@ -diff --git a/src/lexical_casts.cpp b/src/lexical_casts.cpp -index 6de4c69ae1..f875fad92b 100644 ---- a/src/lexical_casts.cpp -+++ b/src/lexical_casts.cpp -@@ -64,7 +64,7 @@ std::optional parse_floating_point_with_from_chars(const std: - - std::optional stod(const std::string & s) - { --#if __cplusplus < 202002L -+#if __cplusplus < 202002L || defined(__APPLE__) - // convert from string using no locale - // Impl with std::istringstream - std::istringstream stream(s); -@@ -84,7 +84,7 @@ std::optional stod(const std::string & s) - - std::optional stof(const std::string & s) - { --#if __cplusplus < 202002L -+#if __cplusplus < 202002L || defined(__APPLE__) - // convert from string using no locale - // Impl with std::istringstream - std::istringstream stream(s); diff --git a/patch/ros-rolling-lanelet2.patch b/patch/ros-rolling-lanelet2.patch new file mode 100644 index 00000000..b88068e5 --- /dev/null +++ b/patch/ros-rolling-lanelet2.patch @@ -0,0 +1,10 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 61caa15..788bdb5 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,4 +1,4 @@ +-cmake_minimum_required(VERSION 2.8.12) ++cmake_minimum_required(VERSION 3.5) + project(lanelet2) + if($ENV{ROS_VERSION} EQUAL 1) + find_package(catkin REQUIRED) diff --git a/patch/ros-rolling-laser-filters.patch b/patch/ros-rolling-laser-filters.patch new file mode 100644 index 00000000..7a412d90 --- /dev/null +++ b/patch/ros-rolling-laser-filters.patch @@ -0,0 +1,15 @@ +diff --git a/src/scan_to_cloud_filter_chain.cpp b/src/scan_to_cloud_filter_chain.cpp +index 859f775..c76b56a 100644 +--- a/src/scan_to_cloud_filter_chain.cpp ++++ b/src/scan_to_cloud_filter_chain.cpp +@@ -83,9 +83,7 @@ ScanToCloudFilterChain::ScanToCloudFilterChain( + std::placeholders::_1)); + filter_.setTolerance(std::chrono::duration(tf_tolerance_)); + +- auto timer_interface = std::make_shared( +- this->get_node_base_interface(), +- this->get_node_timers_interface()); ++ auto timer_interface = std::make_shared(*this); + buffer_.setCreateTimerInterface(timer_interface); + + #ifdef RCLCPP_SUPPORTS_MATCHED_CALLBACKS diff --git a/patch/ros-rolling-moveit-core.patch b/patch/ros-rolling-moveit-core.patch index 59d943bb..9af44fde 100644 --- a/patch/ros-rolling-moveit-core.patch +++ b/patch/ros-rolling-moveit-core.patch @@ -1,138 +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 ---- 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 f12f827f71..9b886a9657 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 @@ -223,168 +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 b57e0767ea..c655ed0695 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 @@ -409,643 +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-rolling-moveit-hybrid-planning.patch b/patch/ros-rolling-moveit-hybrid-planning.patch deleted file mode 100644 index 3f457156..00000000 --- a/patch/ros-rolling-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-rolling-moveit-kinematics.patch b/patch/ros-rolling-moveit-kinematics.patch index 86d19b40..1c22ffa9 100644 --- a/patch/ros-rolling-moveit-kinematics.patch +++ b/patch/ros-rolling-moveit-kinematics.patch @@ -1,5 +1,5 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 21b03dfb1..5a76c1683 100644 +index 3dd5b2b379..bcbea687a1 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 173471c7ed..47e47e2db3 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: @@ -24,183 +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/${PROJECT_NAME}) -diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake ---- a/ConfigExtras.cmake -+++ b/ConfigExtras.cmake -@@ -1,3 +1,3 @@ - # Extras module needed for dependencies to find boost components - --find_package(Boost REQUIRED program_options system) -+find_package(Boost REQUIRED program_options) diff --git a/patch/ros-rolling-moveit-planners-chomp.patch b/patch/ros-rolling-moveit-planners-chomp.patch deleted file mode 100644 index 887d62fd..00000000 --- a/patch/ros-rolling-moveit-planners-chomp.patch +++ /dev/null @@ -1,32 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -22,13 +22,23 @@ - src/chomp_planning_context.cpp) - set_target_properties(moveit_chomp_interface - PROPERTIES VERSION "${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-rolling-moveit-planners-ompl.patch b/patch/ros-rolling-moveit-planners-ompl.patch deleted file mode 100644 index 6f0e8a06..00000000 --- a/patch/ros-rolling-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-rolling-moveit-planners-stomp.patch b/patch/ros-rolling-moveit-planners-stomp.patch deleted file mode 100644 index 1fd83ae9..00000000 --- a/patch/ros-rolling-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 -+ ${visualization_msgs_TARGETS}) - - pluginlib_export_plugin_description_file(moveit_core - stomp_moveit_plugin_description.xml) -diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt -index 3f83ea5a76..95b69c2650 100644 ---- a/test/CMakeLists.txt -+++ b/test/CMakeLists.txt -@@ -1,8 +1,8 @@ - find_package(ament_cmake_gtest REQUIRED) - ament_add_gtest(test_noise_generator test_noise_generator.cpp) --ament_target_dependencies(test_noise_generator tf2_eigen) --target_link_libraries(test_noise_generator stomp::stomp rsl::rsl) -+target_link_libraries(test_noise_generator stomp::stomp rsl::rsl -+ tf2_eigen::tf2_eigen) - - ament_add_gtest(test_cost_functions test_cost_functions.cpp) --ament_target_dependencies(test_cost_functions moveit_core) --target_link_libraries(test_cost_functions stomp::stomp rsl::rsl) -+target_link_libraries(test_cost_functions stomp::stomp rsl::rsl -+ moveit_core::moveit_core) diff --git a/patch/ros-rolling-moveit-py.patch b/patch/ros-rolling-moveit-py.patch deleted file mode 100644 index 1489a6a8..00000000 --- a/patch/ros-rolling-moveit-py.patch +++ /dev/null @@ -1,15 +0,0 @@ -diff --git a/src/moveit/moveit_py_utils/CMakeLists.txt b/src/moveit/moveit_py_utils/CMakeLists.txt ---- a/src/moveit/moveit_py_utils/CMakeLists.txt -+++ b/src/moveit/moveit_py_utils/CMakeLists.txt -@@ -6,8 +6,9 @@ - set_target_properties(moveit_py_utils PROPERTIES VERSION - "${${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-rolling-moveit-resources-prbt-ikfast-manipulator-plugin.patch b/patch/ros-rolling-moveit-resources-prbt-ikfast-manipulator-plugin.patch index b1829078..5d3db2fa 100644 --- a/patch/ros-rolling-moveit-resources-prbt-ikfast-manipulator-plugin.patch +++ b/patch/ros-rolling-moveit-resources-prbt-ikfast-manipulator-plugin.patch @@ -1,32 +1,34 @@ -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}) +diff --git a/src/prbt_manipulator_ikfast_moveit_plugin.cpp b/src/prbt_manipulator_ikfast_moveit_plugin.cpp +index b1929ff008..947066c950 100644 +--- a/src/prbt_manipulator_ikfast_moveit_plugin.cpp ++++ b/src/prbt_manipulator_ikfast_moveit_plugin.cpp +@@ -54,6 +54,10 @@ + #include + #include + ++#define IKFAST_NO_MAIN // Don't include main() from IKFast ++// Code generated by IKFast56/61 ++#include "prbt_manipulator_ikfast_solver.cpp" ++ + using namespace moveit::core; + + // Need a floating point tolerance when checking joint limits, in case the joint starts at limit +@@ -67,7 +71,6 @@ enum SEARCH_MODE + + namespace prbt_manipulator + { +-#define IKFAST_NO_MAIN // Don't include main() from IKFast - pluginlib_export_plugin_description_file( - moveit_core prbt_manipulator_moveit_ikfast_plugin_description.xml) + /// \brief The types of inverse kinematics parameterizations supported. + /// +@@ -155,10 +158,6 @@ struct LimitObeyingSol + + static const rclcpp::Logger LOGGER = rclcpp::get_logger("ikfast"); + +-// Code generated by IKFast56/61 +-#include "prbt_manipulator_ikfast_solver.cpp" +- +- + class IKFastKinematicsPlugin : public kinematics::KinematicsBase + { + std::vector joint_names_; diff --git a/patch/ros-rolling-moveit-ros-benchmarks.patch b/patch/ros-rolling-moveit-ros-benchmarks.patch index 6a9b4018..17be4e7b 100644 --- a/patch/ros-rolling-moveit-ros-benchmarks.patch +++ b/patch/ros-rolling-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 3461971ec4..1c6ebf5f57 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-rolling-moveit-ros-control-interface.patch b/patch/ros-rolling-moveit-ros-control-interface.patch index dab4e293..784d5688 100644 --- a/patch/ros-rolling-moveit-ros-control-interface.patch +++ b/patch/ros-rolling-moveit-ros-control-interface.patch @@ -1,100 +1,12 @@ -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 ---- 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/src/controller_manager_plugin.cpp b/src/controller_manager_plugin.cpp +index 4f24024725..3fc2cee2e0 100644 +--- a/src/controller_manager_plugin.cpp ++++ b/src/controller_manager_plugin.cpp +@@ -54,6 +54,7 @@ + #include + #include + #include ++#include + #include + + static const rclcpp::Duration CONTROLLER_INFORMATION_VALIDITY_AGE = rclcpp::Duration::from_seconds(1.0); diff --git a/patch/ros-rolling-moveit-ros-move-group.patch b/patch/ros-rolling-moveit-ros-move-group.patch deleted file mode 100644 index d4aa080e..00000000 --- a/patch/ros-rolling-moveit-ros-move-group.patch +++ /dev/null @@ -1,115 +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 ---- 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-rolling-moveit-ros-occupancy-map-monitor.patch b/patch/ros-rolling-moveit-ros-occupancy-map-monitor.patch deleted file mode 100644 index a56df0fa..00000000 --- a/patch/ros-rolling-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-rolling-moveit-ros-perception.osx.patch b/patch/ros-rolling-moveit-ros-perception.osx.patch index f3a1e4c6..7afb2c8d 100644 --- a/patch/ros-rolling-moveit-ros-perception.osx.patch +++ b/patch/ros-rolling-moveit-ros-perception.osx.patch @@ -1,22 +1,20 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 0452e0485..38b72376a 100644 +index 22751c921..b4b3fc649 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -17,8 +17,10 @@ if(WITH_OPENGL) - +@@ -18,7 +18,8 @@ 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 e528cb5b55..9d1689cf6d 100644 --- a/mesh_filter/src/gl_renderer.cpp +++ b/mesh_filter/src/gl_renderer.cpp @@ -37,11 +37,13 @@ diff --git a/patch/ros-rolling-moveit-ros-perception.patch b/patch/ros-rolling-moveit-ros-perception.patch index a49b3fa1..22973d5b 100644 --- a/patch/ros-rolling-moveit-ros-perception.patch +++ b/patch/ros-rolling-moveit-ros-perception.patch @@ -1,277 +1,13 @@ -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/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp b/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp -index 98435f9cca..b712118eac 100644 ---- a/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp -+++ b/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp -@@ -118,10 +118,11 @@ bool DepthImageOctomapUpdater::initialize(const rclcpp::Node::SharedPtr& node) - { +diff --git a/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp +index 7ab437a75a..0f28d369a0 100644 +--- a/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp ++++ b/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp +@@ -120,7 +120,7 @@ bool PointCloudOctomapUpdater::initialize(const rclcpp::Node::SharedPtr& node) node_ = node; -- input_depth_transport_ = std::make_unique(node_); -- model_depth_transport_ = std::make_unique(node_); -- filtered_depth_transport_ = std::make_unique(node_); -- filtered_label_transport_ = std::make_unique(node_); -+ image_transport::RequiredInterfaces node_interfaces(*node_); -+ input_depth_transport_ = std::make_unique(node_interfaces); -+ model_depth_transport_ = std::make_unique(node_interfaces); -+ filtered_depth_transport_ = std::make_unique(node_interfaces); -+ filtered_label_transport_ = std::make_unique(node_interfaces); - - tf_buffer_ = monitor_->getTFClient(); - free_space_updater_ = std::make_unique(tree_); - -@@ -159,13 +160,13 @@ void DepthImageOctomapUpdater::start() - pub_filtered_label_image_ = filtered_label_transport_->advertiseCamera(prefix + "filtered_label", 1); - - sub_depth_image_ = image_transport::create_camera_subscription( -- node_.get(), image_topic_, -+ image_transport::RequiredInterfaces(*node_), image_topic_, - [this](const sensor_msgs::msg::Image::ConstSharedPtr& depth_msg, - const sensor_msgs::msg::CameraInfo::ConstSharedPtr& info_msg) { - return depthImageCallback(depth_msg, info_msg); - }, -- "raw", rmw_qos_profile_sensor_data); -+ "raw", rclcpp::SensorDataQoS()); - } - - void DepthImageOctomapUpdater::stop() - { -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) + tf_buffer_ = std::make_shared(node_->get_clock()); + auto create_timer_interface = +- std::make_shared(node->get_node_base_interface(), node->get_node_timers_interface()); ++ std::make_shared(tf2_ros::CreateTimerROS::RequiredInterfaces(*node)); + tf_buffer_->setCreateTimerInterface(create_timer_interface); + tf_listener_ = std::make_shared(*tf_buffer_); + shape_mask_ = std::make_unique(); diff --git a/patch/ros-rolling-moveit-ros-planning-interface.patch b/patch/ros-rolling-moveit-ros-planning-interface.patch deleted file mode 100644 index 0981c308..00000000 --- a/patch/ros-rolling-moveit-ros-planning-interface.patch +++ /dev/null @@ -1,106 +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 ---- 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-rolling-moveit-ros-planning.patch b/patch/ros-rolling-moveit-ros-planning.patch deleted file mode 100644 index 3fb79de0..00000000 --- a/patch/ros-rolling-moveit-ros-planning.patch +++ /dev/null @@ -1,484 +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 ${THIS_PACKAGE_LIBRARIES} - EXPORT moveit_ros_planningTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -diff --git a/collision_plugin_loader/CMakeLists.txt b/collision_plugin_loader/CMakeLists.txt -index bc34ed5ec..577f6dcd2 100644 ---- a/collision_plugin_loader/CMakeLists.txt -+++ b/collision_plugin_loader/CMakeLists.txt -@@ -2,7 +2,7 @@ add_library(moveit_collision_plugin_loader SHARED - src/collision_plugin_loader.cpp) - set_target_properties(moveit_collision_plugin_loader - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_collision_plugin_loader moveit_core rclcpp -- pluginlib) -+target_link_libraries(moveit_collision_plugin_loader moveit_core::moveit_core -+ rclcpp::rclcpp pluginlib::pluginlib) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) -diff --git a/constraint_sampler_manager_loader/CMakeLists.txt b/constraint_sampler_manager_loader/CMakeLists.txt -index 222a564a7..0b457167f 100644 ---- a/constraint_sampler_manager_loader/CMakeLists.txt -+++ b/constraint_sampler_manager_loader/CMakeLists.txt -@@ -3,9 +3,8 @@ add_library(moveit_constraint_sampler_manager_loader SHARED - - set_target_properties(moveit_constraint_sampler_manager_loader - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_constraint_sampler_manager_loader moveit_core -- rclcpp Boost pluginlib) --target_link_libraries(moveit_constraint_sampler_manager_loader -- moveit_rdf_loader) -+target_link_libraries( -+ moveit_constraint_sampler_manager_loader moveit_rdf_loader -+ moveit_core::moveit_core rclcpp::rclcpp Boost::headers pluginlib::pluginlib) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) -diff --git a/kinematics_plugin_loader/CMakeLists.txt b/kinematics_plugin_loader/CMakeLists.txt -index cbc9d6d0f..61f9c3897 100644 ---- a/kinematics_plugin_loader/CMakeLists.txt -+++ b/kinematics_plugin_loader/CMakeLists.txt -@@ -2,16 +2,20 @@ add_library(moveit_kinematics_plugin_loader SHARED - src/kinematics_plugin_loader.cpp) - set_target_properties(moveit_kinematics_plugin_loader - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_kinematics_plugin_loader rclcpp urdf pluginlib -- class_loader moveit_core) -- - generate_parameter_library( - kinematics_parameters # cmake target name for the parameter library - src/kinematics_parameters.yaml # path to input yaml file - ) - --target_link_libraries(moveit_kinematics_plugin_loader moveit_rdf_loader -- kinematics_parameters) -+target_link_libraries( -+ moveit_kinematics_plugin_loader -+ moveit_rdf_loader -+ kinematics_parameters -+ rclcpp::rclcpp -+ urdf::urdf -+ pluginlib::pluginlib -+ class_loader::class_loader -+ moveit_core::moveit_core) - - install( - TARGETS kinematics_parameters -diff --git a/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp b/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp -index ead7aa044..464d6fbf0 100644 ---- a/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp -+++ b/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp -@@ -197,7 +197,7 @@ public: - { - std::scoped_lock slock(cache_lock_); - kinematics::KinematicsBasePtr& cached = instances_[jmg]; -- if (cached.unique()) -+ if (cached.use_count() == 1) - return std::move(cached); // pass on unique instance - - // create a new instance and store in instances_ -diff --git a/moveit_cpp/CMakeLists.txt b/moveit_cpp/CMakeLists.txt -index 59850df90..a6e6f6350 100644 ---- a/moveit_cpp/CMakeLists.txt -+++ b/moveit_cpp/CMakeLists.txt -@@ -1,10 +1,14 @@ - add_library(moveit_cpp SHARED src/moveit_cpp.cpp src/planning_component.cpp) - set_target_properties(moveit_cpp PROPERTIES VERSION - "${${PROJECT_NAME}_VERSION}") --ament_target_dependencies(moveit_cpp rclcpp moveit_core) - target_link_libraries( -- moveit_cpp moveit_planning_scene_monitor moveit_planning_pipeline -- moveit_planning_pipeline_interfaces moveit_trajectory_execution_manager) -+ moveit_cpp -+ moveit_planning_scene_monitor -+ moveit_planning_pipeline -+ moveit_planning_pipeline_interfaces -+ moveit_trajectory_execution_manager -+ rclcpp::rclcpp -+ moveit_core::moveit_core) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) - -diff --git a/plan_execution/CMakeLists.txt b/plan_execution/CMakeLists.txt -index 95c11fd8e..1a9cda295 100644 ---- a/plan_execution/CMakeLists.txt -+++ b/plan_execution/CMakeLists.txt -@@ -2,9 +2,14 @@ add_library(moveit_plan_execution SHARED src/plan_execution.cpp) - set_target_properties(moveit_plan_execution - PROPERTIES VERSION "${${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} -+ ${moveit_msgs_TARGETS} -+ tf2_eigen::tf2_eigen) - - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) - install( -diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake ---- a/ConfigExtras.cmake -+++ b/ConfigExtras.cmake -@@ -3,7 +3,6 @@ find_package( - find_package( - Boost - REQUIRED -- system - filesystem - date_time - program_options diff --git a/patch/ros-rolling-moveit-ros-robot-interaction.patch b/patch/ros-rolling-moveit-ros-robot-interaction.patch index efa0251f..d711b046 100644 --- a/patch/ros-rolling-moveit-ros-robot-interaction.patch +++ b/patch/ros-rolling-moveit-ros-robot-interaction.patch @@ -1,39 +1,5 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index c9140d2a4..043925338 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -32,8 +32,10 @@ target_include_directories( - set_target_properties( - moveit_robot_interaction PROPERTIES VERSION - "${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 15b8d0c845..35c859bdac 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-rolling-moveit-ros-trajectory-cache.patch b/patch/ros-rolling-moveit-ros-trajectory-cache.patch deleted file mode 100644 index 31468d30..00000000 --- a/patch/ros-rolling-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-rolling-moveit-ros-visualization.patch b/patch/ros-rolling-moveit-ros-visualization.patch deleted file mode 100644 index 25748295..00000000 --- a/patch/ros-rolling-moveit-ros-visualization.patch +++ /dev/null @@ -1,442 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 27855877a..5a3d37053 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) - 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 ---- 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/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp b/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp -index 598b5825c..0423cc1bc 100644 ---- a/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp -+++ b/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp -@@ -82,7 +82,7 @@ public: - } - - // Overrides from Display -- void update(float wall_dt, float ros_dt) override; -+ void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override; - - void reset() override; - -diff --git a/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.hpp b/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.hpp -index 4f5a2b924..6b804fade 100644 ---- a/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.hpp -+++ b/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.hpp -@@ -106,7 +106,7 @@ public: - void load(const rviz_common::Config& config) override; - void save(rviz_common::Config config) const override; - -- void update(float wall_dt, float ros_dt) override; -+ void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override; - void reset() override; - - moveit::core::RobotStateConstPtr getQueryStartState() const -diff --git a/motion_planning_rviz_plugin/src/interactive_marker_display.cpp b/motion_planning_rviz_plugin/src/interactive_marker_display.cpp -index 5234407dd..fca81e84e 100644 ---- a/motion_planning_rviz_plugin/src/interactive_marker_display.cpp -+++ b/motion_planning_rviz_plugin/src/interactive_marker_display.cpp -@@ -182,7 +182,7 @@ void InteractiveMarkerDisplay::unsubscribe() - Display::reset(); - } - --void InteractiveMarkerDisplay::update(float wall_dt, float ros_dt) -+void InteractiveMarkerDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) - { - (void)wall_dt; - (void)ros_dt; -diff --git a/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/motion_planning_rviz_plugin/src/motion_planning_display.cpp -index e279a23e5..348f6c3ef 100644 ---- a/motion_planning_rviz_plugin/src/motion_planning_display.cpp -+++ b/motion_planning_rviz_plugin/src/motion_planning_display.cpp -@@ -1337,12 +1337,13 @@ void MotionPlanningDisplay::onDisable() - // ****************************************************************************************** - // Update - // ****************************************************************************************** --void MotionPlanningDisplay::update(float wall_dt, float ros_dt) -+void MotionPlanningDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) - { - if (int_marker_display_) - int_marker_display_->update(wall_dt, ros_dt); - if (frame_) -- frame_->updateSceneMarkers(wall_dt, ros_dt); -+ frame_->updateSceneMarkers(std::chrono::duration(wall_dt).count(), -+ std::chrono::duration(ros_dt).count()); - - PlanningSceneDisplay::update(wall_dt, ros_dt); - } -diff --git a/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.hpp b/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.hpp -index 1c0aa57c7..72c84b5aa 100644 ---- a/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.hpp -+++ b/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.hpp -@@ -79,7 +79,7 @@ public: - void load(const rviz_common::Config& config) override; - void save(rviz_common::Config config) const override; - -- void update(float wall_dt, float ros_dt) override; -+ void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override; - void reset() override; - - void setLinkColor(const std::string& link_name, const QColor& color); -diff --git a/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/planning_scene_rviz_plugin/src/planning_scene_display.cpp -index 4bce580a2..ec3ef4886 100644 ---- a/planning_scene_rviz_plugin/src/planning_scene_display.cpp -+++ b/planning_scene_rviz_plugin/src/planning_scene_display.cpp -@@ -661,7 +661,7 @@ void PlanningSceneDisplay::queueRenderSceneGeometry() - planning_scene_needs_render_ = true; - } - --void PlanningSceneDisplay::update(float wall_dt, float ros_dt) -+void PlanningSceneDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) - { - Display::update(wall_dt, ros_dt); - -@@ -670,7 +670,8 @@ void PlanningSceneDisplay::update(float wall_dt, float ros_dt) - calculateOffsetPosition(); - - if (planning_scene_monitor_) -- updateInternal(wall_dt, ros_dt); -+ updateInternal(std::chrono::duration(wall_dt).count(), -+ std::chrono::duration(ros_dt).count()); - } - - void PlanningSceneDisplay::updateInternal(double wall_dt, double /*ros_dt*/) -diff --git a/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.hpp b/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.hpp -index 19e4c4892..c90d235fd 100644 ---- a/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.hpp -+++ b/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.hpp -@@ -71,7 +71,7 @@ public: - ~RobotStateDisplay() override; - - void load(const rviz_common::Config& config) override; -- void update(float wall_dt, float ros_dt) override; -+ void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override; - void reset() override; - - const moveit::core::RobotModelConstPtr& getRobotModel() const -diff --git a/robot_state_rviz_plugin/src/robot_state_display.cpp b/robot_state_rviz_plugin/src/robot_state_display.cpp -index 960215e33..ec786a98d 100644 ---- a/robot_state_rviz_plugin/src/robot_state_display.cpp -+++ b/robot_state_rviz_plugin/src/robot_state_display.cpp -@@ -459,7 +459,7 @@ void RobotStateDisplay::onDisable() - Display::onDisable(); - } - --void RobotStateDisplay::update(float wall_dt, float ros_dt) -+void RobotStateDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) - { - Display::update(wall_dt, ros_dt); - calculateOffsetPosition(); -diff --git a/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.hpp b/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.hpp -index 3949bbb08..abc8bbc14 100644 ---- a/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.hpp -+++ b/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.hpp -@@ -68,7 +68,7 @@ public: - void loadRobotModel(); - - void load(const rviz_common::Config& config) override; -- void update(float wall_dt, float ros_dt) override; -+ void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override; - void reset() override; - - // overrides from Display -diff --git a/trajectory_rviz_plugin/src/trajectory_display.cpp b/trajectory_rviz_plugin/src/trajectory_display.cpp -index 78a13c718..c863a4a75 100644 ---- a/trajectory_rviz_plugin/src/trajectory_display.cpp -+++ b/trajectory_rviz_plugin/src/trajectory_display.cpp -@@ -129,10 +129,11 @@ void TrajectoryDisplay::onDisable() - trajectory_visual_->onDisable(); - } - --void TrajectoryDisplay::update(float wall_dt, float ros_dt) -+void TrajectoryDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) - { - Display::update(wall_dt, ros_dt); -- trajectory_visual_->update(wall_dt, ros_dt); -+ trajectory_visual_->update(std::chrono::duration(wall_dt).count(), -+ std::chrono::duration(ros_dt).count()); - } - - void TrajectoryDisplay::changedRobotDescription() diff --git a/patch/ros-rolling-moveit-ros-warehouse.patch b/patch/ros-rolling-moveit-ros-warehouse.patch deleted file mode 100644 index 38ed62b3..00000000 --- a/patch/ros-rolling-moveit-ros-warehouse.patch +++ /dev/null @@ -1,88 +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 ${CMAKE_CURRENT_BINARY_DIR}/moveit_warehouse_export.h - DESTINATION include/moveit_ros_warehouse) - -+# Create an umbrella INTERFACE target so downstream packages can use -+# moveit_ros_warehouse::moveit_ros_warehouse to link all libraries at once. -+add_library(moveit_ros_warehouse INTERFACE) -+target_link_libraries(moveit_ros_warehouse INTERFACE moveit_warehouse) -+ - install( -- TARGETS moveit_warehouse -+ TARGETS moveit_ros_warehouse moveit_warehouse - EXPORT moveit_ros_warehouseTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib -diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake ---- a/ConfigExtras.cmake -+++ b/ConfigExtras.cmake -@@ -4,7 +4,6 @@ find_package( - Boost - REQUIRED - thread -- system - filesystem - regex - date_time diff --git a/patch/ros-rolling-moveit-servo.patch b/patch/ros-rolling-moveit-servo.patch deleted file mode 100644 index 39af23d6..00000000 --- a/patch/ros-rolling-moveit-servo.patch +++ /dev/null @@ -1,247 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 6ec080d195..3f771f3dd4 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -45,14 +45,46 @@ add_library( - src/utils/common.cpp src/utils/command.cpp) - set_target_properties(moveit_servo_lib_cpp PROPERTIES VERSION - "${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-rolling-moveit-setup-app-plugins.patch b/patch/ros-rolling-moveit-setup-app-plugins.patch deleted file mode 100644 index e195a99e..00000000 --- a/patch/ros-rolling-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-rolling-moveit-setup-assistant.patch b/patch/ros-rolling-moveit-setup-assistant.patch deleted file mode 100644 index 5a54a45c..00000000 --- a/patch/ros-rolling-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-rolling-moveit-setup-controllers.patch b/patch/ros-rolling-moveit-setup-controllers.patch deleted file mode 100644 index 6ff1c0c9..00000000 --- a/patch/ros-rolling-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-rolling-moveit-setup-core-plugins.patch b/patch/ros-rolling-moveit-setup-core-plugins.patch deleted file mode 100644 index 9530f752..00000000 --- a/patch/ros-rolling-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-rolling-moveit-setup-framework.patch b/patch/ros-rolling-moveit-setup-framework.patch index c302ff7b..ffb5cdb9 100644 --- a/patch/ros-rolling-moveit-setup-framework.patch +++ b/patch/ros-rolling-moveit-setup-framework.patch @@ -1,106 +1,22 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 3e3d417fb..fc6d922c4 100644 +index 8c6e1f792..de1670de3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -11,9 +11,17 @@ find_package(ament_index_cpp REQUIRED) - find_package(fmt REQUIRED) - find_package(moveit_core REQUIRED) - find_package(moveit_ros_planning REQUIRED) -+# Find Qt before packages that transitively depend on it (rviz, visualization) -+find_package(Qt6 QUIET COMPONENTS Core Widgets) -+if(NOT Qt6_FOUND) -+ find_package(Qt5 COMPONENTS Core Widgets REQUIRED) -+ set(QT_CORE Qt5::Core) -+ set(QT_WIDGETS Qt5::Widgets) -+else() -+ set(QT_CORE Qt6::Core) -+ 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 - ${MOC_FILES}) -+ +@@ -51,6 +51,9 @@ add_library( + include/moveit_setup_framework/qt/setup_step_widget.hpp + include/moveit_setup_framework/qt/rviz_panel.hpp + include/moveit_setup_framework/qt/double_list_widget.hpp) +include(GenerateExportHeader) +generate_export_header(${PROJECT_NAME}) ++ target_include_directories( moveit_setup_framework PUBLIC $ - $) --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 - DESTINATION share/moveit_setup_framework) - +@@ -78 +81,2 @@ install(FILES moveit_setup_framework_plugins.xml install(DIRECTORY templates DESTINATION share/moveit_setup_framework) +install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_export.h DESTINATION include) - - 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 f32e7b5ad3..c6f472682d 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 +35,8 @@ 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 1555eee16b..b02d520243 100644 --- a/include/moveit_setup_framework/templates.hpp +++ b/include/moveit_setup_framework/templates.hpp @@ -38,6 +38,8 @@ @@ -162,59 +57,3 @@ 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-rolling-moveit-setup-srdf-plugins.patch b/patch/ros-rolling-moveit-setup-srdf-plugins.patch deleted file mode 100644 index cb780f61..00000000 --- a/patch/ros-rolling-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-rolling-moveit-simple-controller-manager.patch b/patch/ros-rolling-moveit-simple-controller-manager.patch deleted file mode 100644 index 8a3835c6..00000000 --- a/patch/ros-rolling-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-rolling-moveit-visual-tools.patch b/patch/ros-rolling-moveit-visual-tools.patch deleted file mode 100644 index 036a5ddb..00000000 --- a/patch/ros-rolling-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 ${THIS_PACKAGE_INCLUDE_TARGET_DEPENDS}) - - - # Exports diff --git a/patch/ros-rolling-mrt-cmake-modules.patch b/patch/ros-rolling-mrt-cmake-modules.patch index 3a58f235..4dc390f3 100644 --- a/patch/ros-rolling-mrt-cmake-modules.patch +++ b/patch/ros-rolling-mrt-cmake-modules.patch @@ -12,11 +12,12 @@ index 409cfaf..a3d9984 100644 if(_python_version VERSION_EQUAL 3 AND CMAKE_VERSION VERSION_GREATER 3.15) # we also need the subversion diff --git a/CMakeLists.txt b/CMakeLists.txt -index aa99d8d..8327d4e 100644 +index aa99d8d..cfbb55f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,7 +1,7 @@ - cmake_minimum_required(VERSION 3.0.2) +-cmake_minimum_required(VERSION 3.0.2) ++cmake_minimum_required(VERSION 3.5) project(mrt_cmake_modules) -if($ENV{ROS_VERSION} EQUAL 1) diff --git a/patch/ros-rolling-nav2-behavior-tree.patch b/patch/ros-rolling-nav2-behavior-tree.patch deleted file mode 100644 index f36146ca..00000000 --- a/patch/ros-rolling-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-rolling-nav2-common.patch b/patch/ros-rolling-nav2-common.patch deleted file mode 100644 index f22d44e4..00000000 --- a/patch/ros-rolling-nav2-common.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/nav2_common/cmake/nav2_package.cmake b/nav2_common/cmake/nav2_package.cmake -index 3f4977193c..01ca1c3ed2 100644 ---- a/nav2_common/cmake/nav2_package.cmake -+++ b/nav2_common/cmake/nav2_package.cmake -@@ -37,7 +37,7 @@ macro(nav2_package) - endif() - - if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") -- add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference) -+ add_compile_options(-Wall -Wextra -Wpedantic -Wdeprecated -fPIC -Wshadow -Wnull-dereference) - add_compile_options("$<$:-Wnon-virtual-dtor>") - endif() - diff --git a/patch/ros-rolling-nav2-costmap-2d.patch b/patch/ros-rolling-nav2-costmap-2d.patch deleted file mode 100644 index 974334df..00000000 --- a/patch/ros-rolling-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-rolling-nav2-map-server.win.patch b/patch/ros-rolling-nav2-map-server.win.patch deleted file mode 100644 index c6e1b2b5..00000000 --- a/patch/ros-rolling-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-rolling-nav2-mppi-controller.osx.patch b/patch/ros-rolling-nav2-mppi-controller.osx.patch deleted file mode 100644 index 1cfe6e79..00000000 --- a/patch/ros-rolling-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 - "$" diff --git a/patch/ros-rolling-nav2-route.osx.patch b/patch/ros-rolling-nav2-route.osx.patch deleted file mode 100644 index fb6986ff..00000000 --- a/patch/ros-rolling-nav2-route.osx.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/include/nav2_route/route_server.hpp b/include/nav2_route/route_server.hpp -index a6b830c1b..966d62a69 100644 ---- a/include/nav2_route/route_server.hpp -+++ b/include/nav2_route/route_server.hpp -@@ -130,7 +130,7 @@ protected: - template - Route findRoute( - const std::shared_ptr goal, -- ReroutingState & rerouting_info = ReroutingState()); -+ ReroutingState & rerouting_info); - - /** - * @brief Main processing called by both action server callbacks to centralize diff --git a/patch/ros-rolling-nav2-smac-planner.win.patch b/patch/ros-rolling-nav2-smac-planner.win.patch deleted file mode 100644 index 6a06fe0e..00000000 --- a/patch/ros-rolling-nav2-smac-planner.win.patch +++ /dev/null @@ -1,131 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 4ae1a98ad..24317d4d6 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -42,9 +42,17 @@ add_library(${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; diff --git a/patch/ros-rolling-nav2-util.patch b/patch/ros-rolling-nav2-util.patch deleted file mode 100644 index babfabcd..00000000 --- a/patch/ros-rolling-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-rolling-odom-to-tf-ros2.patch b/patch/ros-rolling-odom-to-tf-ros2.patch new file mode 100644 index 00000000..14bff719 --- /dev/null +++ b/patch/ros-rolling-odom-to-tf-ros2.patch @@ -0,0 +1,13 @@ +diff --git a/src/odom_to_tf.cpp b/src/odom_to_tf.cpp +index b94896c..d1f5b61 100644 +--- a/src/odom_to_tf.cpp ++++ b/src/odom_to_tf.cpp +@@ -41,7 +41,7 @@ public: + } + sub_ = this->create_subscription(odom_topic, rclcpp::SensorDataQoS(), + std::bind(&OdomToTF::odomCallback, this, _1)); +- tfb_ = std::make_shared(this); ++ tfb_ = std::make_shared(*this); + } + + private: diff --git a/patch/ros-rolling-ouster-ros.patch b/patch/ros-rolling-ouster-ros.patch index dc09dbe5..e5b08ccc 100644 --- a/patch/ros-rolling-ouster-ros.patch +++ b/patch/ros-rolling-ouster-ros.patch @@ -126,3 +126,16 @@ index 8a73c8c..ea3efaf 100644 imu_packet_pub->publish(imu_packet_msg); } +diff --git a/src/os_static_transforms_broadcaster.h b/src/os_static_transforms_broadcaster.h +index 94d50eb..b1e05ce 100644 +--- a/src/os_static_transforms_broadcaster.h ++++ b/src/os_static_transforms_broadcaster.h +@@ -16,7 +16,7 @@ template + class OusterStaticTransformsBroadcaster { + public: + OusterStaticTransformsBroadcaster(NodeT* parent) +- : node(parent), tf_bcast(parent) {} ++ : node(parent), tf_bcast(*parent) {} + + void declare_parameters() { + node->declare_parameter("sensor_frame", "os_sensor"); diff --git a/patch/ros-rolling-pilz-industrial-motion-planner-testutils.patch b/patch/ros-rolling-pilz-industrial-motion-planner-testutils.patch deleted file mode 100644 index 4d64c8c0..00000000 --- a/patch/ros-rolling-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-rolling-pilz-industrial-motion-planner.patch b/patch/ros-rolling-pilz-industrial-motion-planner.patch deleted file mode 100644 index 0d8ffde6..00000000 --- a/patch/ros-rolling-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/patch/ros-rolling-plotjuggler.patch b/patch/ros-rolling-plotjuggler.patch index 4023a4a2..0281163b 100644 --- a/patch/ros-rolling-plotjuggler.patch +++ b/patch/ros-rolling-plotjuggler.patch @@ -22,3 +22,29 @@ index 1111111..2222222 100644 -target_compile_features(rosx_introspection PUBLIC cxx_std_17) +target_compile_features(rosx_introspection PUBLIC cxx_std_20) +diff --git a/plotjuggler_app/mainwindow.cpp b/plotjuggler_app/mainwindow.cpp +index c84d9066..b493dd0d 100644 +--- a/plotjuggler_app/mainwindow.cpp ++++ b/plotjuggler_app/mainwindow.cpp +@@ -68,8 +68,8 @@ + + #endif + #ifdef COMPILED_WITH_AMENT ++#include + #include +-#include + #endif + + // Serialize a QDomDocument to XML with attributes in sorted order. +@@ -671,8 +671,9 @@ void MainWindow::loadAllPlugins(QStringList command_line_plugin_folders) + } + #endif + #ifdef COMPILED_WITH_AMENT +- auto ros2_path = QString::fromStdString(ament_index_cpp::get_package_prefix("plotjuggler_ros")); +- ros2_path += "/lib/plotjuggler_ros"; ++ std::filesystem::path ros2_prefix; ++ ament_index_cpp::get_package_prefix("plotjuggler_ros", ros2_prefix); ++ auto ros2_path = QString::fromStdString((ros2_prefix / "lib" / "plotjuggler_ros").string()); + _plugin_manager.loadPluginsFromFolder(ros2_path); + #endif + } diff --git a/patch/ros-rolling-pointcloud-to-laserscan.patch b/patch/ros-rolling-pointcloud-to-laserscan.patch new file mode 100644 index 00000000..4408545d --- /dev/null +++ b/patch/ros-rolling-pointcloud-to-laserscan.patch @@ -0,0 +1,42 @@ +diff --git a/src/laserscan_to_pointcloud_node.cpp b/src/laserscan_to_pointcloud_node.cpp +index e099bad..80e6036 100644 +--- a/src/laserscan_to_pointcloud_node.cpp ++++ b/src/laserscan_to_pointcloud_node.cpp +@@ -71,14 +71,11 @@ LaserScanToPointCloudNode::LaserScanToPointCloudNode(const rclcpp::NodeOptions & + // if pointcloud target frame specified, we need to filter by transform availability + if (!target_frame_.empty()) { + tf2_ = std::make_unique(this->get_clock()); +- auto timer_interface = std::make_shared( +- this->get_node_base_interface(), this->get_node_timers_interface()); ++ auto timer_interface = std::make_shared(*this); + tf2_->setCreateTimerInterface(timer_interface); + tf2_listener_ = std::make_unique(*tf2_); + message_filter_ = std::make_unique( +- sub_, *tf2_, target_frame_, input_queue_size_, +- this->get_node_logging_interface(), +- this->get_node_clock_interface()); ++ sub_, *tf2_, target_frame_, input_queue_size_, *this); + message_filter_->registerCallback( + std::bind( + &LaserScanToPointCloudNode::scanCallback, this, _1)); +diff --git a/src/pointcloud_to_laserscan_node.cpp b/src/pointcloud_to_laserscan_node.cpp +index a2e60e6..c5f61b2 100644 +--- a/src/pointcloud_to_laserscan_node.cpp ++++ b/src/pointcloud_to_laserscan_node.cpp +@@ -81,14 +81,11 @@ PointCloudToLaserScanNode::PointCloudToLaserScanNode(const rclcpp::NodeOptions & + // if pointcloud target frame specified, we need to filter by transform availability + if (!target_frame_.empty()) { + tf2_ = std::make_unique(this->get_clock()); +- auto timer_interface = std::make_shared( +- this->get_node_base_interface(), this->get_node_timers_interface()); ++ auto timer_interface = std::make_shared(*this); + tf2_->setCreateTimerInterface(timer_interface); + tf2_listener_ = std::make_unique(*tf2_); + message_filter_ = std::make_unique( +- sub_, *tf2_, target_frame_, input_queue_size_, +- this->get_node_logging_interface(), +- this->get_node_clock_interface()); ++ sub_, *tf2_, target_frame_, input_queue_size_, *this); + message_filter_->registerCallback( + std::bind(&PointCloudToLaserScanNode::cloudCallback, this, _1)); + } else { // otherwise setup direct subscription diff --git a/patch/ros-rolling-random-numbers.win.patch b/patch/ros-rolling-random-numbers.win.patch deleted file mode 100644 index a6da7813..00000000 --- a/patch/ros-rolling-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-rolling-rclcpp.win.patch b/patch/ros-rolling-rclcpp.win.patch deleted file mode 100644 index 755e6cf7..00000000 --- a/patch/ros-rolling-rclcpp.win.patch +++ /dev/null @@ -1,31 +0,0 @@ -diff --git a/src/rclcpp/context.cpp b/src/rclcpp/context.cpp -index 0b472fd..8e022d5 100644 ---- a/src/rclcpp/context.cpp -+++ b/src/rclcpp/context.cpp -@@ -425,7 +425,7 @@ Context::add_shutdown_callback( - const ShutdownCallback & callback) - { - auto callback_shared_ptr = -- std::make_shared(callback); -+ std::make_shared(callback); - - static_assert( - shutdown_type == ShutdownType::pre_shutdown || shutdown_type == ShutdownType::on_shutdown); -@@ -438,7 +438,7 @@ Context::add_shutdown_callback( - on_shutdown_callbacks_.emplace_back(callback_shared_ptr); - } - -- ShutdownCallbackHandle callback_handle; -+ rclcpp::ShutdownCallbackHandle callback_handle; - callback_handle.callback = callback_shared_ptr; - return callback_handle; - } -@@ -446,7 +446,7 @@ Context::add_shutdown_callback( - template - bool - Context::remove_shutdown_callback( -- const ShutdownCallbackHandle & callback_handle) -+ const rclcpp::ShutdownCallbackHandle & callback_handle) - { - const auto callback_shared_ptr = callback_handle.callback.lock(); - if (callback_shared_ptr == nullptr) { diff --git a/patch/ros-rolling-robot-localization.win.patch b/patch/ros-rolling-robot-localization.win.patch index 478e6e5e..6b80ab22 100644 --- a/patch/ros-rolling-robot-localization.win.patch +++ b/patch/ros-rolling-robot-localization.win.patch @@ -2,11 +2,12 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt index 0da52adc..35b5b185 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -100,6 +100,8 @@ target_link_libraries(${library_name} PRIVATE +@@ -100,6 +100,9 @@ target_link_libraries(${library_name} PRIVATE ${GeographicLib_LIBRARIES} yaml-cpp::yaml-cpp ) +target_compile_definitions(${library_name} PRIVATE _USE_MATH_DEFINES) ++target_compile_options(${library_name} PRIVATE /bigobj) +set_target_properties(${library_name} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON) add_executable( diff --git a/patch/ros-rolling-ros-gz-bridge.win.patch b/patch/ros-rolling-ros-gz-bridge.win.patch index 6d27d622..8e72ef1e 100644 --- a/patch/ros-rolling-ros-gz-bridge.win.patch +++ b/patch/ros-rolling-ros-gz-bridge.win.patch @@ -1,13 +1,1365 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 4c27d2e97..4902f8b16 100644 +index b949389..9709c7b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -8,6 +8,8 @@ if(NOT CMAKE_CXX_STANDARD) - endif() +@@ -9,8 +9,6 @@ endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic") -+elseif(MSVC) -+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj") endif() - set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) +-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) +- + find_package(ament_cmake REQUIRED) + find_package(rclcpp REQUIRED) + find_package(rclcpp_components REQUIRED) +@@ -99,6 +97,13 @@ add_library(${bridge_lib} + ${generated_files} + ) + ++include(GenerateExportHeader) ++generate_export_header(${bridge_lib} ++ EXPORT_FILE_NAME ++ "${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/visibility_control.hpp" ++ EXPORT_MACRO_NAME ROS_GZ_BRIDGE_VISIBLE ++) ++ + target_link_libraries(${bridge_lib} + PUBLIC + gz-msgs::core +@@ -126,14 +131,24 @@ target_link_libraries(${bridge_lib} + target_include_directories(${bridge_lib} + PUBLIC + "$" ++ "$" + "$" + PRIVATE + "$" + "$" + ) + ++# Many tests do not link ${bridge_lib} even if they include its headers, ++# ensure that ${CMAKE_CURRENT_BINARY_DIR}/include that includes the visibility_control.hpp header ++# is properly visible ++include_directories(${CMAKE_CURRENT_BINARY_DIR}/include) ++ + if(MSVC) + target_compile_options(${bridge_lib} PRIVATE "/bigobj") ++ # This is used to ensure that all the heavy-templated tests ++ # defined in this directory use /bigobj, ++ # without the need to manually specify if for each test ++ add_compile_options("/bigobj") + endif() + + rclcpp_components_register_node( +@@ -151,6 +166,11 @@ install( + DESTINATION include/${PROJECT_NAME} + ) + ++install( ++ FILES "${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/visibility_control.hpp" ++ DESTINATION include/${PROJECT_NAME}/${PROJECT_NAME} ++) ++ + install( + DIRECTORY launch/ + DESTINATION share/${PROJECT_NAME}/launch +diff --git a/include/ros_gz_bridge/bridge_config.hpp b/include/ros_gz_bridge/bridge_config.hpp +index 2687e5c..1e63873 100644 +--- a/include/ros_gz_bridge/bridge_config.hpp ++++ b/include/ros_gz_bridge/bridge_config.hpp +@@ -21,6 +21,8 @@ + + #include + ++#include "ros_gz_bridge/visibility_control.hpp" ++ + namespace ros_gz_bridge + { + +@@ -49,9 +51,9 @@ static constexpr BridgeDirection kDefaultDirection = BridgeDirection::BIDIRECTIO + /// \param[in] qos_profile Uppercase string, e.g. "SENSOR_DATA". + /// \return The corresponding QoS profile. + /// \throws std::invalid_argument if the profile cannot be parsed. +-rclcpp::QoS parseQoS(const std::string & qos_profile); ++ROS_GZ_BRIDGE_VISIBLE rclcpp::QoS parseQoS(const std::string & qos_profile); + +-struct BridgeConfig ++struct ROS_GZ_BRIDGE_VISIBLE BridgeConfig + { + /// \brief The ROS message type (eg std_msgs/msg/String) + std::string ros_type_name; +@@ -105,12 +107,12 @@ struct BridgeConfig + /// \brief Generate a group of BridgeConfigs from a YAML String + /// \param[in] data string containing YAML of bridge configurations + /// \return Vector of bridge configurations +-std::vector readFromYamlString(const std::string & data); ++ROS_GZ_BRIDGE_VISIBLE std::vector readFromYamlString(const std::string & data); + + /// \brief Generate a group of BridgeConfigs from a YAML File + /// \param[in] filename name of file containing YAML of bridge configurations + /// \return Vector of bridge configurations +-std::vector readFromYamlFile(const std::string & filename); ++ROS_GZ_BRIDGE_VISIBLE std::vector readFromYamlFile(const std::string & filename); + + } // namespace ros_gz_bridge + +diff --git a/include/ros_gz_bridge/convert/actuator_msgs.hpp b/include/ros_gz_bridge/convert/actuator_msgs.hpp +index ea4055b..14d27d6 100644 +--- a/include/ros_gz_bridge/convert/actuator_msgs.hpp ++++ b/include/ros_gz_bridge/convert/actuator_msgs.hpp +@@ -27,13 +27,13 @@ namespace ros_gz_bridge + { + // actuator_msgs + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const actuator_msgs::msg::Actuators & ros_msg, + gz::msgs::Actuators & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Actuators & gz_msg, + actuator_msgs::msg::Actuators & ros_msg); +diff --git a/include/ros_gz_bridge/convert/builtin_interfaces.hpp b/include/ros_gz_bridge/convert/builtin_interfaces.hpp +index 04c47ba..c2c06ca 100644 +--- a/include/ros_gz_bridge/convert/builtin_interfaces.hpp ++++ b/include/ros_gz_bridge/convert/builtin_interfaces.hpp +@@ -25,13 +25,13 @@ namespace ros_gz_bridge + { + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const builtin_interfaces::msg::Time & ros_msg, + gz::msgs::Time & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Time & gz_msg, + builtin_interfaces::msg::Time & ros_msg); +diff --git a/include/ros_gz_bridge/convert/geometry_msgs.hpp b/include/ros_gz_bridge/convert/geometry_msgs.hpp +index 6416fa3..960cb20 100644 +--- a/include/ros_gz_bridge/convert/geometry_msgs.hpp ++++ b/include/ros_gz_bridge/convert/geometry_msgs.hpp +@@ -48,193 +48,193 @@ namespace ros_gz_bridge + + // geometry_msgs + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::Quaternion & ros_msg, + gz::msgs::Quaternion & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Quaternion & gz_msg, + geometry_msgs::msg::Quaternion & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::Vector3 & ros_msg, + gz::msgs::Vector3d & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Vector3d & gz_msg, + geometry_msgs::msg::Vector3 & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::Point & ros_msg, + gz::msgs::Vector3d & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Vector3d & gz_msg, + geometry_msgs::msg::Point & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::Pose & ros_msg, + gz::msgs::Pose & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Pose & gz_msg, + geometry_msgs::msg::Pose & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::PoseArray & ros_msg, + gz::msgs::Pose_V & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Pose_V & gz_msg, + geometry_msgs::msg::PoseArray & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::PoseWithCovariance & ros_msg, + gz::msgs::PoseWithCovariance & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::PoseWithCovariance & gz_msg, + geometry_msgs::msg::PoseWithCovarianceStamped & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::PoseWithCovarianceStamped & ros_msg, + gz::msgs::PoseWithCovariance & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::PoseWithCovariance & gz_msg, + geometry_msgs::msg::PoseWithCovariance & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::PoseStamped & ros_msg, + gz::msgs::Pose & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Pose & gz_msg, + geometry_msgs::msg::PoseStamped & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::Transform & ros_msg, + gz::msgs::Pose & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Pose & gz_msg, + geometry_msgs::msg::Transform & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::TransformStamped & ros_msg, + gz::msgs::Pose & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Pose & gz_msg, + geometry_msgs::msg::TransformStamped & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::Twist & ros_msg, + gz::msgs::Twist & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Twist & gz_msg, + geometry_msgs::msg::Twist & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::TwistStamped & ros_msg, + gz::msgs::Twist & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Twist & gz_msg, + geometry_msgs::msg::TwistStamped & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::TwistWithCovariance & ros_msg, + gz::msgs::TwistWithCovariance & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::TwistWithCovariance & gz_msg, + geometry_msgs::msg::TwistWithCovariance & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::TwistWithCovarianceStamped & ros_msg, + gz::msgs::TwistWithCovariance & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::TwistWithCovariance & gz_msg, + geometry_msgs::msg::TwistWithCovarianceStamped & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::Wrench & ros_msg, + gz::msgs::Wrench & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Wrench & gz_msg, + geometry_msgs::msg::Wrench & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const geometry_msgs::msg::WrenchStamped & ros_msg, + gz::msgs::Wrench & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Wrench & gz_msg, + geometry_msgs::msg::WrenchStamped & ros_msg); +diff --git a/include/ros_gz_bridge/convert/gps_msgs.hpp b/include/ros_gz_bridge/convert/gps_msgs.hpp +index d6cf194..fda4568 100644 +--- a/include/ros_gz_bridge/convert/gps_msgs.hpp ++++ b/include/ros_gz_bridge/convert/gps_msgs.hpp +@@ -26,13 +26,13 @@ + namespace ros_gz_bridge + { + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const gps_msgs::msg::GPSFix & ros_msg, + gz::msgs::NavSat & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::NavSat & gz_msg, + gps_msgs::msg::GPSFix & ros_msg); +diff --git a/include/ros_gz_bridge/convert/marine_acoustic_msgs.hpp b/include/ros_gz_bridge/convert/marine_acoustic_msgs.hpp +index ed46e87..f796435 100644 +--- a/include/ros_gz_bridge/convert/marine_acoustic_msgs.hpp ++++ b/include/ros_gz_bridge/convert/marine_acoustic_msgs.hpp +@@ -27,13 +27,13 @@ namespace ros_gz_bridge + { + // marine_acoustic_msgs + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const marine_acoustic_msgs::msg::Dvl & ros_msg, + gz::msgs::DVLVelocityTracking & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::DVLVelocityTracking & gz_msg, + marine_acoustic_msgs::msg::Dvl & ros_msg); +diff --git a/include/ros_gz_bridge/convert/nav_msgs.hpp b/include/ros_gz_bridge/convert/nav_msgs.hpp +index 91c0f1a..fad3eb3 100644 +--- a/include/ros_gz_bridge/convert/nav_msgs.hpp ++++ b/include/ros_gz_bridge/convert/nav_msgs.hpp +@@ -28,25 +28,25 @@ namespace ros_gz_bridge + { + // nav_msgs + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const nav_msgs::msg::Odometry & ros_msg, + gz::msgs::Odometry & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Odometry & gz_msg, + nav_msgs::msg::Odometry & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const nav_msgs::msg::Odometry & ros_msg, + gz::msgs::OdometryWithCovariance & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::OdometryWithCovariance & gz_msg, + nav_msgs::msg::Odometry & ros_msg); +diff --git a/include/ros_gz_bridge/convert/rcl_interfaces.hpp b/include/ros_gz_bridge/convert/rcl_interfaces.hpp +index a81e35a..b7c359d 100644 +--- a/include/ros_gz_bridge/convert/rcl_interfaces.hpp ++++ b/include/ros_gz_bridge/convert/rcl_interfaces.hpp +@@ -29,13 +29,13 @@ namespace ros_gz_bridge + { + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const rcl_interfaces::msg::ParameterValue & ros_msg, + gz::msgs::Any & ign_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Any & ign_msg, + rcl_interfaces::msg::ParameterValue & ros_msg); +diff --git a/include/ros_gz_bridge/convert/ros_gz_interfaces.hpp b/include/ros_gz_bridge/convert/ros_gz_interfaces.hpp +index 65f58fa..654f013 100644 +--- a/include/ros_gz_bridge/convert/ros_gz_interfaces.hpp ++++ b/include/ros_gz_bridge/convert/ros_gz_interfaces.hpp +@@ -70,284 +70,284 @@ namespace ros_gz_bridge + { + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::JointWrench & ros_msg, + gz::msgs::JointWrench & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::JointWrench & gz_msg, + ros_gz_interfaces::msg::JointWrench & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::Altimeter & ros_msg, + gz::msgs::Altimeter & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Altimeter & gz_msg, + ros_gz_interfaces::msg::Altimeter & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::Entity & ros_msg, + gz::msgs::Entity & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::Entity & ros_msg, + gz::msgs::Pose & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Entity & gz_msg, + ros_gz_interfaces::msg::Entity & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::EntityFactory & ros_msg, + gz::msgs::EntityFactory & gz_msg); + + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::EntityFactory & gz_msg, + ros_gz_interfaces::msg::EntityFactory & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::EntityWrench & ros_msg, + gz::msgs::EntityWrench & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::EntityWrench & gz_msg, + ros_gz_interfaces::msg::EntityWrench & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::Contact & ros_msg, + gz::msgs::Contact & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Contact & gz_msg, + ros_gz_interfaces::msg::Contact & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::Contacts & ros_msg, + gz::msgs::Contacts & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Contacts & gz_msg, + ros_gz_interfaces::msg::Contacts & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::Dataframe & ros_msg, + gz::msgs::Dataframe & ign_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Dataframe & ign_msg, + ros_gz_interfaces::msg::Dataframe & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::GuiCamera & ros_msg, + gz::msgs::GUICamera & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::GUICamera & gz_msg, + ros_gz_interfaces::msg::GuiCamera & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::Light & ros_msg, + gz::msgs::Light & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Light & gz_msg, + ros_gz_interfaces::msg::Light & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::MaterialColor & ros_msg, + gz::msgs::MaterialColor & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::MaterialColor & gz_msg, + ros_gz_interfaces::msg::MaterialColor & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::SensorNoise & ros_msg, + gz::msgs::SensorNoise & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::SensorNoise & gz_msg, + ros_gz_interfaces::msg::SensorNoise & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::StringVec & ros_msg, + gz::msgs::StringMsg_V & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::StringMsg_V & gz_msg, + ros_gz_interfaces::msg::StringVec & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::ParamVec & ros_msg, + gz::msgs::Param & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Param & gz_msg, + ros_gz_interfaces::msg::ParamVec & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::ParamVec & ros_msg, + gz::msgs::Param_V & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Param_V & gz_msg, + ros_gz_interfaces::msg::ParamVec & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::TrackVisual & ros_msg, + gz::msgs::TrackVisual & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::TrackVisual & gz_msg, + ros_gz_interfaces::msg::TrackVisual & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::VideoRecord & ros_msg, + gz::msgs::VideoRecord & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::VideoRecord & gz_msg, + ros_gz_interfaces::msg::VideoRecord & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::WorldControl & ros_msg, + gz::msgs::WorldControl & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::WorldControl & gz_msg, + ros_gz_interfaces::msg::WorldControl & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::WorldReset & ros_msg, + gz::msgs::WorldReset & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::WorldReset & gz_msg, + ros_gz_interfaces::msg::WorldReset & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::WorldStatistics & gz_msg, + ros_gz_interfaces::msg::WorldStatistics & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::WorldStatistics & ros_msg, + gz::msgs::WorldStatistics & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::Float32Array & ros_msg, + gz::msgs::Float_V & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Float_V & gz_msg, + ros_gz_interfaces::msg::Float32Array & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::LogicalCameraImage & ros_msg, + gz::msgs::LogicalCameraImage & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::LogicalCameraImage & gz_msg, + ros_gz_interfaces::msg::LogicalCameraImage & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ros_gz_interfaces::msg::LogPlaybackStatistics & ros_msg, + gz::msgs::LogPlaybackStatistics & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::LogPlaybackStatistics & gz_msg, + ros_gz_interfaces::msg::LogPlaybackStatistics & ros_msg); +diff --git a/include/ros_gz_bridge/convert/rosgraph_msgs.hpp b/include/ros_gz_bridge/convert/rosgraph_msgs.hpp +index d4d7d51..e8f6af8 100644 +--- a/include/ros_gz_bridge/convert/rosgraph_msgs.hpp ++++ b/include/ros_gz_bridge/convert/rosgraph_msgs.hpp +@@ -27,13 +27,13 @@ namespace ros_gz_bridge + { + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Clock & gz_msg, + rosgraph_msgs::msg::Clock & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const rosgraph_msgs::msg::Clock & ros_msg, + gz::msgs::Clock & gz_msg); +diff --git a/include/ros_gz_bridge/convert/sensor_msgs.hpp b/include/ros_gz_bridge/convert/sensor_msgs.hpp +index 53fc1bc..a1410f7 100644 +--- a/include/ros_gz_bridge/convert/sensor_msgs.hpp ++++ b/include/ros_gz_bridge/convert/sensor_msgs.hpp +@@ -49,133 +49,133 @@ namespace ros_gz_bridge + + // sensor_msgs + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const sensor_msgs::msg::Joy & ros_msg, + gz::msgs::Joy & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Joy & gz_msg, + sensor_msgs::msg::Joy & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const sensor_msgs::msg::FluidPressure & ros_msg, + gz::msgs::FluidPressure & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::FluidPressure & gz_msg, + sensor_msgs::msg::FluidPressure & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const sensor_msgs::msg::Image & ros_msg, + gz::msgs::Image & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Image & gz_msg, + sensor_msgs::msg::Image & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const sensor_msgs::msg::CameraInfo & ros_msg, + gz::msgs::CameraInfo & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::CameraInfo & gz_msg, + sensor_msgs::msg::CameraInfo & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const sensor_msgs::msg::Imu & ros_msg, + gz::msgs::IMU & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::IMU & gz_msg, + sensor_msgs::msg::Imu & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const sensor_msgs::msg::JointState & ros_msg, + gz::msgs::Model & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Model & gz_msg, + sensor_msgs::msg::JointState & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const sensor_msgs::msg::LaserScan & ros_msg, + gz::msgs::LaserScan & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::LaserScan & gz_msg, + sensor_msgs::msg::LaserScan & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const sensor_msgs::msg::MagneticField & ros_msg, + gz::msgs::Magnetometer & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Magnetometer & gz_msg, + sensor_msgs::msg::MagneticField & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const sensor_msgs::msg::NavSatFix & ros_msg, + gz::msgs::NavSat & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::NavSat & gz_msg, + sensor_msgs::msg::NavSatFix & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const sensor_msgs::msg::PointCloud2 & ros_msg, + gz::msgs::PointCloudPacked & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::PointCloudPacked & gz_msg, + sensor_msgs::msg::PointCloud2 & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const sensor_msgs::msg::BatteryState & ros_msg, + gz::msgs::BatteryState & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::BatteryState & gz_msg, + sensor_msgs::msg::BatteryState & ros_msg); +diff --git a/include/ros_gz_bridge/convert/std_msgs.hpp b/include/ros_gz_bridge/convert/std_msgs.hpp +index 78d3f11..652c4f9 100644 +--- a/include/ros_gz_bridge/convert/std_msgs.hpp ++++ b/include/ros_gz_bridge/convert/std_msgs.hpp +@@ -43,109 +43,109 @@ namespace ros_gz_bridge + { + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const std_msgs::msg::Bool & ros_msg, + gz::msgs::Boolean & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Boolean & gz_msg, + std_msgs::msg::Bool & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const std_msgs::msg::ColorRGBA & ros_msg, + gz::msgs::Color & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Color & gz_msg, + std_msgs::msg::ColorRGBA & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const std_msgs::msg::Empty & ros_msg, + gz::msgs::Empty & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Empty & gz_msg, + std_msgs::msg::Empty & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const std_msgs::msg::UInt32 & ros_msg, + gz::msgs::UInt32 & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::UInt32 & gz_msg, + std_msgs::msg::UInt32 & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const std_msgs::msg::Float32 & ros_msg, + gz::msgs::Float & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Float & gz_msg, + std_msgs::msg::Float32 & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const std_msgs::msg::Float64 & ros_msg, + gz::msgs::Double & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Double & gz_msg, + std_msgs::msg::Float64 & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const std_msgs::msg::Header & ros_msg, + gz::msgs::Header & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Header & gz_msg, + std_msgs::msg::Header & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const std_msgs::msg::Int32 & ros_msg, + gz::msgs::Int32 & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Int32 & gz_msg, + std_msgs::msg::Int32 & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const std_msgs::msg::String & ros_msg, + gz::msgs::StringMsg & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::StringMsg & gz_msg, + std_msgs::msg::String & ros_msg); +diff --git a/include/ros_gz_bridge/convert/tf2_msgs.hpp b/include/ros_gz_bridge/convert/tf2_msgs.hpp +index a7df9e0..64f852e 100644 +--- a/include/ros_gz_bridge/convert/tf2_msgs.hpp ++++ b/include/ros_gz_bridge/convert/tf2_msgs.hpp +@@ -27,13 +27,13 @@ namespace ros_gz_bridge + { + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const tf2_msgs::msg::TFMessage & ros_msg, + gz::msgs::Pose_V & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::Pose_V & gz_msg, + tf2_msgs::msg::TFMessage & ros_msg); +diff --git a/include/ros_gz_bridge/convert/trajectory_msgs.hpp b/include/ros_gz_bridge/convert/trajectory_msgs.hpp +index d2120db..4d575d6 100644 +--- a/include/ros_gz_bridge/convert/trajectory_msgs.hpp ++++ b/include/ros_gz_bridge/convert/trajectory_msgs.hpp +@@ -27,25 +27,25 @@ namespace ros_gz_bridge + { + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const trajectory_msgs::msg::JointTrajectoryPoint & ros_msg, + gz::msgs::JointTrajectoryPoint & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::JointTrajectoryPoint & gz_msg, + trajectory_msgs::msg::JointTrajectoryPoint & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const trajectory_msgs::msg::JointTrajectory & ros_msg, + gz::msgs::JointTrajectory & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::JointTrajectory & gz_msg, + trajectory_msgs::msg::JointTrajectory & ros_msg); +diff --git a/include/ros_gz_bridge/convert/vision_msgs.hpp b/include/ros_gz_bridge/convert/vision_msgs.hpp +index b1556f6..4e0c8a2 100644 +--- a/include/ros_gz_bridge/convert/vision_msgs.hpp ++++ b/include/ros_gz_bridge/convert/vision_msgs.hpp +@@ -27,49 +27,49 @@ + namespace ros_gz_bridge + { + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const vision_msgs::msg::Detection2D & ros_msg, + gz::msgs::AnnotatedAxisAligned2DBox & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::AnnotatedAxisAligned2DBox & gz_msg, + vision_msgs::msg::Detection2D & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const vision_msgs::msg::Detection2DArray & ros_msg, + gz::msgs::AnnotatedAxisAligned2DBox_V & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::AnnotatedAxisAligned2DBox_V & gz_msg, + vision_msgs::msg::Detection2DArray & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const vision_msgs::msg::Detection3D & ros_msg, + gz::msgs::AnnotatedOriented3DBox & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::AnnotatedOriented3DBox & gz_msg, + vision_msgs::msg::Detection3D & ros_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const vision_msgs::msg::Detection3DArray & ros_msg, + gz::msgs::AnnotatedOriented3DBox_V & gz_msg); + + template<> +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const gz::msgs::AnnotatedOriented3DBox_V & gz_msg, + vision_msgs::msg::Detection3DArray & ros_msg); +diff --git a/include/ros_gz_bridge/convert_decl.hpp b/include/ros_gz_bridge/convert_decl.hpp +index 3141997..5d2ca98 100644 +--- a/include/ros_gz_bridge/convert_decl.hpp ++++ b/include/ros_gz_bridge/convert_decl.hpp +@@ -15,17 +15,19 @@ + #ifndef ROS_GZ_BRIDGE__CONVERT_DECL_HPP_ + #define ROS_GZ_BRIDGE__CONVERT_DECL_HPP_ + ++#include "ros_gz_bridge/visibility_control.hpp" ++ + namespace ros_gz_bridge + { + + template +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_ros_to_gz( + const ROS_T & ros_msg, + GZ_T & gz_msg); + + template +-void ++ROS_GZ_BRIDGE_VISIBLE void + convert_gz_to_ros( + const GZ_T & gz_msg, + ROS_T & ros_msg); +diff --git a/include/ros_gz_bridge/ros_gz_bridge.hpp b/include/ros_gz_bridge/ros_gz_bridge.hpp +index b1ef76d..24bfaac 100644 +--- a/include/ros_gz_bridge/ros_gz_bridge.hpp ++++ b/include/ros_gz_bridge/ros_gz_bridge.hpp +@@ -23,6 +23,7 @@ + #include + #include + #include "ros_gz_bridge/bridge_config.hpp" ++#include "ros_gz_bridge/visibility_control.hpp" + + namespace ros_gz_bridge + { +@@ -30,7 +31,7 @@ namespace ros_gz_bridge + class BridgeHandle; + + /// \brief Component container for the ROS-GZ Bridge +-class RosGzBridge : public rclcpp::Node ++class ROS_GZ_BRIDGE_VISIBLE RosGzBridge : public rclcpp::Node + { + public: + /// \brief Constructor +diff --git a/src/factory_interface.hpp b/src/factory_interface.hpp +index d1797df..fd6c4f6 100644 +--- a/src/factory_interface.hpp ++++ b/src/factory_interface.hpp +@@ -25,11 +25,12 @@ + #include + + #include "bridge_handle_gz_to_ros_parameters.hpp" ++#include "ros_gz_bridge/visibility_control.hpp" + + namespace ros_gz_bridge + { + +-class FactoryInterface ++class ROS_GZ_BRIDGE_VISIBLE FactoryInterface + { + public: + virtual ~FactoryInterface() = 0; +diff --git a/src/get_factory.hpp b/src/get_factory.hpp +index 6215a02..495b65d 100644 +--- a/src/get_factory.hpp ++++ b/src/get_factory.hpp +@@ -20,16 +20,17 @@ + + #include "factory_interface.hpp" + #include "service_factory_interface.hpp" ++#include "ros_gz_bridge/visibility_control.hpp" + + namespace ros_gz_bridge + { + +-std::shared_ptr ++ROS_GZ_BRIDGE_VISIBLE std::shared_ptr + get_factory( + const std::string & ros_type_name, + const std::string & gz_type_name); + +-std::shared_ptr ++ROS_GZ_BRIDGE_VISIBLE std::shared_ptr + get_service_factory( + const std::string & ros_type_name, + const std::string & gz_req_type_name, +diff --git a/src/get_mappings.hpp b/src/get_mappings.hpp +index f26ae20..1c699cf 100644 +--- a/src/get_mappings.hpp ++++ b/src/get_mappings.hpp +@@ -18,16 +18,18 @@ + #include + #include + ++#include "ros_gz_bridge/visibility_control.hpp" ++ + namespace ros_gz_bridge + { + +-bool ++ROS_GZ_BRIDGE_VISIBLE bool + get_gz_to_ros_mapping(const std::string & gz_type_name, std::string & ros_type_name); + +-bool ++ROS_GZ_BRIDGE_VISIBLE bool + get_ros_to_gz_mapping(const std::string & ros_type_name, std::string & gz_type_name); + +-std::multimap ++ROS_GZ_BRIDGE_VISIBLE std::multimap + get_all_message_mappings_ros_to_gz(); + + } // namespace ros_gz_bridge +diff --git a/src/service_factory_interface.hpp b/src/service_factory_interface.hpp +index 766ce51..afa06e6 100644 +--- a/src/service_factory_interface.hpp ++++ b/src/service_factory_interface.hpp +@@ -23,10 +23,12 @@ + #include + #include + ++#include "ros_gz_bridge/visibility_control.hpp" ++ + namespace ros_gz_bridge + { +-class ServiceFactoryInterface ++class ROS_GZ_BRIDGE_VISIBLE ServiceFactoryInterface + { + public: + virtual ~ServiceFactoryInterface() = 0; diff --git a/patch/ros-rolling-rosgraph-monitor.patch b/patch/ros-rolling-rosgraph-monitor.patch new file mode 100644 index 00000000..acf3531a --- /dev/null +++ b/patch/ros-rolling-rosgraph-monitor.patch @@ -0,0 +1,12 @@ +diff --git a/src/monitor.cpp b/src/monitor.cpp +index 757fb41..a2e3d89 100644 +--- a/src/monitor.cpp ++++ b/src/monitor.cpp +@@ -15,6 +15,7 @@ + #include "rosgraph_monitor/monitor.hpp" + + #include ++#include + #include + #include + #include diff --git a/patch/ros-rolling-rosidl-generator-py.osx.patch b/patch/ros-rolling-rosidl-generator-py.osx.patch new file mode 100644 index 00000000..e0795ef7 --- /dev/null +++ b/patch/ros-rolling-rosidl-generator-py.osx.patch @@ -0,0 +1,69 @@ +diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake +index de6a6c65..62093e4a 100644 +--- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake ++++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake +@@ -152,7 +152,7 @@ set_property( + + set(_target_name_lib "${rosidl_generate_interfaces_TARGET}__rosidl_generator_py") + add_library(${_target_name_lib} SHARED ${_generated_c_files}) +-target_link_libraries(${_target_name_lib} PRIVATE ++target_link_libraries(${_target_name_lib} PUBLIC + ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c) + add_dependencies( + ${_target_name_lib} +@@ -160,11 +160,6 @@ add_dependencies( + ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c + ) + +-target_link_libraries( +- ${_target_name_lib} PRIVATE +- Python3::NumPy +- Python3::Python +-) + target_include_directories(${_target_name_lib} + PRIVATE + ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c +@@ -176,8 +171,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + set(_extension_compile_flags -Wall -Wextra) + endif() + ++if(APPLE) ++ target_link_libraries(${_target_name_lib} PRIVATE Python3::NumPy Python3::Module) ++ target_include_directories(${_target_name_lib} PRIVATE ${Python3_INCLUDE_DIRS} ${Python3_NumPy_INCLUDE_DIRS}) ++else() ++ target_link_libraries(${_target_name_lib} PUBLIC Python3::NumPy Python3::Python) ++endif() ++ + rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c") +-target_link_libraries(${_target_name_lib} PRIVATE ${c_typesupport_target}) ++target_link_libraries(${_target_name_lib} PUBLIC ${c_typesupport_target}) + + foreach(_typesupport_impl ${_typesupport_impls}) + find_package(${_typesupport_impl} REQUIRED) +@@ -210,7 +212,7 @@ foreach(_typesupport_impl ${_typesupport_impls}) + RUNTIME_OUTPUT_DIRECTORY ${_output_path}) + + target_link_libraries( +- ${_target_name} PRIVATE ++ ${_target_name} PUBLIC + ${_target_name_lib} + ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl} + ${c_typesupport_target} +@@ -226,7 +228,7 @@ foreach(_typesupport_impl ${_typesupport_impls}) + ) + + foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) +- target_link_libraries(${_target_name} PRIVATE ${${_pkg_name}__TARGETS}) ++ target_link_libraries(${_target_name} PUBLIC ${${_pkg_name}__TARGETS}) + endforeach() + + add_dependencies(${_target_name} +@@ -243,7 +245,7 @@ endforeach() + + # Depend on rosidl_generator_py generated targets from our dependencies + foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) +- target_link_libraries(${_target_name_lib} PRIVATE ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}}) ++ target_link_libraries(${_target_name_lib} PUBLIC ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}}) + endforeach() + + set_target_properties(${_target_name_lib} PROPERTIES COMPILE_OPTIONS "${_extension_compile_flags}") \ No newline at end of file diff --git a/patch/ros-rolling-rosidl-generator-py.patch b/patch/ros-rolling-rosidl-generator-py.patch deleted file mode 100644 index 9dd87aeb..00000000 --- a/patch/ros-rolling-rosidl-generator-py.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/cmake/rosidl_generator_py_generate_interfaces.cmake b/cmake/rosidl_generator_py_generate_interfaces.cmake -index de6a6c6..1ae4830 100644 ---- a/cmake/rosidl_generator_py_generate_interfaces.cmake -+++ b/cmake/rosidl_generator_py_generate_interfaces.cmake -@@ -163,7 +163,7 @@ add_dependencies( - target_link_libraries( - ${_target_name_lib} PRIVATE - Python3::NumPy -- Python3::Python -+ Python3::Module - ) - target_include_directories(${_target_name_lib} - PRIVATE diff --git a/patch/ros-rolling-rviz-imu-plugin.patch b/patch/ros-rolling-rviz-imu-plugin.patch deleted file mode 100644 index 51f4c02d..00000000 --- a/patch/ros-rolling-rviz-imu-plugin.patch +++ /dev/null @@ -1,52 +0,0 @@ -diff --git a/src/imu_display.cpp b/src/imu_display.cpp -index d693612..8b76de2 100644 ---- a/src/imu_display.cpp -+++ b/src/imu_display.cpp -@@ -113,7 +113,7 @@ void ImuDisplay::reset() - acc_visual_->hide(); - } - --void ImuDisplay::update(float /* dt */, float /* ros_dt */) -+void ImuDisplay::update(std::chrono::nanoseconds /* dt */, std::chrono::nanoseconds /* ros_dt */) - { - updateTop(); - updateBox(); -diff --git a/src/imu_display.h b/src/imu_display.h -index 7dc2598..d8fc3ce 100644 ---- a/src/imu_display.h -+++ b/src/imu_display.h -@@ -69,7 +69,7 @@ class ImuDisplay - - void reset() override; - -- void update(float dt, float ros_dt) override; -+ void update(std::chrono::nanoseconds dt, std::chrono::nanoseconds ros_dt) override; - - private: - void createProperties(); -diff --git a/src/mag_display.cpp b/src/mag_display.cpp -index 6fb21cc..07495f3 100644 ---- a/src/mag_display.cpp -+++ b/src/mag_display.cpp -@@ -85,7 +85,7 @@ void MagDisplay::reset() - mag_visual_->hide(); - } - --void MagDisplay::update(float /* dt */, float /* ros_dt */) -+void MagDisplay::update(std::chrono::nanoseconds /* dt */, std::chrono::nanoseconds /* ros_dt */) - { - updateMag(); - } -diff --git a/src/mag_display.h b/src/mag_display.h -index 8b262b2..5c0980b 100644 ---- a/src/mag_display.h -+++ b/src/mag_display.h -@@ -67,7 +67,7 @@ class MagDisplay - - void reset() override; - -- void update(float dt, float ros_dt) override; -+ void update(std::chrono::nanoseconds dt, std::chrono::nanoseconds ros_dt) override; - - private: - void createProperties(); diff --git a/patch/ros-rolling-rviz-satellite.patch b/patch/ros-rolling-rviz-satellite.patch new file mode 100644 index 00000000..b207f00c --- /dev/null +++ b/patch/ros-rolling-rviz-satellite.patch @@ -0,0 +1,54 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 6efce00..b1d19f1 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -19,12 +19,11 @@ find_package(angles REQUIRED) + + # rviz switched to Qt6: https://github.com/ros2/rviz/pull/1635 +-if(rviz_common_VERSION_MAJOR GREATER_EQUAL 15 AND rviz_common_VERSION_MINOR GREATER_EQUAL 1) +- find_package(Qt6 COMPONENTS Network REQUIRED) +- set(QT_VERSION_MAJOR 6) ++find_package(Qt6 COMPONENTS Network QUIET) ++if(Qt6_FOUND) ++ set(QT_VERSION_MAJOR 6) + else() + find_package(Qt5 COMPONENTS Network REQUIRED) + set(QT_VERSION_MAJOR 5) + endif() + + add_library(${PROJECT_NAME} SHARED + src/aerialmap_display.cpp +diff --git a/src/aerialmap_display.cpp b/src/aerialmap_display.cpp +index 671121a..6728788 100644 +--- a/src/aerialmap_display.cpp ++++ b/src/aerialmap_display.cpp +@@ -443,7 +443,7 @@ void AerialMapDisplay::transformMapTileToFixedFrame( + orientation = rviz_common::quaternionMsgToOgre(pose_out.pose.orientation); + } + +-void AerialMapDisplay::update(float, float) ++void AerialMapDisplay::update(std::chrono::nanoseconds, std::chrono::nanoseconds) + { + std::unique_lock lock(tiles_mutex_, std::try_to_lock); + if (!lock.owns_lock()) { +diff --git a/src/aerialmap_display.hpp b/src/aerialmap_display.hpp +index bd90e05..fcecc94 100644 +--- a/src/aerialmap_display.hpp ++++ b/src/aerialmap_display.hpp +@@ -16,6 +16,7 @@ limitations under the License. */ + + #pragma once + ++#include + #include + #include + #include +@@ -45,7 +46,7 @@ public: + + void onInitialize() override; + void reset() override; +- void update(float, float) override; ++ void update(std::chrono::nanoseconds, std::chrono::nanoseconds) override; + + protected Q_SLOTS: + void updateAlpha(); diff --git a/patch/ros-rolling-rviz-visual-tools.patch b/patch/ros-rolling-rviz-visual-tools.patch index da46c2ac..f76bc59c 100644 --- a/patch/ros-rolling-rviz-visual-tools.patch +++ b/patch/ros-rolling-rviz-visual-tools.patch @@ -182,3 +182,6 @@ index 99d7aca..acf429a 100644 // C++ #include +@@ -63 +63 @@ TFVisualTools::TFVisualTools(const std::shared_ptr& node, double l +- tf_broadcaster_ = std::make_shared(node); ++ tf_broadcaster_ = std::make_shared(*node); diff --git a/patch/ros-rolling-sdformat-urdf.patch b/patch/ros-rolling-sdformat-urdf.patch deleted file mode 100644 index 8a42564c..00000000 --- a/patch/ros-rolling-sdformat-urdf.patch +++ /dev/null @@ -1,12 +0,0 @@ -diff --git a/src/sdformat_urdf_plugin.cpp b/src/sdformat_urdf_plugin.cpp -index b738ee8..d1ac964 100644 ---- a/src/sdformat_urdf_plugin.cpp -+++ b/src/sdformat_urdf_plugin.cpp -@@ -14,6 +14,7 @@ - - #include - #include -+#include - #include - - #include diff --git a/patch/ros-rolling-swri-console.patch b/patch/ros-rolling-swri-console.patch new file mode 100644 index 00000000..64447dbb --- /dev/null +++ b/patch/ros-rolling-swri-console.patch @@ -0,0 +1,22 @@ +diff --git a/src/unix_signal_handler.cpp b/src/unix_signal_handler.cpp +index 921189c..eab4db2 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"); diff --git a/patch/ros-rolling-turtlesim.osx.patch b/patch/ros-rolling-turtlesim.osx.patch new file mode 100644 index 00000000..57f3355b --- /dev/null +++ b/patch/ros-rolling-turtlesim.osx.patch @@ -0,0 +1,58 @@ +diff --git a/tutorials/teleop_turtle_key.cpp b/tutorials/teleop_turtle_key.cpp +index 2f28483..78e4ad5 100644 +--- a/tutorials/teleop_turtle_key.cpp ++++ b/tutorials/teleop_turtle_key.cpp +@@ -30,8 +30,8 @@ + + #include + #include ++#include + #include +-#include // NOLINT(build/include_order) + #include + + #include +@@ -202,17 +202,16 @@ public: + { + char c; + +- // Spin the node on a background thread. std::jthread joins automatically +- // when keyLoop() returns, and the stop_token cancels the executor cleanly, +- // so the spinner is guaranteed to have stopped touching the node before it +- // is destroyed +- std::jthread spin_thread( +- [this](std::stop_token stop_token) { +- rclcpp::executors::SingleThreadedExecutor executor; +- executor.add_node(nh_); +- std::stop_callback cancel_on_stop(stop_token, [&executor]() {executor.cancel();}); +- executor.spin(); +- }); ++ // Keep the spinner joined before the node is destroyed. ++ auto executor = std::make_shared(); ++ executor->add_node(nh_); ++ std::thread spin_thread([executor]() {executor->spin();}); ++ const auto stop_spinner = [&executor, &spin_thread]() { ++ executor->cancel(); ++ if (spin_thread.joinable()) { ++ spin_thread.join(); ++ } ++ }; + + puts("Reading from keyboard"); + puts("---------------------------"); +@@ -226,6 +225,7 @@ public: + c = input_.readOne(); + } catch (const std::runtime_error &) { + perror("read():"); ++ stop_spinner(); + return -1; + } + +@@ -306,6 +306,7 @@ public: + } + } + ++ stop_spinner(); + return 0; + } + diff --git a/patch/ros-rolling-v4l2-camera.patch b/patch/ros-rolling-v4l2-camera.patch deleted file mode 100644 index c34e1bc9..00000000 --- a/patch/ros-rolling-v4l2-camera.patch +++ /dev/null @@ -1,15 +0,0 @@ -diff --git a/src/v4l2_camera.cpp b/src/v4l2_camera.cpp -index 64b4399..8ba5071 100644 ---- a/src/v4l2_camera.cpp -+++ b/src/v4l2_camera.cpp -@@ -56,7 +56,9 @@ V4L2Camera::V4L2Camera(rclcpp::NodeOptions const & options) - return; - } - -- cinfo_ = std::make_shared(this, camera_->getCameraName()); -+ cinfo_ = std::make_shared( -+ get_node_base_interface(), get_node_services_interface(), -+ get_node_logging_interface(), camera_->getCameraName()); - - parameters_.declareDeviceParameters(*camera_); - diff --git a/patch/ros-rolling-warehouse-ros-sqlite.patch b/patch/ros-rolling-warehouse-ros-sqlite.patch deleted file mode 100644 index 0528af01..00000000 --- a/patch/ros-rolling-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 ${Boost_LIBRARIES}) -+ target_link_libraries(BusyHandler Boost::filesystem Boost::thread) - - find_package(ament_lint_auto REQUIRED) - list(APPEND AMENT_LINT_AUTO_EXCLUDE diff --git a/patch/ros-rolling-zstd-point-cloud-transport.patch b/patch/ros-rolling-zstd-point-cloud-transport.patch deleted file mode 100644 index 6813e43c..00000000 --- a/patch/ros-rolling-zstd-point-cloud-transport.patch +++ /dev/null @@ -1,56 +0,0 @@ -diff --git a/zstd_point_cloud_transport/CMakeLists.txt b/zstd_point_cloud_transport/CMakeLists.txt -index 51e2d6c..332290e 100644 ---- a/zstd_point_cloud_transport/CMakeLists.txt -+++ b/zstd_point_cloud_transport/CMakeLists.txt -@@ -9,12 +9,16 @@ find_package(pluginlib REQUIRED) - find_package(point_cloud_interfaces REQUIRED) - find_package(point_cloud_transport REQUIRED) - find_package(rclcpp REQUIRED) -+find_package(zstd_cmake_module REQUIRED) -+find_package(zstd REQUIRED) - - set(dependencies - pluginlib - point_cloud_interfaces - point_cloud_transport - rclcpp -+ zstd_cmake_module -+ zstd - ) - - add_library(${PROJECT_NAME} -@@ -29,7 +33,7 @@ target_link_libraries(${PROJECT_NAME} PRIVATE - ${point_cloud_interfaces_TARGETS} - point_cloud_transport::point_cloud_transport - rclcpp::rclcpp -- zstd -+ zstd::zstd - ) - - target_include_directories(${PROJECT_NAME} PRIVATE -diff --git a/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp b/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp -index b5828d3..cfea8f0 100644 ---- a/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp -+++ b/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp -@@ -51,8 +51,6 @@ class ZstdSubscriber - public: - ZstdSubscriber(); - -- std::string getTransportName() const override; -- - void declareParameters() override; - - std::string getDataType() const override; -diff --git a/zstd_point_cloud_transport/package.xml b/zstd_point_cloud_transport/package.xml -index 17fc04a..fa0e39b 100644 ---- a/zstd_point_cloud_transport/package.xml -+++ b/zstd_point_cloud_transport/package.xml -@@ -22,7 +22,7 @@ - point_cloud_interfaces - point_cloud_transport - rclcpp -- libzstd-dev -+ zstd_cmake_module - - ament_lint_auto - ament_lint_common diff --git a/pixi.lock b/pixi.lock index 12f30c03..05248456 100644 --- a/pixi.lock +++ b/pixi.lock @@ -1,33 +1,10 @@ version: 7 platforms: +- name: linux-64 +- name: linux-aarch64 - name: osx-64 - virtual-packages: - - __unix=0=0 - - __osx=13.0 - - __archspec=0=x86_64 - name: osx-arm64 - virtual-packages: - - __unix=0=0 - - __osx=13.0 - 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git+https://github.com/RoboStack/vinca.git?rev=ee9f94d55137a49aba76ae15047947c171ed4605#ee9f94d55137a49aba76ae15047947c171ed4605 + - pypi: git+https://github.com/RoboStack/vinca.git?rev=431fdf84c33f931570d8885dc3c788ac9331ba46#431fdf84c33f931570d8885dc3c788ac9331ba46 - pypi: https://files.pythonhosted.org/packages/02/10/5da547df7a391dcde17f59520a231527b8571e6f46fc8efb02ccb370ab12/docutils-0.22.4-py3-none-any.whl - pypi: https://files.pythonhosted.org/packages/10/bd/c038d7cc38edc1aa5bf91ab8068b63d4308c66c4c8bb3cbba7dfbc049f9c/pyparsing-3.3.2-py3-none-any.whl - pypi: https://files.pythonhosted.org/packages/12/b3/231ffd4ab1fc9d679809f356cebee130ac7daa00d6d6f3206dd4fd137e9e/distro-1.9.0-py3-none-any.whl @@ -2294,7 +2271,7 @@ packages: purls: [] size: 388453 timestamp: 1764777142545 -- pypi: git+https://github.com/RoboStack/vinca.git?rev=ee9f94d55137a49aba76ae15047947c171ed4605#ee9f94d55137a49aba76ae15047947c171ed4605 +- pypi: git+https://github.com/RoboStack/vinca.git?rev=431fdf84c33f931570d8885dc3c788ac9331ba46#431fdf84c33f931570d8885dc3c788ac9331ba46 name: vinca version: 0.2.0 requires_dist: diff --git a/pixi.toml b/pixi.toml index f3ee16d5..81e5da5f 100644 --- a/pixi.toml +++ b/pixi.toml @@ -3,11 +3,14 @@ name = "ros-rolling" description = "RoboStack repo to package ros-rolling packages as conda packages" authors = ["Tobias Fischer ", "Wolf Vollprecht ", "Silvio Traversaro ", "Daisuke Nishimatsu "] channels = ["https://repo.prefix.dev/conda-forge"] -platforms = ["osx-arm64", "linux-64", "osx-64", "linux-aarch64", "win-64"] - -[system-requirements] -# 2.17 is the glibc version used in centos 7 -libc = { family="glibc", version="2.17" } +platforms = [ + "osx-arm64", + # 2.17 is the glibc version used in CentOS 7 + { platform = "linux-64", glibc = "2.17" }, + "osx-64", + { platform = "linux-aarch64", glibc = "2.17" }, + "win-64", +] [dependencies] python = ">=3.14.0,<3.15" @@ -26,7 +29,7 @@ git = "*" [pypi-dependencies] # This is typically the latest commit on main branch -vinca = { git = "https://github.com/RoboStack/vinca.git", rev = "ee9f94d55137a49aba76ae15047947c171ed4605" } +vinca = { git = "https://github.com/RoboStack/vinca.git", rev = "431fdf84c33f931570d8885dc3c788ac9331ba46" } # Uncomment this line to work with a local vinca for faster iteration, but remember to comment it back # (and regenerate the pixi.lock) once you push the modified commit to the repo # vinca = { path = "../vinca", editable = true } @@ -53,4 +56,3 @@ description = "Remove all generated recipes, before regenerating them." cmd = "cp ./patch/{{ PACKAGE }}.*patch ./recipes/{{ PACKAGE }}/patch/; rattler-build build --recipe ./recipes/{{ PACKAGE }}/recipe.yaml -m ./conda_build_config.yaml -c https://prefix.dev/robostack-rolling -c https://prefix.dev/conda-forge" args = [{ arg = "PACKAGE", default = "ros-rolling-ros-workspace" }] description = "Build a single package, from the ./recipes dir. Add the `ros-rolling-` prefix to the package name, e.g. `pixi build-one --package ros-rolling-ros-workspace`" - diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index ac844c86..94b271ff 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -17,6 +17,10 @@ compressed_depth_image_transport: additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON" console_bridge_vendor: additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK" +cyclonedds: + generate_dummy_package_with_run_deps: + dep_name: cyclonedds + max_pin: 'x.x' data_tamer_cpp: # Remove once https://github.com/PickNikRobotics/data_tamer/pull/58 is merged and released additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON" diagnostic_aggregator: @@ -74,6 +78,24 @@ hpp_fcl: max_pin: 'x.x.x' # the version on ros is outdated w.r.t. to the conda-forge one override_version: '3.0.2' +iceoryx_binding_c: + generate_dummy_package_with_run_deps: + dep_name: libiceoryx-binding-c + max_pin: 'x.x.x' + # the version on ROS (2.0.6) is outdated w.r.t. the conda-forge one + override_version: '2.95.8' +iceoryx_hoofs: + generate_dummy_package_with_run_deps: + dep_name: libiceoryx-hoofs + max_pin: 'x.x.x' + # the version on ROS (2.0.6) is outdated w.r.t. the conda-forge one + override_version: '2.95.8' +iceoryx_posh: + generate_dummy_package_with_run_deps: + dep_name: libiceoryx-posh + max_pin: 'x.x.x' + # the version on ROS (2.0.6) is outdated w.r.t. the conda-forge one + override_version: '2.95.8' io_context: additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON" lanelet2_projection: diff --git a/rosdistro_additional_recipes.yaml b/rosdistro_additional_recipes.yaml index 4920afc4..2b771b8f 100644 --- a/rosdistro_additional_recipes.yaml +++ b/rosdistro_additional_recipes.yaml @@ -350,10 +350,6 @@ better_launch: tag: 1.3.0 url: https://github.com/dfki-ric/better_launch.git version: 1.3.0 -cm_executors: - tag: 0.9.1 - url: https://github.com/cellumation/cm_executors.git - version: 0.9.1 livox_ros_driver2: tag: 1.2.4 url: https://github.com/Livox-SDK/livox_ros_driver2.git diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml index 899e53c1..b14f1acc 100644 --- a/rosdistro_snapshot.yaml +++ b/rosdistro_snapshot.yaml @@ -1,4 +1,4 @@ -# Snapshot generated by vinca-snapshot on 2026-06-12T01:03:54Z UTC for distro rolling +# Snapshot generated by vinca-snapshot on 2026-08-16T11:53:03Z UTC for distro rolling acado_vendor: tag: release/rolling/acado_vendor/1.0.0-7 url: https://github.com/ros2-gbp/acado_vendor-release.git @@ -16,13 +16,13 @@ ackermann_nlmpc_msgs: url: https://github.com/ros2-gbp/ackmerann_nlmpc-release.git version: 1.0.3 ackermann_steering_controller: - tag: release/rolling/ackermann_steering_controller/6.7.0-1 + tag: release/rolling/ackermann_steering_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 action_msgs: - tag: release/rolling/action_msgs/2.5.0-1 + tag: release/rolling/action_msgs/2.5.1-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git - version: 2.5.0 + version: 2.5.1 action_tutorials_cpp: tag: release/rolling/action_tutorials_cpp/0.38.0-1 url: https://github.com/ros2-gbp/demos-release.git @@ -36,13 +36,13 @@ actuator_msgs: url: https://github.com/ros2-gbp/actuator_msgs-release.git version: 0.0.1 admittance_controller: - tag: release/rolling/admittance_controller/6.7.0-1 + tag: release/rolling/admittance_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 agni_tf_tools: - tag: release/rolling/agni_tf_tools/1.0.0-1 + tag: release/rolling/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/rolling/ament_acceleration/0.2.0-5 url: https://github.com/ros2-gbp/ament_acceleration-release.git @@ -60,13 +60,13 @@ ament_clang_tidy: url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.21.1 ament_cmake: - tag: release/rolling/ament_cmake/2.9.0-1 + tag: release/rolling/ament_cmake/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_auto: - tag: release/rolling/ament_cmake_auto/2.9.0-1 + tag: release/rolling/ament_cmake_auto/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_black: tag: release/rolling/ament_cmake_black/0.2.7-1 url: https://github.com/ros2-gbp/ament_black-release.git @@ -88,9 +88,9 @@ ament_cmake_copyright: url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.21.1 ament_cmake_core: - tag: release/rolling/ament_cmake_core/2.9.0-1 + tag: release/rolling/ament_cmake_core/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_cppcheck: tag: release/rolling/ament_cmake_cppcheck/0.21.1-1 url: https://github.com/ros2-gbp/ament_lint-release.git @@ -100,57 +100,57 @@ ament_cmake_cpplint: url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.21.1 ament_cmake_export_definitions: - tag: release/rolling/ament_cmake_export_definitions/2.9.0-1 + tag: release/rolling/ament_cmake_export_definitions/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_export_dependencies: - tag: release/rolling/ament_cmake_export_dependencies/2.9.0-1 + tag: release/rolling/ament_cmake_export_dependencies/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_export_include_directories: - tag: release/rolling/ament_cmake_export_include_directories/2.9.0-1 + tag: release/rolling/ament_cmake_export_include_directories/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_export_libraries: - tag: release/rolling/ament_cmake_export_libraries/2.9.0-1 + tag: release/rolling/ament_cmake_export_libraries/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_export_link_flags: - tag: release/rolling/ament_cmake_export_link_flags/2.9.0-1 + tag: release/rolling/ament_cmake_export_link_flags/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_export_targets: - tag: release/rolling/ament_cmake_export_targets/2.9.0-1 + tag: release/rolling/ament_cmake_export_targets/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_flake8: tag: release/rolling/ament_cmake_flake8/0.21.1-1 url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.21.1 ament_cmake_gen_version_h: - tag: release/rolling/ament_cmake_gen_version_h/2.9.0-1 + tag: release/rolling/ament_cmake_gen_version_h/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_gmock: - tag: release/rolling/ament_cmake_gmock/2.9.0-1 + tag: release/rolling/ament_cmake_gmock/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_google_benchmark: - tag: release/rolling/ament_cmake_google_benchmark/2.9.0-1 + tag: release/rolling/ament_cmake_google_benchmark/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_gtest: - tag: release/rolling/ament_cmake_gtest/2.9.0-1 + tag: release/rolling/ament_cmake_gtest/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_include_directories: - tag: release/rolling/ament_cmake_include_directories/2.9.0-1 + tag: release/rolling/ament_cmake_include_directories/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_libraries: - tag: release/rolling/ament_cmake_libraries/2.9.0-1 + tag: release/rolling/ament_cmake_libraries/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_lint_cmake: tag: release/rolling/ament_cmake_lint_cmake/0.21.1-1 url: https://github.com/ros2-gbp/ament_lint-release.git @@ -176,13 +176,13 @@ ament_cmake_pyflakes: url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.21.1 ament_cmake_pytest: - tag: release/rolling/ament_cmake_pytest/2.9.0-1 + tag: release/rolling/ament_cmake_pytest/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_python: - tag: release/rolling/ament_cmake_python/2.9.0-1 + tag: release/rolling/ament_cmake_python/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_ros: tag: release/rolling/ament_cmake_ros/0.16.0-1 url: https://github.com/ros2-gbp/ament_cmake_ros-release.git @@ -192,25 +192,25 @@ ament_cmake_ros_core: url: https://github.com/ros2-gbp/ament_cmake_ros-release.git version: 0.16.0 ament_cmake_target_dependencies: - tag: release/rolling/ament_cmake_target_dependencies/2.9.0-1 + tag: release/rolling/ament_cmake_target_dependencies/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_test: - tag: release/rolling/ament_cmake_test/2.9.0-1 + tag: release/rolling/ament_cmake_test/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_uncrustify: tag: release/rolling/ament_cmake_uncrustify/0.21.1-1 url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.21.1 ament_cmake_vendor_package: - tag: release/rolling/ament_cmake_vendor_package/2.9.0-1 + tag: release/rolling/ament_cmake_vendor_package/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_version: - tag: release/rolling/ament_cmake_version/2.9.0-1 + tag: release/rolling/ament_cmake_version/2.9.1-1 url: https://github.com/ros2-gbp/ament_cmake-release.git - version: 2.9.0 + version: 2.9.1 ament_cmake_xmllint: tag: release/rolling/ament_cmake_xmllint/0.21.1-1 url: https://github.com/ros2-gbp/ament_lint-release.git @@ -236,13 +236,13 @@ ament_flake8: url: https://github.com/ros2-gbp/ament_lint-release.git version: 0.21.1 ament_index_cpp: - tag: release/rolling/ament_index_cpp/1.14.0-1 + tag: release/rolling/ament_index_cpp/1.14.2-1 url: https://github.com/ros2-gbp/ament_index-release.git - version: 1.14.0 + version: 1.14.2 ament_index_python: - tag: release/rolling/ament_index_python/1.14.0-1 + tag: release/rolling/ament_index_python/1.14.2-1 url: https://github.com/ros2-gbp/ament_index-release.git - version: 1.14.0 + version: 1.14.2 ament_lint: tag: release/rolling/ament_lint/0.21.1-1 url: https://github.com/ros2-gbp/ament_lint-release.git @@ -268,9 +268,9 @@ ament_nodl: url: https://github.com/ros2-gbp/ament_nodl-release.git version: 0.1.0 ament_package: - tag: release/rolling/ament_package/0.19.0-1 + tag: release/rolling/ament_package/0.19.1-1 url: https://github.com/ros2-gbp/ament_package-release.git - version: 0.19.0 + version: 0.19.1 ament_pclint: tag: release/rolling/ament_pclint/0.21.1-1 url: https://github.com/ros2-gbp/ament_lint-release.git @@ -360,13 +360,13 @@ aruco_msgs: url: https://github.com/ros2-gbp/aruco_ros-release.git version: 5.0.5 aruco_opencv: - tag: release/rolling/aruco_opencv/6.1.2-2 + tag: release/rolling/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/rolling/aruco_opencv_msgs/6.1.2-2 + tag: release/rolling/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/rolling/aruco_ros/5.0.5-2 url: https://github.com/ros2-gbp/aruco_ros-release.git @@ -460,9 +460,9 @@ autoware_auto_msgs: url: https://github.com/ros2-gbp/autoware_auto_msgs-release.git version: 1.0.0 autoware_cmake: - tag: release/rolling/autoware_cmake/1.2.0-1 + tag: release/rolling/autoware_cmake/1.4.0-1 url: https://github.com/ros2-gbp/autoware_cmake-release.git - version: 1.2.0 + version: 1.4.0 autoware_common_msgs: tag: release/rolling/autoware_common_msgs/1.12.0-1 url: https://github.com/ros2-gbp/autoware_msgs-release.git @@ -504,9 +504,9 @@ autoware_lanelet2_extension_python: url: https://github.com/ros2-gbp/autoware_lanelet2_extension-release.git version: 1.1.0 autoware_lint_common: - tag: release/rolling/autoware_lint_common/1.2.0-1 + tag: release/rolling/autoware_lint_common/1.4.0-1 url: https://github.com/ros2-gbp/autoware_cmake-release.git - version: 1.2.0 + version: 1.4.0 autoware_localization_msgs: tag: release/rolling/autoware_localization_msgs/1.12.0-1 url: https://github.com/ros2-gbp/autoware_msgs-release.git @@ -612,21 +612,21 @@ bag2_to_image: url: https://github.com/ros2-gbp/bag2_to_image-release.git version: 0.1.2 battery_state_broadcaster: - tag: release/rolling/battery_state_broadcaster/1.2.0-2 - url: https://github.com/ros2-gbp/ros_battery_monitoring-release.git - version: 1.2.0 + tag: release/rolling/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/rolling/battery_state_rviz_overlay/1.2.0-2 url: https://github.com/ros2-gbp/ros_battery_monitoring-release.git version: 1.2.0 behaviortree_cpp: - tag: release/rolling/behaviortree_cpp/4.9.0-2 + tag: release/rolling/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/rolling/bicycle_steering_controller/6.7.0-1 + tag: release/rolling/bicycle_steering_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 bno055: tag: release/rolling/bno055/0.5.0-3 url: https://github.com/ros2-gbp/bno055-release.git @@ -660,25 +660,25 @@ broll: url: https://github.com/ros2-gbp/rosbag2_broll-release.git version: 0.1.0 builtin_interfaces: - tag: release/rolling/builtin_interfaces/2.5.0-1 + tag: release/rolling/builtin_interfaces/2.5.1-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git - version: 2.5.0 + version: 2.5.1 camera_calibration: - tag: release/rolling/camera_calibration/8.0.0-1 + tag: release/rolling/camera_calibration/8.0.1-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 8.0.0 + version: 8.0.1 camera_calibration_parsers: - tag: release/rolling/camera_calibration_parsers/7.0.2-1 + tag: release/rolling/camera_calibration_parsers/7.0.3-1 url: https://github.com/ros2-gbp/image_common-release.git - version: 7.0.2 + version: 7.0.3 camera_info_manager: - tag: release/rolling/camera_info_manager/7.0.2-1 + tag: release/rolling/camera_info_manager/7.0.3-1 url: https://github.com/ros2-gbp/image_common-release.git - version: 7.0.2 + version: 7.0.3 camera_info_manager_py: - tag: release/rolling/camera_info_manager_py/7.0.2-1 + tag: release/rolling/camera_info_manager_py/7.0.3-1 url: https://github.com/ros2-gbp/image_common-release.git - version: 7.0.2 + version: 7.0.3 camera_ros: tag: release/rolling/camera_ros/0.7.0-1 url: https://github.com/ros2-gbp/camera_ros-release.git @@ -760,17 +760,17 @@ catch_ros2: url: https://github.com/ros2-gbp/catch_ros2-release.git version: 0.2.3 chained_filter_controller: - tag: release/rolling/chained_filter_controller/6.7.0-1 + tag: release/rolling/chained_filter_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 chomp_motion_planner: - tag: release/rolling/chomp_motion_planner/2.14.1-2 + tag: release/rolling/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/rolling/class_loader/3.0.0-1 + tag: release/rolling/class_loader/3.0.1-1 url: https://github.com/ros2-gbp/class_loader-release.git - version: 3.0.0 + version: 3.0.1 classic_bags: tag: release/rolling/classic_bags/0.4.0-2 url: https://github.com/ros2-gbp/classic_bags-release.git @@ -780,9 +780,9 @@ clips_executive: url: https://github.com/ros2-gbp/clips_executive-release.git version: 0.1.3 clips_vendor: - tag: release/rolling/clips_vendor/6.4.3-2 + tag: release/rolling/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/rolling/cm_topic_hardware_component/1.1.0-1 url: https://github.com/ros2-gbp/topic_based_hardware-release.git @@ -800,33 +800,33 @@ color_util: url: https://github.com/ros2-gbp/color_util-release.git version: 1.1.0 common_interfaces: - tag: release/rolling/common_interfaces/5.10.0-1 + tag: release/rolling/common_interfaces/5.10.1-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.10.0 + version: 5.10.1 compass_conversions: - tag: release/rolling/compass_conversions/3.0.3-1 + tag: release/rolling/compass_conversions/3.0.6-1 url: https://github.com/ros2-gbp/compass-release.git - version: 3.0.3 + version: 3.0.6 compass_interfaces: - tag: release/rolling/compass_interfaces/3.0.3-1 + tag: release/rolling/compass_interfaces/3.0.6-1 url: https://github.com/ros2-gbp/compass-release.git - version: 3.0.3 + version: 3.0.6 composition: tag: release/rolling/composition/0.38.0-1 url: https://github.com/ros2-gbp/demos-release.git version: 0.38.0 composition_interfaces: - tag: release/rolling/composition_interfaces/2.5.0-1 + tag: release/rolling/composition_interfaces/2.5.1-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git - version: 2.5.0 + version: 2.5.1 compressed_depth_image_transport: - tag: release/rolling/compressed_depth_image_transport/7.0.0-1 + tag: release/rolling/compressed_depth_image_transport/7.0.1-1 url: https://github.com/ros2-gbp/image_transport_plugins-release.git - version: 7.0.0 + version: 7.0.1 compressed_image_transport: - tag: release/rolling/compressed_image_transport/7.0.0-1 + tag: release/rolling/compressed_image_transport/7.0.1-1 url: https://github.com/ros2-gbp/image_transport_plugins-release.git - version: 7.0.0 + version: 7.0.1 console_bridge_vendor: tag: release/rolling/console_bridge_vendor/1.10.0-1 url: https://github.com/ros2-gbp/console_bridge_vendor-release.git @@ -836,25 +836,25 @@ control_box_rst: url: https://github.com/ros2-gbp/control_box_rst-release.git version: 0.0.7 control_msgs: - tag: release/rolling/control_msgs/6.9.0-2 + tag: release/rolling/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/rolling/control_toolbox/6.3.0-2 + tag: release/rolling/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/rolling/controller_interface/6.7.1-1 + tag: release/rolling/controller_interface/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.9.0 controller_manager: - tag: release/rolling/controller_manager/6.7.1-1 + tag: release/rolling/controller_manager/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.9.0 controller_manager_msgs: - tag: release/rolling/controller_manager_msgs/6.7.1-1 + tag: release/rolling/controller_manager_msgs/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.9.0 cras_bag_tools: tag: release/rolling/cras_bag_tools/3.0.2-2 url: https://github.com/ros2-gbp/cras_ros_utils-release.git @@ -876,29 +876,33 @@ cras_topic_tools: url: https://github.com/ros2-gbp/cras_ros_utils-release.git version: 3.0.2 crazyflie: - tag: release/rolling/crazyflie/1.0.4-1 + tag: release/rolling/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/rolling/crazyflie_description/1.0.5-1 + url: https://github.com/ros2-gbp/crazyswarm2-release.git + version: 1.0.5 crazyflie_examples: - tag: release/rolling/crazyflie_examples/1.0.4-1 + tag: release/rolling/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/rolling/crazyflie_interfaces/1.0.4-1 + tag: release/rolling/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/rolling/crazyflie_py/1.0.4-1 + tag: release/rolling/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/rolling/crazyflie_server_py/1.0.4-1 + tag: release/rolling/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/rolling/crazyflie_sim/1.0.4-1 + tag: release/rolling/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/rolling/crocoddyl/3.2.1-1 url: https://github.com/ros2-gbp/crocoddyl-release.git @@ -1032,9 +1036,9 @@ demo_nodes_py: url: https://github.com/ros2-gbp/demos-release.git version: 0.38.0 depth_image_proc: - tag: release/rolling/depth_image_proc/8.0.0-1 + tag: release/rolling/depth_image_proc/8.0.1-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 8.0.0 + version: 8.0.1 depthimage_to_laserscan: tag: release/rolling/depthimage_to_laserscan/2.5.1-3 url: https://github.com/ros2-gbp/depthimage_to_laserscan-release.git @@ -1060,9 +1064,9 @@ diagnostic_common_diagnostics: url: https://github.com/ros2-gbp/diagnostics-release.git version: 4.5.7 diagnostic_msgs: - tag: release/rolling/diagnostic_msgs/5.10.0-1 + tag: release/rolling/diagnostic_msgs/5.10.1-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.10.0 + version: 5.10.1 diagnostic_remote_logging: tag: release/rolling/diagnostic_remote_logging/4.5.7-1 url: https://github.com/ros2-gbp/diagnostics-release.git @@ -1076,21 +1080,21 @@ diagnostics: url: https://github.com/ros2-gbp/diagnostics-release.git version: 4.5.7 diff_drive_controller: - tag: release/rolling/diff_drive_controller/6.7.0-1 + tag: release/rolling/diff_drive_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 domain_coordinator: tag: release/rolling/domain_coordinator/0.16.0-1 url: https://github.com/ros2-gbp/ament_cmake_ros-release.git version: 0.16.0 draco_point_cloud_transport: - tag: release/rolling/draco_point_cloud_transport/6.1.0-2 + tag: release/rolling/draco_point_cloud_transport/7.0.0-1 url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git - version: 6.1.0 + version: 7.0.0 dual_arm_panda_moveit_config: - tag: release/rolling/dual_arm_panda_moveit_config/3.1.1-2 + tag: release/rolling/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/rolling/dual_laser_merger/0.0.1-2 url: https://github.com/ros2-gbp/dual_laser_merger-release.git @@ -1107,6 +1111,10 @@ dummy_sensors: tag: release/rolling/dummy_sensors/0.38.0-1 url: https://github.com/ros2-gbp/demos-release.git version: 0.38.0 +dynamixel_hardware: + tag: release/rolling/dynamixel_hardware/0.6.1-1 + url: https://github.com/ros2-gbp/dynamixel_hardware-release.git + version: 0.6.1 dynamixel_hardware_interface: tag: release/rolling/dynamixel_hardware_interface/1.5.1-2 url: https://github.com/ros2-gbp/dynamixel_hardware_interface-release.git @@ -1323,6 +1331,18 @@ event_image_reconstruction_fibar: tag: release/rolling/event_image_reconstruction_fibar/3.0.4-2 url: https://github.com/ros2-gbp/event_image_reconstruction_fibar-release.git version: 3.0.4 +eventdispatch_python: + tag: release/rolling/eventdispatch_python/0.2.29-1 + url: https://github.com/ros2-gbp/ros2_eventdispatch-release.git + version: 0.2.29 +eventdispatch_ros2: + tag: release/rolling/eventdispatch_ros2/0.2.29-1 + url: https://github.com/ros2-gbp/ros2_eventdispatch-release.git + version: 0.2.29 +eventdispatch_ros2_interfaces: + tag: release/rolling/eventdispatch_ros2_interfaces/0.2.29-1 + url: https://github.com/ros2-gbp/ros2_eventdispatch-release.git + version: 0.2.29 example_interfaces: tag: release/rolling/example_interfaces/0.15.0-1 url: https://github.com/ros2-gbp/example_interfaces-release.git @@ -1412,9 +1432,9 @@ examples_rclpy_pointcloud_publisher: url: https://github.com/ros2-gbp/examples-release.git version: 0.22.0 examples_tf2_py: - tag: release/rolling/examples_tf2_py/0.46.0-1 + tag: release/rolling/examples_tf2_py/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 executive_smach: tag: release/rolling/executive_smach/3.0.3-3 url: https://github.com/ros2-gbp/executive_smach-release.git @@ -1424,9 +1444,9 @@ fastcdr: url: https://github.com/ros2-gbp/fastcdr-release.git version: 2.3.6 fastdds: - tag: release/rolling/fastdds/3.6.1-2 + tag: release/rolling/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/rolling/feetech_ros2_driver/0.2.1-2 url: https://github.com/ros2-gbp/feetech_ros2_driver-release.git @@ -1436,13 +1456,13 @@ ffmpeg_encoder_decoder: url: https://github.com/ros2-gbp/ffmpeg_encoder_decoder-release.git version: 3.0.1 ffmpeg_image_transport: - tag: release/rolling/ffmpeg_image_transport/3.0.3-2 + tag: release/rolling/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/rolling/ffmpeg_image_transport_msgs/1.0.2-3 + tag: release/rolling/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/rolling/ffmpeg_image_transport_tools/3.0.1-2 url: https://github.com/ros2-gbp/ffmpeg_image_transport_tools-release.git @@ -1500,9 +1520,9 @@ filters: url: https://github.com/ros2-gbp/filters-release.git version: 2.2.2 fkie_message_filters: - tag: release/rolling/fkie_message_filters/3.3.1-1 + tag: release/rolling/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/rolling/flex_sync/2.0.1-2 url: https://github.com/ros2-gbp/flex_sync-release.git @@ -1560,33 +1580,37 @@ foonathan_memory_vendor: url: https://github.com/ros2-gbp/foonathan_memory_vendor-release.git version: 1.3.1 force_torque_sensor_broadcaster: - tag: release/rolling/force_torque_sensor_broadcaster/6.7.0-1 + tag: release/rolling/force_torque_sensor_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 forward_command_controller: - tag: release/rolling/forward_command_controller/6.7.0-1 + tag: release/rolling/forward_command_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 four_wheel_steering_msgs: tag: release/rolling/four_wheel_steering_msgs/2.0.1-6 url: https://github.com/ros2-gbp/four_wheel_steering_msgs-release.git version: 2.0.1 foxglove_bridge: - tag: release/rolling/foxglove_bridge/3.4.1-1 + tag: release/rolling/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/rolling/foxglove_compressed_video_transport/3.0.2-2 + tag: release/rolling/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/rolling/foxglove_msgs/3.4.1-1 + tag: release/rolling/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/rolling/foxglove_sdk_vendor/0.2.0-3 url: https://github.com/ros2-gbp/foxglove_sdk_vendor-release.git version: 0.2.0 +franka_inria_inverse_dynamics_solver: + tag: release/rolling/franka_inria_inverse_dynamics_solver/6.0.1-4 + url: https://github.com/ros2-gbp/inverse_dynamics_solver-release.git + version: 6.0.1 frequency_cam: tag: release/rolling/frequency_cam/3.1.2-1 url: https://github.com/ros2-gbp/frequency_cam-release.git @@ -1652,13 +1676,13 @@ game_controller_spl_interfaces: url: https://github.com/ros2-gbp/game_controller_spl-release.git version: 5.0.0 generate_parameter_library: - tag: release/rolling/generate_parameter_library/1.2.0-1 + tag: release/rolling/generate_parameter_library/1.3.0-1 url: https://github.com/ros2-gbp/generate_parameter_library-release.git - version: 1.2.0 + version: 1.3.0 generate_parameter_library_py: - tag: release/rolling/generate_parameter_library_py/1.2.0-1 + tag: release/rolling/generate_parameter_library_py/1.3.0-1 url: https://github.com/ros2-gbp/generate_parameter_library-release.git - version: 1.2.0 + version: 1.3.0 geodesy: tag: release/rolling/geodesy/1.0.7-4 url: https://github.com/ros2-gbp/geographic_info-release.git @@ -1676,13 +1700,13 @@ geometric_shapes: url: https://github.com/ros2-gbp/geometric_shapes-release.git version: 2.3.4 geometry2: - tag: release/rolling/geometry2/0.46.0-1 + tag: release/rolling/geometry2/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 geometry_msgs: - tag: release/rolling/geometry_msgs/5.10.0-1 + tag: release/rolling/geometry_msgs/5.10.1-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.10.0 + version: 5.10.1 geometry_tutorials: tag: release/rolling/geometry_tutorials/0.7.0-2 url: https://github.com/ros2-gbp/geometry_tutorials-release.git @@ -1696,33 +1720,33 @@ google_benchmark_vendor: url: https://github.com/ros2-gbp/google_benchmark_vendor-release.git version: 0.8.0 gpio_controllers: - tag: release/rolling/gpio_controllers/6.7.0-1 + tag: release/rolling/gpio_controllers/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 gps_msgs: - tag: release/rolling/gps_msgs/2.1.2-2 + tag: release/rolling/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/rolling/gps_sensor_broadcaster/6.7.0-1 + tag: release/rolling/gps_sensor_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 gps_tools: - tag: release/rolling/gps_tools/2.1.2-2 + tag: release/rolling/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/rolling/gps_umd/2.1.2-2 + tag: release/rolling/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/rolling/gpsd_client/2.1.2-2 + tag: release/rolling/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/rolling/graph_msgs/0.2.0-6 + tag: release/rolling/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/rolling/grasping_msgs/0.5.0-2 url: https://github.com/ros2-gbp/grasping_msgs-release.git @@ -1768,9 +1792,9 @@ gz_cmake_vendor: url: https://github.com/ros2-gbp/gz_cmake_vendor-release.git version: 0.5.1 gz_common_vendor: - tag: release/rolling/gz_common_vendor/0.4.0-1 + tag: release/rolling/gz_common_vendor/0.4.1-1 url: https://github.com/ros2-gbp/gz_common_vendor-release.git - version: 0.4.0 + version: 0.4.1 gz_dartsim_vendor: tag: release/rolling/gz_dartsim_vendor/0.1.3-2 url: https://github.com/ros2-gbp/gz_dartsim_vendor-release.git @@ -1784,33 +1808,33 @@ gz_gui_vendor: url: https://github.com/ros2-gbp/gz_gui_vendor-release.git version: 0.4.0 gz_launch_vendor: - tag: release/rolling/gz_launch_vendor/0.4.0-1 + tag: release/rolling/gz_launch_vendor/0.4.1-1 url: https://github.com/ros2-gbp/gz_launch_vendor-release.git - version: 0.4.0 + version: 0.4.1 gz_math_vendor: - tag: release/rolling/gz_math_vendor/0.5.0-1 + tag: release/rolling/gz_math_vendor/0.5.1-1 url: https://github.com/ros2-gbp/gz_math_vendor-release.git - version: 0.5.0 + version: 0.5.1 gz_msgs_vendor: - tag: release/rolling/gz_msgs_vendor/0.4.0-1 + tag: release/rolling/gz_msgs_vendor/0.4.1-2 url: https://github.com/ros2-gbp/gz_msgs_vendor-release.git - version: 0.4.0 + version: 0.4.1 gz_ogre_next_vendor: tag: release/rolling/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/rolling/gz_physics_vendor/0.5.1-1 + tag: release/rolling/gz_physics_vendor/0.5.2-1 url: https://github.com/ros2-gbp/gz_physics_vendor-release.git - version: 0.5.1 + version: 0.5.2 gz_plugin_vendor: tag: release/rolling/gz_plugin_vendor/0.4.0-1 url: https://github.com/ros2-gbp/gz_plugin_vendor-release.git version: 0.4.0 gz_rendering_vendor: - tag: release/rolling/gz_rendering_vendor/0.5.0-1 + tag: release/rolling/gz_rendering_vendor/0.5.1-1 url: https://github.com/ros2-gbp/gz_rendering_vendor-release.git - version: 0.5.0 + version: 0.5.1 gz_ros2_control: tag: release/rolling/gz_ros2_control/4.0.0-1 url: https://github.com/ros2-gbp/ign_ros2_control-release.git @@ -1820,41 +1844,41 @@ gz_ros2_control_demos: url: https://github.com/ros2-gbp/ign_ros2_control-release.git version: 4.0.0 gz_sensors_vendor: - tag: release/rolling/gz_sensors_vendor/0.4.0-1 + tag: release/rolling/gz_sensors_vendor/0.4.1-1 url: https://github.com/ros2-gbp/gz_sensors_vendor-release.git - version: 0.4.0 + version: 0.4.1 gz_sim_vendor: - tag: release/rolling/gz_sim_vendor/0.5.0-1 + tag: release/rolling/gz_sim_vendor/0.5.2-1 url: https://github.com/ros2-gbp/gz_sim_vendor-release.git - version: 0.5.0 + version: 0.5.2 gz_tools_vendor: tag: release/rolling/gz_tools_vendor/0.3.0-1 url: https://github.com/ros2-gbp/gz_tools_vendor-release.git version: 0.3.0 gz_transport_vendor: - tag: release/rolling/gz_transport_vendor/0.4.0-1 + tag: release/rolling/gz_transport_vendor/0.4.1-1 url: https://github.com/ros2-gbp/gz_transport_vendor-release.git - version: 0.4.0 + version: 0.4.1 gz_utils_vendor: tag: release/rolling/gz_utils_vendor/0.5.0-1 url: https://github.com/ros2-gbp/gz_utils_vendor-release.git version: 0.5.0 hardware_interface: - tag: release/rolling/hardware_interface/6.7.1-1 + tag: release/rolling/hardware_interface/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.9.0 hardware_interface_testing: - tag: release/rolling/hardware_interface_testing/6.7.1-1 + tag: release/rolling/hardware_interface_testing/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.9.0 hash_library_vendor: tag: release/rolling/hash_library_vendor/0.1.1-7 url: https://github.com/ros2-gbp/hash_library_vendor-release.git version: 0.1.1 hatchbed_common: - tag: release/rolling/hatchbed_common/0.1.7-1 + tag: release/rolling/hatchbed_common/0.1.8-1 url: https://github.com/ros2-gbp/hatchbed_common-release.git - version: 0.1.7 + version: 0.1.8 heaphook: tag: release/rolling/heaphook/0.1.1-3 url: https://github.com/ros2-gbp/heaphook-release.git @@ -1912,57 +1936,57 @@ ifm3d_core: url: https://github.com/ros2-gbp/ifm3d-release.git version: 0.18.0 image_common: - tag: release/rolling/image_common/7.0.2-1 + tag: release/rolling/image_common/7.0.3-1 url: https://github.com/ros2-gbp/image_common-release.git - version: 7.0.2 + version: 7.0.3 image_geometry: tag: release/rolling/image_geometry/4.1.0-2 url: https://github.com/ros2-gbp/vision_opencv-release.git version: 4.1.0 image_pipeline: - tag: release/rolling/image_pipeline/8.0.0-1 + tag: release/rolling/image_pipeline/8.0.1-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 8.0.0 + version: 8.0.1 image_proc: - tag: release/rolling/image_proc/8.0.0-1 + tag: release/rolling/image_proc/8.0.1-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 8.0.0 + version: 8.0.1 image_publisher: - tag: release/rolling/image_publisher/8.0.0-1 + tag: release/rolling/image_publisher/8.0.1-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 8.0.0 + version: 8.0.1 image_rotate: - tag: release/rolling/image_rotate/8.0.0-1 + tag: release/rolling/image_rotate/8.0.1-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 8.0.0 + version: 8.0.1 image_tools: tag: release/rolling/image_tools/0.38.0-1 url: https://github.com/ros2-gbp/demos-release.git version: 0.38.0 image_transport: - tag: release/rolling/image_transport/7.0.2-1 + tag: release/rolling/image_transport/7.0.3-1 url: https://github.com/ros2-gbp/image_common-release.git - version: 7.0.2 + version: 7.0.3 image_transport_plugins: - tag: release/rolling/image_transport_plugins/7.0.0-1 + tag: release/rolling/image_transport_plugins/7.0.1-1 url: https://github.com/ros2-gbp/image_transport_plugins-release.git - version: 7.0.0 + version: 7.0.1 image_transport_py: - tag: release/rolling/image_transport_py/7.0.2-1 + tag: release/rolling/image_transport_py/7.0.3-1 url: https://github.com/ros2-gbp/image_common-release.git - version: 7.0.2 + version: 7.0.3 image_view: - tag: release/rolling/image_view/8.0.0-1 + tag: release/rolling/image_view/8.0.1-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 8.0.0 + version: 8.0.1 imu_complementary_filter: - tag: release/rolling/imu_complementary_filter/2.2.3-1 + tag: release/rolling/imu_complementary_filter/2.2.4-2 url: https://github.com/ros2-gbp/imu_tools-release.git - version: 2.2.3 + version: 2.2.4 imu_filter_madgwick: - tag: release/rolling/imu_filter_madgwick/2.2.3-1 + tag: release/rolling/imu_filter_madgwick/2.2.4-2 url: https://github.com/ros2-gbp/imu_tools-release.git - version: 2.2.3 + version: 2.2.4 imu_pipeline: tag: release/rolling/imu_pipeline/0.6.1-2 url: https://github.com/ros2-gbp/imu_pipeline-release.git @@ -1972,25 +1996,29 @@ imu_processors: url: https://github.com/ros2-gbp/imu_pipeline-release.git version: 0.6.1 imu_sensor_broadcaster: - tag: release/rolling/imu_sensor_broadcaster/6.7.0-1 + tag: release/rolling/imu_sensor_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 imu_tools: - tag: release/rolling/imu_tools/2.2.3-1 + tag: release/rolling/imu_tools/2.2.4-2 url: https://github.com/ros2-gbp/imu_tools-release.git - version: 2.2.3 + version: 2.2.4 imu_transformer: tag: release/rolling/imu_transformer/0.6.1-2 url: https://github.com/ros2-gbp/imu_pipeline-release.git version: 0.6.1 interactive_markers: - tag: release/rolling/interactive_markers/2.9.0-1 + tag: release/rolling/interactive_markers/2.9.1-1 url: https://github.com/ros2-gbp/interactive_markers-release.git - version: 2.9.0 + version: 2.9.1 intra_process_demo: tag: release/rolling/intra_process_demo/0.38.0-1 url: https://github.com/ros2-gbp/demos-release.git version: 0.38.0 +inverse_dynamics_solver: + tag: release/rolling/inverse_dynamics_solver/6.0.1-4 + url: https://github.com/ros2-gbp/inverse_dynamics_solver-release.git + version: 6.0.1 io_context: tag: release/rolling/io_context/1.2.0-4 url: https://github.com/ros2-gbp/transport_drivers-release.git @@ -2004,29 +2032,29 @@ jacro: url: https://github.com/ros2-gbp/jacro-release.git version: 0.2.0 joint_limits: - tag: release/rolling/joint_limits/6.7.1-1 + tag: release/rolling/joint_limits/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.9.0 joint_state_broadcaster: - tag: release/rolling/joint_state_broadcaster/6.7.0-1 + tag: release/rolling/joint_state_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 joint_state_publisher: - tag: release/rolling/joint_state_publisher/2.4.2-1 + tag: release/rolling/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/rolling/joint_state_publisher_gui/2.4.2-1 + tag: release/rolling/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/rolling/joint_state_topic_hardware_interface/1.1.0-1 url: https://github.com/ros2-gbp/topic_based_hardware-release.git version: 1.1.0 joint_trajectory_controller: - tag: release/rolling/joint_trajectory_controller/6.7.0-1 + tag: release/rolling/joint_trajectory_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 joy: tag: release/rolling/joy/3.3.0-3 url: https://github.com/ros2-gbp/joystick_drivers-release.git @@ -2044,13 +2072,17 @@ joy_tester: url: https://github.com/ros2-gbp/joy_tester-release.git version: 0.0.2 jrl_cmakemodules: - tag: release/rolling/jrl_cmakemodules/1.1.2-2 + tag: release/rolling/jrl_cmakemodules/2.2.4-1 url: https://github.com/ros2-gbp/jrl_cmakemodules-release.git - version: 1.1.2 + version: 2.2.4 kartech_linear_actuator_msgs: tag: release/rolling/kartech_linear_actuator_msgs/4.0.0-4 url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git version: 4.0.0 +kdl_inverse_dynamics_solver: + tag: release/rolling/kdl_inverse_dynamics_solver/6.0.1-4 + url: https://github.com/ros2-gbp/inverse_dynamics_solver-release.git + version: 6.0.1 kdl_parser: tag: release/rolling/kdl_parser/3.1.0-1 url: https://github.com/ros2-gbp/kdl_parser-release.git @@ -2212,9 +2244,9 @@ launch_pytest: url: https://github.com/ros2-gbp/launch-release.git version: 3.10.0 launch_ros: - tag: release/rolling/launch_ros/0.30.0-1 + tag: release/rolling/launch_ros/0.30.1-1 url: https://github.com/ros2-gbp/launch_ros-release.git - version: 0.30.0 + version: 0.30.1 launch_system_modes: tag: release/rolling/launch_system_modes/0.9.0-6 url: https://github.com/ros2-gbp/system_modes-release.git @@ -2232,9 +2264,9 @@ launch_testing_examples: url: https://github.com/ros2-gbp/examples-release.git version: 0.22.0 launch_testing_ros: - tag: release/rolling/launch_testing_ros/0.30.0-1 + tag: release/rolling/launch_testing_ros/0.30.1-1 url: https://github.com/ros2-gbp/launch_ros-release.git - version: 0.30.0 + version: 0.30.1 launch_xml: tag: release/rolling/launch_xml/3.10.0-1 url: https://github.com/ros2-gbp/launch-release.git @@ -2312,33 +2344,33 @@ lgsvl_msgs: url: https://github.com/ros2-gbp/lgsvl_msgs-release.git version: 0.0.4 libcaer_driver: - tag: release/rolling/libcaer_driver/1.5.5-1 + tag: release/rolling/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/rolling/libcaer_vendor/2.0.0-2 url: https://github.com/ros2-gbp/libcaer_vendor-release.git version: 2.0.0 libcamera: - tag: release/rolling/libcamera/0.7.1-1 + tag: release/rolling/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/rolling/libg2o/2020.5.29-6 url: https://github.com/ros2-gbp/libg2o-release.git version: 2020.5.29 libmavconn: - tag: release/rolling/libmavconn/2.14.0-2 + tag: release/rolling/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/rolling/libphidget22/2.4.0-2 url: https://github.com/ros2-gbp/phidgets_drivers-release.git version: 2.4.0 librealsense2: - tag: release/rolling/librealsense2/2.57.7-2 + tag: release/rolling/librealsense2/2.58.3-2 url: https://github.com/ros2-gbp/librealsense2-release.git - version: 2.57.7 + version: 2.58.3 libstatistics_collector: tag: release/rolling/libstatistics_collector/3.0.0-1 url: https://github.com/ros2-gbp/libstatistics_collector-release.git @@ -2356,17 +2388,17 @@ lifecycle: url: https://github.com/ros2-gbp/demos-release.git version: 0.38.0 lifecycle_msgs: - tag: release/rolling/lifecycle_msgs/2.5.0-1 + tag: release/rolling/lifecycle_msgs/2.5.1-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git - version: 2.5.0 + version: 2.5.1 lifecycle_py: tag: release/rolling/lifecycle_py/0.38.0-1 url: https://github.com/ros2-gbp/demos-release.git version: 0.38.0 linear_feedback_controller: - tag: release/rolling/linear_feedback_controller/4.0.1-1 + tag: release/rolling/linear_feedback_controller/4.0.4-1 url: https://github.com/ros2-gbp/linear-feedback-controller-release.git - version: 4.0.1 + version: 4.0.4 linear_feedback_controller_msgs: tag: release/rolling/linear_feedback_controller_msgs/1.2.2-2 url: https://github.com/ros2-gbp/linear-feedback-controller-msgs-release.git @@ -2396,37 +2428,41 @@ lz4_cmake_module: url: https://github.com/ros2-gbp/rosbag2-release.git version: 0.34.0 magic_enum: - tag: release/rolling/magic_enum/0.9.7-2 + tag: release/rolling/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/rolling/magnetic_model/3.0.3-1 + tag: release/rolling/magnetic_model/3.0.6-1 url: https://github.com/ros2-gbp/compass-release.git - version: 3.0.3 + version: 3.0.6 +magnetometer_broadcaster: + tag: release/rolling/magnetometer_broadcaster/6.9.0-1 + url: https://github.com/ros2-gbp/ros2_controllers-release.git + version: 6.9.0 magnetometer_compass: - tag: release/rolling/magnetometer_compass/3.0.3-1 + tag: release/rolling/magnetometer_compass/3.0.6-1 url: https://github.com/ros2-gbp/compass-release.git - version: 3.0.3 + version: 3.0.6 magnetometer_pipeline: - tag: release/rolling/magnetometer_pipeline/3.0.3-1 + tag: release/rolling/magnetometer_pipeline/3.0.6-1 url: https://github.com/ros2-gbp/compass-release.git - version: 3.0.3 + version: 3.0.6 map_msgs: tag: release/rolling/map_msgs/2.6.1-1 url: https://github.com/ros2-gbp/navigation_msgs-release.git version: 2.6.1 mapviz: - tag: release/rolling/mapviz/3.0.0-1 + tag: release/rolling/mapviz/4.0.1-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 3.0.0 + version: 4.0.1 mapviz_interfaces: - tag: release/rolling/mapviz_interfaces/3.0.0-1 + tag: release/rolling/mapviz_interfaces/4.0.1-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 3.0.0 + version: 4.0.1 mapviz_plugins: - tag: release/rolling/mapviz_plugins/3.0.0-1 + tag: release/rolling/mapviz_plugins/4.0.1-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 3.0.0 + version: 4.0.1 marine_acoustic_msgs: tag: release/rolling/marine_acoustic_msgs/2.1.0-2 url: https://github.com/ros2-gbp/marine_msgs-release.git @@ -2476,41 +2512,45 @@ marti_visualization_msgs: url: https://github.com/ros2-gbp/marti_messages-release.git version: 1.6.1 mavlink: - tag: release/rolling/mavlink/2026.6.6-1 + tag: release/rolling/mavlink/2026.8.8-1 url: https://github.com/ros2-gbp/mavlink-gbp-release.git - version: 2026.6.6 + version: 2026.8.8 mavros: - tag: release/rolling/mavros/2.14.0-2 + tag: release/rolling/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/rolling/mavros_examples/2.14.0-2 + tag: release/rolling/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/rolling/mavros_extras/2.14.0-2 + tag: release/rolling/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/rolling/mavros_msgs/2.14.0-2 + tag: release/rolling/mavros_msgs/2.15.0-1 url: https://github.com/ros2-gbp/mavros-release.git - version: 2.14.0 + version: 2.15.0 mcap_vendor: tag: release/rolling/mcap_vendor/0.34.0-1 url: https://github.com/ros2-gbp/rosbag2-release.git version: 0.34.0 mecanum_drive_controller: - tag: release/rolling/mecanum_drive_controller/6.7.0-1 + tag: release/rolling/mecanum_drive_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 menge_vendor: tag: release/rolling/menge_vendor/1.3.0-2 url: https://github.com/ros2-gbp/menge_vendor-release.git version: 1.3.0 message_filters: - tag: release/rolling/message_filters/8.0.1-1 + tag: release/rolling/message_filters/8.0.2-1 url: https://github.com/ros2-gbp/ros2_message_filters-release.git - version: 8.0.1 + version: 8.0.2 +message_tf_frame_transformer: + tag: release/rolling/message_tf_frame_transformer/1.1.3-3 + url: https://github.com/ros2-gbp/message_tf_frame_transformer-release.git + version: 1.1.3 metavision_driver: tag: release/rolling/metavision_driver/3.0.0-2 url: https://github.com/ros2-gbp/metavision_driver-release.git @@ -2556,25 +2596,25 @@ mobileye_560_660_msgs: url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git version: 4.0.0 mola: - tag: release/rolling/mola/2.9.0-1 + tag: release/rolling/mola/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_academic_datasets: tag: release/rolling/mola_academic_datasets/3.0.0-2 url: https://github.com/ros2-gbp/mola_academic_datasets-release.git version: 3.0.0 mola_bridge_ros2: - tag: release/rolling/mola_bridge_ros2/2.9.0-1 + tag: release/rolling/mola_bridge_ros2/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_common: tag: release/rolling/mola_common/0.6.1-1 url: https://github.com/ros2-gbp/mola_common-release.git version: 0.6.1 mola_demos: - tag: release/rolling/mola_demos/2.9.0-1 + tag: release/rolling/mola_demos/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_georeferencing: tag: release/rolling/mola_georeferencing/2.4.2-1 url: https://github.com/ros2-gbp/mola_state_estimation-release.git @@ -2588,9 +2628,9 @@ mola_gtsam_factors: url: https://github.com/ros2-gbp/mola_state_estimation-release.git version: 2.4.2 mola_imu_preintegration: - tag: release/rolling/mola_imu_preintegration/1.16.1-1 + tag: release/rolling/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/rolling/mola_input_euroc_dataset/3.0.0-2 url: https://github.com/ros2-gbp/mola_academic_datasets-release.git @@ -2604,9 +2644,9 @@ 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/rolling/mola_input_lidar_bin_dataset/2.9.0-1 + tag: release/rolling/mola_input_lidar_bin_dataset/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_input_mulran_dataset: tag: release/rolling/mola_input_mulran_dataset/3.0.0-2 url: https://github.com/ros2-gbp/mola_academic_datasets-release.git @@ -2620,53 +2660,53 @@ 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/rolling/mola_input_rawlog/2.9.0-1 + tag: release/rolling/mola_input_rawlog/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_input_rosbag1: - tag: release/rolling/mola_input_rosbag1/0.2.0-1 + tag: release/rolling/mola_input_rosbag1/0.4.0-1 url: https://github.com/ros2-gbp/mola_input_rosbag1-release.git - version: 0.2.0 + version: 0.4.0 mola_input_rosbag2: - tag: release/rolling/mola_input_rosbag2/2.9.0-1 + tag: release/rolling/mola_input_rosbag2/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_input_video: - tag: release/rolling/mola_input_video/2.9.0-1 + tag: release/rolling/mola_input_video/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_kernel: - tag: release/rolling/mola_kernel/2.9.0-1 + tag: release/rolling/mola_kernel/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_launcher: - tag: release/rolling/mola_launcher/2.9.0-1 + tag: release/rolling/mola_launcher/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_lidar_odometry: - tag: release/rolling/mola_lidar_odometry/2.2.1-1 + tag: release/rolling/mola_lidar_odometry/3.1.0-1 url: https://github.com/ros2-gbp/mola_lidar_odometry-release.git - version: 2.2.1 + version: 3.1.0 mola_metric_maps: - tag: release/rolling/mola_metric_maps/2.9.0-1 + tag: release/rolling/mola_metric_maps/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_msgs: - tag: release/rolling/mola_msgs/2.9.0-1 + tag: release/rolling/mola_msgs/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_pose_list: - tag: release/rolling/mola_pose_list/2.9.0-1 + tag: release/rolling/mola_pose_list/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_relocalization: - tag: release/rolling/mola_relocalization/2.9.0-1 + tag: release/rolling/mola_relocalization/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_sm_loop_closure: - tag: release/rolling/mola_sm_loop_closure/1.2.0-1 + tag: release/rolling/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/rolling/mola_state_estimation/2.4.2-1 url: https://github.com/ros2-gbp/mola_state_estimation-release.git @@ -2680,221 +2720,221 @@ mola_state_estimation_smoother: url: https://github.com/ros2-gbp/mola_state_estimation-release.git version: 2.4.2 mola_test_datasets: - tag: release/rolling/mola_test_datasets/0.4.2-2 + tag: release/rolling/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/rolling/mola_traj_tools/2.9.0-1 + tag: release/rolling/mola_traj_tools/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_viz: - tag: release/rolling/mola_viz/2.9.0-1 + tag: release/rolling/mola_viz/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_viz_imgui: - tag: release/rolling/mola_viz_imgui/2.9.0-1 + tag: release/rolling/mola_viz_imgui/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 mola_yaml: - tag: release/rolling/mola_yaml/2.9.0-1 + tag: release/rolling/mola_yaml/3.1.0-1 url: https://github.com/ros2-gbp/mola-release.git - version: 2.9.0 + version: 3.1.0 motion_capture_tracking: - tag: release/rolling/motion_capture_tracking/1.0.8-1 + tag: release/rolling/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/rolling/motion_capture_tracking_interfaces/1.0.8-1 + tag: release/rolling/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/rolling/motion_primitives_controllers/6.7.0-1 + tag: release/rolling/motion_primitives_controllers/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 mouse_teleop: tag: release/rolling/mouse_teleop/2.0.0-2 url: https://github.com/ros2-gbp/teleop_tools-release.git version: 2.0.0 moveit: - tag: release/rolling/moveit/2.14.1-2 + tag: release/rolling/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/rolling/moveit_common/2.14.1-2 + tag: release/rolling/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/rolling/moveit_configs_utils/2.14.1-2 + tag: release/rolling/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/rolling/moveit_core/2.14.1-2 + tag: release/rolling/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/rolling/moveit_hybrid_planning/2.14.1-2 + tag: release/rolling/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/rolling/moveit_kinematics/2.14.1-2 + tag: release/rolling/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/rolling/moveit_msgs/2.7.1-2 + tag: release/rolling/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/rolling/moveit_planners/2.14.1-2 + tag: release/rolling/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/rolling/moveit_planners_chomp/2.14.1-2 + tag: release/rolling/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/rolling/moveit_planners_ompl/2.14.1-2 + tag: release/rolling/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/rolling/moveit_planners_stomp/2.14.1-2 + tag: release/rolling/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/rolling/moveit_plugins/2.14.1-2 + tag: release/rolling/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/rolling/moveit_py/2.14.1-2 + tag: release/rolling/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/rolling/moveit_resources/3.1.1-2 + tag: release/rolling/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/rolling/moveit_resources_fanuc_description/3.1.1-2 + tag: release/rolling/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/rolling/moveit_resources_fanuc_moveit_config/3.1.1-2 + tag: release/rolling/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/rolling/moveit_resources_panda_description/3.1.1-2 + tag: release/rolling/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/rolling/moveit_resources_panda_moveit_config/3.1.1-2 + tag: release/rolling/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/rolling/moveit_resources_pr2_description/3.1.1-2 + tag: release/rolling/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/rolling/moveit_resources_prbt_ikfast_manipulator_plugin/2.14.1-2 + tag: release/rolling/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/rolling/moveit_resources_prbt_moveit_config/2.14.1-2 + tag: release/rolling/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/rolling/moveit_resources_prbt_pg70_support/2.14.1-2 + tag: release/rolling/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/rolling/moveit_resources_prbt_support/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros_benchmarks/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros_control_interface/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros_move_group/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros_occupancy_map_monitor/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros_perception/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros_planning/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros_planning_interface/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros_robot_interaction/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros_tests/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros_trajectory_cache/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros_visualization/2.14.1-2 + tag: release/rolling/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/rolling/moveit_ros_warehouse/2.14.1-2 + tag: release/rolling/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/rolling/moveit_runtime/2.14.1-2 + tag: release/rolling/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/rolling/moveit_servo/2.14.1-2 + tag: release/rolling/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/rolling/moveit_setup_app_plugins/2.14.1-2 + tag: release/rolling/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/rolling/moveit_setup_assistant/2.14.1-2 + tag: release/rolling/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/rolling/moveit_setup_controllers/2.14.1-2 + tag: release/rolling/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/rolling/moveit_setup_core_plugins/2.14.1-2 + tag: release/rolling/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/rolling/moveit_setup_framework/2.14.1-2 + tag: release/rolling/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/rolling/moveit_setup_srdf_plugins/2.14.1-2 + tag: release/rolling/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/rolling/moveit_simple_controller_manager/2.14.1-2 + tag: release/rolling/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/rolling/moveit_task_constructor_capabilities/0.1.5-2 url: https://github.com/ros2-gbp/moveit_task_constructor-release.git @@ -2916,181 +2956,189 @@ moveit_task_constructor_visualization: url: https://github.com/ros2-gbp/moveit_task_constructor-release.git version: 0.1.5 moveit_visual_tools: - tag: release/rolling/moveit_visual_tools/4.1.2-2 + tag: release/rolling/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/rolling/mp2p_icp/2.10.3-1 + tag: release/rolling/mp2p_icp/2.12.0-1 + url: https://github.com/ros2-gbp/mp2p_icp-release.git + version: 2.12.0 +mp2p_icp_core: + tag: release/rolling/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/rolling/mp2p_icp_viz/2.12.0-1 url: https://github.com/ros2-gbp/mp2p_icp-release.git - version: 2.10.3 + version: 2.12.0 mp_units_vendor: tag: release/rolling/mp_units_vendor/2.5.0-3 url: https://github.com/ros2-gbp/mp_units_vendor-release.git version: 2.5.0 mqtt_client: - tag: release/rolling/mqtt_client/2.4.1-3 + tag: release/rolling/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/rolling/mqtt_client_interfaces/2.4.1-3 + tag: release/rolling/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/rolling/mrpt_apps/2.15.18-1 + tag: release/rolling/mrpt_apps/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_apps_cli: - tag: release/rolling/mrpt_apps_cli/3.0.2-1 + tag: release/rolling/mrpt_apps_cli/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_apps_gui: - tag: release/rolling/mrpt_apps_gui/3.0.2-1 + tag: release/rolling/mrpt_apps_gui/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_bayes: - tag: release/rolling/mrpt_bayes/3.0.2-1 + tag: release/rolling/mrpt_bayes/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_common: - tag: release/rolling/mrpt_common/3.0.2-1 + tag: release/rolling/mrpt_common/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_comms: - tag: release/rolling/mrpt_comms/3.0.2-1 + tag: release/rolling/mrpt_comms/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_config: - tag: release/rolling/mrpt_config/3.0.2-1 + tag: release/rolling/mrpt_config/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_containers: - tag: release/rolling/mrpt_containers/3.0.2-1 + tag: release/rolling/mrpt_containers/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_core: - tag: release/rolling/mrpt_core/3.0.2-1 + tag: release/rolling/mrpt_core/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_data: - tag: release/rolling/mrpt_data/3.0.2-1 + tag: release/rolling/mrpt_data/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_examples_cpp: - tag: release/rolling/mrpt_examples_cpp/3.0.2-1 + tag: release/rolling/mrpt_examples_cpp/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_expr: - tag: release/rolling/mrpt_expr/3.0.2-1 + tag: release/rolling/mrpt_expr/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_generic_sensor: tag: release/rolling/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/rolling/mrpt_graphs/3.0.2-1 + tag: release/rolling/mrpt_graphs/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_graphslam: - tag: release/rolling/mrpt_graphslam/3.0.2-1 + tag: release/rolling/mrpt_graphslam/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_gui: - tag: release/rolling/mrpt_gui/3.0.2-1 + tag: release/rolling/mrpt_gui/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_hwdrivers: - tag: release/rolling/mrpt_hwdrivers/3.0.2-1 + tag: release/rolling/mrpt_hwdrivers/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_img: - tag: release/rolling/mrpt_img/3.0.2-1 + tag: release/rolling/mrpt_img/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_imgui: - tag: release/rolling/mrpt_imgui/3.0.2-1 + tag: release/rolling/mrpt_imgui/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_io: - tag: release/rolling/mrpt_io/3.0.2-1 + tag: release/rolling/mrpt_io/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_kinematics: - tag: release/rolling/mrpt_kinematics/3.0.2-1 + tag: release/rolling/mrpt_kinematics/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_libapps: - tag: release/rolling/mrpt_libapps/2.15.18-1 + tag: release/rolling/mrpt_libapps/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_libapps_cli: - tag: release/rolling/mrpt_libapps_cli/3.0.2-1 + tag: release/rolling/mrpt_libapps_cli/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_libapps_gui: - tag: release/rolling/mrpt_libapps_gui/3.0.2-1 + tag: release/rolling/mrpt_libapps_gui/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_libbase: - tag: release/rolling/mrpt_libbase/2.15.18-1 + tag: release/rolling/mrpt_libbase/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_libgui: - tag: release/rolling/mrpt_libgui/2.15.18-1 + tag: release/rolling/mrpt_libgui/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_libhwdrivers: - tag: release/rolling/mrpt_libhwdrivers/2.15.18-1 + tag: release/rolling/mrpt_libhwdrivers/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_libmaps: - tag: release/rolling/mrpt_libmaps/2.15.18-1 + tag: release/rolling/mrpt_libmaps/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_libmath: - tag: release/rolling/mrpt_libmath/2.15.18-1 + tag: release/rolling/mrpt_libmath/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_libnav: - tag: release/rolling/mrpt_libnav/2.15.18-1 + tag: release/rolling/mrpt_libnav/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_libobs: - tag: release/rolling/mrpt_libobs/2.15.18-1 + tag: release/rolling/mrpt_libobs/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_libopengl: - tag: release/rolling/mrpt_libopengl/2.15.18-1 + tag: release/rolling/mrpt_libopengl/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_libposes: - tag: release/rolling/mrpt_libposes/2.15.18-1 + tag: release/rolling/mrpt_libposes/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_libros_bridge: tag: release/rolling/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/rolling/mrpt_libslam/2.15.18-1 + tag: release/rolling/mrpt_libslam/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_libtclap: - tag: release/rolling/mrpt_libtclap/2.15.18-1 + tag: release/rolling/mrpt_libtclap/2.15.21-1 url: https://github.com/ros2-gbp/mrpt_ros-release.git - version: 2.15.18 + version: 2.15.21 mrpt_map_server: tag: release/rolling/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/rolling/mrpt_maps/3.0.2-1 + tag: release/rolling/mrpt_maps/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_math: - tag: release/rolling/mrpt_math/3.0.2-1 + tag: release/rolling/mrpt_math/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_msgs: tag: release/rolling/mrpt_msgs/0.6.0-2 url: https://github.com/ros2-gbp/mrpt_msgs-release.git @@ -3100,9 +3148,9 @@ mrpt_msgs_bridge: url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 mrpt_nav: - tag: release/rolling/mrpt_nav/3.0.2-1 + tag: release/rolling/mrpt_nav/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_nav_interfaces: tag: release/rolling/mrpt_nav_interfaces/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git @@ -3112,17 +3160,17 @@ mrpt_navigation: url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 mrpt_obs: - tag: release/rolling/mrpt_obs/3.0.2-1 + tag: release/rolling/mrpt_obs/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_opengl: - tag: release/rolling/mrpt_opengl/3.0.2-1 + tag: release/rolling/mrpt_opengl/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_path_planning: - tag: release/rolling/mrpt_path_planning/0.3.0-2 + tag: release/rolling/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/rolling/mrpt_pf_localization/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git @@ -3132,21 +3180,21 @@ mrpt_pointcloud_pipeline: url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 mrpt_poses: - tag: release/rolling/mrpt_poses/3.0.2-1 + tag: release/rolling/mrpt_poses/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_random: - tag: release/rolling/mrpt_random/3.0.2-1 + tag: release/rolling/mrpt_random/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_reactivenav2d: tag: release/rolling/mrpt_reactivenav2d/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 mrpt_rtti: - tag: release/rolling/mrpt_rtti/3.0.2-1 + tag: release/rolling/mrpt_rtti/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_sensor_bumblebee_stereo: tag: release/rolling/mrpt_sensor_bumblebee_stereo/0.3.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git @@ -3172,25 +3220,25 @@ mrpt_sensors: url: https://github.com/ros2-gbp/mrpt_sensors-release.git version: 0.3.0 mrpt_serialization: - tag: release/rolling/mrpt_serialization/3.0.2-1 + tag: release/rolling/mrpt_serialization/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_slam: - tag: release/rolling/mrpt_slam/3.0.2-1 + tag: release/rolling/mrpt_slam/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_system: - tag: release/rolling/mrpt_system/3.0.2-1 + tag: release/rolling/mrpt_system/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_tfest: - tag: release/rolling/mrpt_tfest/3.0.2-1 + tag: release/rolling/mrpt_tfest/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_topography: - tag: release/rolling/mrpt_topography/3.0.2-1 + tag: release/rolling/mrpt_topography/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_tps_astar_planner: tag: release/rolling/mrpt_tps_astar_planner/2.5.0-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git @@ -3200,13 +3248,13 @@ mrpt_tutorials: url: https://github.com/ros2-gbp/mrpt_navigation-release.git version: 2.5.0 mrpt_typemeta: - tag: release/rolling/mrpt_typemeta/3.0.2-1 + tag: release/rolling/mrpt_typemeta/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrpt_viz: - tag: release/rolling/mrpt_viz/3.0.2-1 + tag: release/rolling/mrpt_viz/3.1.3-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.0.2 + version: 3.1.3 mrt_cmake_modules: tag: release/rolling/mrt_cmake_modules/1.0.11-2 url: https://github.com/ros2-gbp/mrt_cmake_modules-release.git @@ -3228,25 +3276,25 @@ mujoco_ros2_control_plugins: url: https://github.com/ros2-gbp/mujoco_ros2_control-release.git version: 0.0.2 mujoco_vendor: - tag: release/rolling/mujoco_vendor/0.0.8-3 + tag: release/rolling/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/rolling/multires_image/3.0.0-1 + tag: release/rolling/multires_image/4.0.1-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 3.0.0 + version: 4.0.1 mvsim: - tag: release/rolling/mvsim/1.3.0-2 + tag: release/rolling/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/rolling/nanoeigenpy/0.5.0-2 url: https://github.com/ros2-gbp/nanoeigenpy-release.git version: 0.5.0 -nanoflann: - tag: release/rolling/nanoflann/1.10.1-1 +nanoflann_vendor: + tag: release/rolling/nanoflann_vendor/1.12.1-1 url: https://github.com/ros2-gbp/nanoflann-release.git - version: 1.10.1 + version: 1.12.1 nao_button_sim: tag: release/rolling/nao_button_sim/1.0.1-2 url: https://github.com/ros2-gbp/nao_button_sim-release.git @@ -3276,21 +3324,25 @@ nao_sensor_msgs: url: https://github.com/ros2-gbp/nao_interfaces-release.git version: 1.0.0 nav2_minimal_tb3_sim: - tag: release/rolling/nav2_minimal_tb3_sim/1.2.0-2 + tag: release/rolling/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/rolling/nav2_minimal_tb4_description/1.2.0-2 + tag: release/rolling/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/rolling/nav2_minimal_tb4_sim/1.2.0-2 + tag: release/rolling/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/rolling/nav_msgs/5.10.0-1 + tag: release/rolling/nav_msgs/5.10.1-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.10.0 + version: 5.10.1 +ndcurves: + tag: release/rolling/ndcurves/2.3.0-1 + url: https://github.com/ros2-gbp/ndcurves-release.git + version: 2.3.0 neobotix_usboard_msgs: tag: release/rolling/neobotix_usboard_msgs/4.0.0-4 url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git @@ -3344,9 +3396,9 @@ ntrip_client: url: https://github.com/ros2-gbp/ntrip_client-release.git version: 1.4.1 ntrip_client_node: - tag: release/rolling/ntrip_client_node/0.7.4-2 + tag: release/rolling/ntrip_client_node/0.7.6-1 url: https://github.com/ros2-gbp/ublox_dgnss-release.git - version: 0.7.4 + version: 0.7.6 object_recognition_msgs: tag: release/rolling/object_recognition_msgs/2.0.0-5 url: https://github.com/ros2-gbp/object_recognition_msgs-release.git @@ -3452,13 +3504,17 @@ om_spring_actuator_controller: url: https://github.com/ros2-gbp/open_manipulator-release.git version: 4.1.2 omni_wheel_drive_controller: - tag: release/rolling/omni_wheel_drive_controller/6.7.0-1 + tag: release/rolling/omni_wheel_drive_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 ompl: - tag: release/rolling/ompl/1.7.0-3 + tag: release/rolling/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/rolling/onnxruntime_vendor/0.1.0-2 + url: https://github.com/ros2-gbp/onnxruntime_vendor-release.git + version: 0.1.0 open3d_vendor: tag: release/rolling/open3d_vendor/0.19.0-2 url: https://github.com/ros2-gbp/open3d_vendor-release.git @@ -3508,13 +3564,13 @@ orocos_kdl_vendor: url: https://github.com/ros2-gbp/orocos_kdl_vendor-release.git version: 0.8.0 ortools_vendor: - tag: release/rolling/ortools_vendor/9.9.0-10 + tag: release/rolling/ortools_vendor/9.9.1-5 url: https://github.com/ros2-gbp/ortools_vendor-release.git - version: 9.9.0 + version: 9.9.1 osqp_vendor: - tag: release/rolling/osqp_vendor/0.2.0-4 + tag: release/rolling/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/rolling/osrf_pycommon/2.1.7-2 url: https://github.com/ros2-gbp/osrf_pycommon-release.git @@ -3540,37 +3596,37 @@ ouxt_lint_common: url: https://github.com/ros2-gbp/ouxt_common-release.git version: 0.0.8 pal_statistics: - tag: release/rolling/pal_statistics/2.7.0-2 + tag: release/rolling/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/rolling/pal_statistics_msgs/2.7.0-2 + tag: release/rolling/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/rolling/pangolin/0.9.5-2 url: https://github.com/ros2-gbp/Pangolin-release.git version: 0.9.5 parallel_gripper_controller: - tag: release/rolling/parallel_gripper_controller/6.7.0-1 + tag: release/rolling/parallel_gripper_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 parameter_expression: tag: release/rolling/parameter_expression/0.0.2-2 url: https://github.com/ros2-gbp/parameter_expression-release.git version: 0.0.2 pcl_conversions: - tag: release/rolling/pcl_conversions/2.9.0-1 + tag: release/rolling/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/rolling/pcl_msgs/1.0.0-9 url: https://github.com/ros2-gbp/pcl_msgs-release.git version: 1.0.0 pcl_ros: - tag: release/rolling/pcl_ros/2.9.0-1 + tag: release/rolling/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/rolling/pendulum_control/0.38.0-1 url: https://github.com/ros2-gbp/demos-release.git @@ -3584,9 +3640,9 @@ perception: url: https://github.com/ros2-gbp/variants-release.git version: 0.13.0 perception_pcl: - tag: release/rolling/perception_pcl/2.9.0-1 + tag: release/rolling/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/rolling/performance_test/2.3.0-3 url: https://github.com/ros2-gbp/performance_test-release.git @@ -3668,29 +3724,29 @@ phidgets_temperature: url: https://github.com/ros2-gbp/phidgets_drivers-release.git version: 2.4.0 pick_ik: - tag: release/rolling/pick_ik/1.1.1-2 + tag: release/rolling/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/rolling/picknik_ament_copyright/0.0.2-5 url: https://github.com/ros2-gbp/picknik_ament_copyright-release.git version: 0.0.2 pid_controller: - tag: release/rolling/pid_controller/6.7.0-1 + tag: release/rolling/pid_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 pilz_industrial_motion_planner: - tag: release/rolling/pilz_industrial_motion_planner/2.14.1-2 + tag: release/rolling/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/rolling/pilz_industrial_motion_planner_testutils/2.14.1-2 + tag: release/rolling/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/rolling/pinocchio/4.0.0-2 + tag: release/rolling/pinocchio/4.1.0-1 url: https://github.com/ros2-gbp/pinocchio-release.git - version: 4.0.0 + version: 4.1.0 play_motion2: tag: release/rolling/play_motion2/1.8.4-2 url: https://github.com/ros2-gbp/play_motion2-release.git @@ -3724,29 +3780,29 @@ plotjuggler_ros: url: https://github.com/ros2-gbp/plotjuggler-ros-plugins-release.git version: 2.3.1 pluginlib: - tag: release/rolling/pluginlib/6.0.0-1 + tag: release/rolling/pluginlib/6.0.1-1 url: https://github.com/ros2-gbp/pluginlib-release.git - version: 6.0.0 + version: 6.0.1 point_cloud_interfaces: - tag: release/rolling/point_cloud_interfaces/6.1.0-2 + tag: release/rolling/point_cloud_interfaces/7.0.0-1 url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git - version: 6.1.0 + version: 7.0.0 point_cloud_msg_wrapper: tag: release/rolling/point_cloud_msg_wrapper/1.0.7-5 url: https://github.com/ros2-gbp/point_cloud_msg_wrapper-release.git version: 1.0.7 point_cloud_transport: - tag: release/rolling/point_cloud_transport/6.0.1-1 + tag: release/rolling/point_cloud_transport/6.0.2-1 url: https://github.com/ros2-gbp/point_cloud_transport-release.git - version: 6.0.1 + version: 6.0.2 point_cloud_transport_plugins: - tag: release/rolling/point_cloud_transport_plugins/6.1.0-2 + tag: release/rolling/point_cloud_transport_plugins/7.0.0-1 url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git - version: 6.1.0 + version: 7.0.0 point_cloud_transport_py: - tag: release/rolling/point_cloud_transport_py/6.0.1-1 + tag: release/rolling/point_cloud_transport_py/6.0.2-1 url: https://github.com/ros2-gbp/point_cloud_transport-release.git - version: 6.0.1 + version: 6.0.2 point_cloud_transport_tutorial: tag: release/rolling/point_cloud_transport_tutorial/0.0.9-2 url: https://github.com/ros2-gbp/point_cloud_transport_tutorial-release.git @@ -3772,49 +3828,49 @@ polygon_utils: url: https://github.com/ros2-gbp/polygon_ros-release.git version: 1.3.0 pose_broadcaster: - tag: release/rolling/pose_broadcaster/6.7.0-1 + tag: release/rolling/pose_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 pose_cov_ops: tag: release/rolling/pose_cov_ops/0.4.0-2 url: https://github.com/ros2-gbp/pose_cov_ops-release.git version: 0.4.0 protobuf_comm: - tag: release/rolling/protobuf_comm/0.9.3-2 + tag: release/rolling/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/rolling/proxsuite/0.6.5-2 + tag: release/rolling/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/rolling/py_binding_tools/2.1.2-3 + tag: release/rolling/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/rolling/py_trees/2.4.0-3 + tag: release/rolling/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/rolling/py_trees_js/0.6.6-3 + tag: release/rolling/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/rolling/py_trees_ros/2.4.0-3 + tag: release/rolling/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/rolling/py_trees_ros_interfaces/2.1.1-3 + tag: release/rolling/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/rolling/py_trees_ros_tutorials/2.4.0-3 + tag: release/rolling/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/rolling/py_trees_ros_viewer/0.2.5-3 + tag: release/rolling/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_vendor: tag: release/rolling/pybind11_vendor/3.3.1-2 url: https://github.com/ros2-gbp/pybind11_vendor-release.git @@ -3840,9 +3896,9 @@ python_orocos_kdl_vendor: url: https://github.com/ros2-gbp/orocos_kdl_vendor-release.git version: 0.8.0 python_qt_binding: - tag: release/rolling/python_qt_binding/2.6.0-1 + tag: release/rolling/python_qt_binding/2.6.1-1 url: https://github.com/ros2-gbp/python_qt_binding-release.git - version: 2.6.0 + version: 2.6.1 qml6_ros2_plugin: tag: release/rolling/qml6_ros2_plugin/4.26.42-2 url: https://github.com/ros2-gbp/qml6_ros2_plugin-release.git @@ -3856,29 +3912,29 @@ qpoases_vendor: url: https://github.com/ros2-gbp/qpoases_vendor-release.git version: 3.2.3 qt_dotgraph: - tag: release/rolling/qt_dotgraph/3.0.0-1 + tag: release/rolling/qt_dotgraph/3.0.2-1 url: https://github.com/ros2-gbp/qt_gui_core-release.git - version: 3.0.0 + version: 3.0.2 qt_gui: - tag: release/rolling/qt_gui/3.0.0-1 + tag: release/rolling/qt_gui/3.0.2-1 url: https://github.com/ros2-gbp/qt_gui_core-release.git - version: 3.0.0 + version: 3.0.2 qt_gui_app: - tag: release/rolling/qt_gui_app/3.0.0-1 + tag: release/rolling/qt_gui_app/3.0.2-1 url: https://github.com/ros2-gbp/qt_gui_core-release.git - version: 3.0.0 + version: 3.0.2 qt_gui_core: - tag: release/rolling/qt_gui_core/3.0.0-1 + tag: release/rolling/qt_gui_core/3.0.2-1 url: https://github.com/ros2-gbp/qt_gui_core-release.git - version: 3.0.0 + version: 3.0.2 qt_gui_cpp: - tag: release/rolling/qt_gui_cpp/3.0.0-1 + tag: release/rolling/qt_gui_cpp/3.0.2-1 url: https://github.com/ros2-gbp/qt_gui_core-release.git - version: 3.0.0 + version: 3.0.2 qt_gui_py_common: - tag: release/rolling/qt_gui_py_common/3.0.0-1 + tag: release/rolling/qt_gui_py_common/3.0.2-1 url: https://github.com/ros2-gbp/qt_gui_core-release.git - version: 3.0.0 + version: 3.0.2 quality_of_service_demo_cpp: tag: release/rolling/quality_of_service_demo_cpp/0.38.0-1 url: https://github.com/ros2-gbp/demos-release.git @@ -3896,13 +3952,13 @@ radar_msgs: url: https://github.com/ros2-gbp/radar_msgs-release.git version: 0.2.2 random_numbers: - tag: release/rolling/random_numbers/2.0.4-2 + tag: release/rolling/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/rolling/range_sensor_broadcaster/6.7.0-1 + tag: release/rolling/range_sensor_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 raspimouse: tag: release/rolling/raspimouse/2.0.0-2 url: https://github.com/ros2-gbp/raspimouse2-release.git @@ -3948,9 +4004,9 @@ rcl_action: url: https://github.com/ros2-gbp/rcl-release.git version: 10.5.1 rcl_interfaces: - tag: release/rolling/rcl_interfaces/2.5.0-1 + tag: release/rolling/rcl_interfaces/2.5.1-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git - version: 2.5.0 + version: 2.5.1 rcl_lifecycle: tag: release/rolling/rcl_lifecycle/10.5.1-1 url: https://github.com/ros2-gbp/rcl-release.git @@ -3996,29 +4052,29 @@ rclc_parameter: url: https://github.com/ros2-gbp/rclc-release.git version: 6.3.0 rclcpp: - tag: release/rolling/rclcpp/33.0.1-1 + tag: release/rolling/rclcpp/33.0.4-1 url: https://github.com/ros2-gbp/rclcpp-release.git - version: 33.0.1 + version: 33.0.4 rclcpp_action: - tag: release/rolling/rclcpp_action/33.0.1-1 + tag: release/rolling/rclcpp_action/33.0.4-1 url: https://github.com/ros2-gbp/rclcpp-release.git - version: 33.0.1 + version: 33.0.4 rclcpp_cascade_lifecycle: tag: release/rolling/rclcpp_cascade_lifecycle/2.0.4-2 url: https://github.com/ros2-gbp/cascade_lifecycle-release.git version: 2.0.4 rclcpp_components: - tag: release/rolling/rclcpp_components/33.0.1-1 + tag: release/rolling/rclcpp_components/33.0.4-1 url: https://github.com/ros2-gbp/rclcpp-release.git - version: 33.0.1 + version: 33.0.4 rclcpp_lifecycle: - tag: release/rolling/rclcpp_lifecycle/33.0.1-1 + tag: release/rolling/rclcpp_lifecycle/33.0.4-1 url: https://github.com/ros2-gbp/rclcpp-release.git - version: 33.0.1 + version: 33.0.4 rclpy: - tag: release/rolling/rclpy/11.0.1-1 + tag: release/rolling/rclpy/11.0.2-1 url: https://github.com/ros2-gbp/rclpy-release.git - version: 11.0.1 + version: 11.0.2 rclpy_cascade_lifecycle: tag: release/rolling/rclpy_cascade_lifecycle/2.0.4-2 url: https://github.com/ros2-gbp/cascade_lifecycle-release.git @@ -4032,9 +4088,9 @@ rclpy_message_converter_msgs: url: https://github.com/ros2-gbp/rospy_message_converter-release.git version: 2.0.2 rcpputils: - tag: release/rolling/rcpputils/2.15.0-1 + tag: release/rolling/rcpputils/2.15.1-1 url: https://github.com/ros2-gbp/rcpputils-release.git - version: 2.15.0 + version: 2.15.1 rcss3d_agent: tag: release/rolling/rcss3d_agent/0.4.1-4 url: https://github.com/ros2-gbp/rcss3d_agent-release.git @@ -4056,21 +4112,21 @@ rcss3d_nao: url: https://github.com/ros2-gbp/rcss3d_nao-release.git version: 1.2.0 rcutils: - tag: release/rolling/rcutils/7.2.0-1 + tag: release/rolling/rcutils/7.2.1-1 url: https://github.com/ros2-gbp/rcutils-release.git - version: 7.2.0 + version: 7.2.1 realsense2_camera: - tag: release/rolling/realsense2_camera/4.57.7-2 + tag: release/rolling/realsense2_camera/4.58.3-1 url: https://github.com/ros2-gbp/realsense-ros-release.git - version: 4.57.7 + version: 4.58.3 realsense2_camera_msgs: - tag: release/rolling/realsense2_camera_msgs/4.57.7-2 + tag: release/rolling/realsense2_camera_msgs/4.58.3-1 url: https://github.com/ros2-gbp/realsense-ros-release.git - version: 4.57.7 + version: 4.58.3 realsense2_description: - tag: release/rolling/realsense2_description/4.57.7-2 + tag: release/rolling/realsense2_description/4.58.3-1 url: https://github.com/ros2-gbp/realsense-ros-release.git - version: 4.57.7 + version: 4.58.3 realtime_tools: tag: release/rolling/realtime_tools/5.2.0-2 url: https://github.com/ros2-gbp/realtime_tools-release.git @@ -4084,29 +4140,29 @@ replay_testing: url: https://github.com/ros2-gbp/replay_testing-release.git version: 0.0.4 resource_retriever: - tag: release/rolling/resource_retriever/3.10.0-1 + tag: release/rolling/resource_retriever/3.10.1-1 url: https://github.com/ros2-gbp/resource_retriever-release.git - version: 3.10.0 + version: 3.10.1 resource_retriever_interfaces: - tag: release/rolling/resource_retriever_interfaces/1.0.0-1 + tag: release/rolling/resource_retriever_interfaces/1.0.1-1 url: https://github.com/ros2-gbp/resource_retriever_service-release.git - version: 1.0.0 + version: 1.0.1 resource_retriever_service: - tag: release/rolling/resource_retriever_service/1.0.0-1 + tag: release/rolling/resource_retriever_service/1.0.1-1 url: https://github.com/ros2-gbp/resource_retriever_service-release.git - version: 1.0.0 + version: 1.0.1 resource_retriever_service_plugin: - tag: release/rolling/resource_retriever_service_plugin/1.0.0-1 + tag: release/rolling/resource_retriever_service_plugin/1.0.1-1 url: https://github.com/ros2-gbp/resource_retriever_service-release.git - version: 1.0.0 + version: 1.0.1 rig_reconfigure: - tag: release/rolling/rig_reconfigure/1.6.0-2 + tag: release/rolling/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/rolling/rko_lio/0.2.0-2 + tag: release/rolling/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/rolling/rmf_api_msgs/0.5.0-2 url: https://github.com/ros2-gbp/rmf_api_msgs-release.git @@ -4316,9 +4372,9 @@ rmf_workcell_msgs: url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git version: 4.0.0 rmw: - tag: release/rolling/rmw/7.11.0-1 + tag: release/rolling/rmw/7.11.1-1 url: https://github.com/ros2-gbp/rmw-release.git - version: 7.11.0 + version: 7.11.1 rmw_connextdds: tag: release/rolling/rmw_connextdds/1.3.0-2 url: https://github.com/ros2-gbp/rmw_connextdds-release.git @@ -4332,41 +4388,45 @@ rmw_cyclonedds_cpp: url: https://github.com/ros2-gbp/rmw_cyclonedds-release.git version: 4.2.0 rmw_dds_common: - tag: release/rolling/rmw_dds_common/6.1.0-1 + tag: release/rolling/rmw_dds_common/6.1.1-1 url: https://github.com/ros2-gbp/rmw_dds_common-release.git - version: 6.1.0 + version: 6.1.1 rmw_desert: tag: release/rolling/rmw_desert/4.0.2-1 url: https://github.com/ros2-gbp/rmw_desert-release.git version: 4.0.2 rmw_fastrtps_cpp: - tag: release/rolling/rmw_fastrtps_cpp/9.5.1-1 + tag: release/rolling/rmw_fastrtps_cpp/9.5.2-1 url: https://github.com/ros2-gbp/rmw_fastrtps-release.git - version: 9.5.1 + version: 9.5.2 rmw_fastrtps_dynamic_cpp: - tag: release/rolling/rmw_fastrtps_dynamic_cpp/9.5.1-1 + tag: release/rolling/rmw_fastrtps_dynamic_cpp/9.5.2-1 url: https://github.com/ros2-gbp/rmw_fastrtps-release.git - version: 9.5.1 + version: 9.5.2 rmw_fastrtps_shared_cpp: - tag: release/rolling/rmw_fastrtps_shared_cpp/9.5.1-1 + tag: release/rolling/rmw_fastrtps_shared_cpp/9.5.2-1 url: https://github.com/ros2-gbp/rmw_fastrtps-release.git - version: 9.5.1 + version: 9.5.2 rmw_implementation: - tag: release/rolling/rmw_implementation/3.2.0-1 + tag: release/rolling/rmw_implementation/3.2.1-1 url: https://github.com/ros2-gbp/rmw_implementation-release.git - version: 3.2.0 + version: 3.2.1 rmw_implementation_cmake: - tag: release/rolling/rmw_implementation_cmake/7.11.0-1 + tag: release/rolling/rmw_implementation_cmake/7.11.1-1 url: https://github.com/ros2-gbp/rmw-release.git - version: 7.11.0 + version: 7.11.1 rmw_security_common: - tag: release/rolling/rmw_security_common/7.11.0-1 + tag: release/rolling/rmw_security_common/7.11.1-1 url: https://github.com/ros2-gbp/rmw-release.git - version: 7.11.0 + version: 7.11.1 rmw_stats_shim: tag: release/rolling/rmw_stats_shim/0.2.3-2 url: https://github.com/ros2-gbp/graph_monitor-release.git version: 0.2.3 +rmw_swiftdds_cpp: + tag: release/rolling/rmw_swiftdds_cpp/1.0.1-1 + url: https://github.com/ros2-gbp/rmw_swiftdds-release.git + version: 1.0.1 rmw_test_fixture: tag: release/rolling/rmw_test_fixture/0.16.0-1 url: https://github.com/ros2-gbp/ament_cmake_ros-release.git @@ -4376,37 +4436,61 @@ rmw_test_fixture_implementation: url: https://github.com/ros2-gbp/ament_cmake_ros-release.git version: 0.16.0 rmw_zenoh_cpp: - tag: release/rolling/rmw_zenoh_cpp/0.11.0-1 + tag: release/rolling/rmw_zenoh_cpp/0.12.0-1 url: https://github.com/ros2-gbp/rmw_zenoh-release.git - version: 0.11.0 + version: 0.12.0 roboplan: - tag: release/rolling/roboplan/0.4.0-1 + tag: release/rolling/roboplan/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.6.0 +roboplan_cartesian_planning: + tag: release/rolling/roboplan_cartesian_planning/0.6.0-1 + url: https://github.com/ros2-gbp/roboplan-release.git + version: 0.6.0 roboplan_example_models: - tag: release/rolling/roboplan_example_models/0.4.0-1 + tag: release/rolling/roboplan_example_models/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.6.0 roboplan_examples: - tag: release/rolling/roboplan_examples/0.4.0-1 + tag: release/rolling/roboplan_examples/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.6.0 roboplan_oink: - tag: release/rolling/roboplan_oink/0.4.0-1 + tag: release/rolling/roboplan_oink/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.6.0 +roboplan_ros_cpp: + tag: release/rolling/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/rolling/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/rolling/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/rolling/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/rolling/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/rolling/roboplan_rrt/0.4.0-1 + tag: release/rolling/roboplan_rrt/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.6.0 roboplan_simple_ik: - tag: release/rolling/roboplan_simple_ik/0.4.0-1 + tag: release/rolling/roboplan_simple_ik/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.6.0 roboplan_toppra: - tag: release/rolling/roboplan_toppra/0.4.0-1 + tag: release/rolling/roboplan_toppra/0.6.0-1 url: https://github.com/ros2-gbp/roboplan-release.git - version: 0.4.0 + version: 0.6.0 robot_arm_demo: tag: release/rolling/robot_arm_demo/0.1.0-1 url: https://github.com/ros2-gbp/rosidl_buffer_backends_tutorials-release.git @@ -4420,13 +4504,13 @@ robot_calibration_msgs: url: https://github.com/ros2-gbp/robot_calibration-release.git version: 0.10.1 robot_localization: - tag: release/rolling/robot_localization/3.10.0-3 + tag: release/rolling/robot_localization/3.10.1-1 url: https://github.com/ros2-gbp/robot_localization-release.git - version: 3.10.0 + version: 3.10.1 robot_state_publisher: - tag: release/rolling/robot_state_publisher/3.6.0-1 + tag: release/rolling/robot_state_publisher/3.6.1-1 url: https://github.com/ros2-gbp/robot_state_publisher-release.git - version: 3.6.0 + version: 3.6.1 robotiq_controllers: tag: release/rolling/robotiq_controllers/0.0.1-3 url: https://github.com/ros2-gbp/ros2_robotiq_gripper-release.git @@ -4444,25 +4528,25 @@ robotraconteur_companion: url: https://github.com/ros2-gbp/robotraconteur_companion-release.git version: 0.4.3 ros2_control: - tag: release/rolling/ros2_control/6.7.1-1 + tag: release/rolling/ros2_control/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.9.0 ros2_control_cmake: tag: release/rolling/ros2_control_cmake/1.0.0-2 url: https://github.com/ros2-gbp/ros2_control_cmake-release.git version: 1.0.0 ros2_control_test_assets: - tag: release/rolling/ros2_control_test_assets/6.7.1-1 + tag: release/rolling/ros2_control_test_assets/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.9.0 ros2_controllers: - tag: release/rolling/ros2_controllers/6.7.0-1 + tag: release/rolling/ros2_controllers/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 ros2_controllers_test_nodes: - tag: release/rolling/ros2_controllers_test_nodes/6.7.0-1 + tag: release/rolling/ros2_controllers_test_nodes/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 ros2_fmt_logger: tag: release/rolling/ros2_fmt_logger/1.1.0-2 url: https://github.com/ros2-gbp/ros2_fmt_logger-release.git @@ -4484,45 +4568,45 @@ ros2acceleration: url: https://github.com/ros2-gbp/ros2acceleration-release.git version: 0.5.1 ros2action: - tag: release/rolling/ros2action/0.41.0-1 + tag: release/rolling/ros2action/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2bag: tag: release/rolling/ros2bag/0.34.0-1 url: https://github.com/ros2-gbp/rosbag2-release.git version: 0.34.0 ros2cli: - tag: release/rolling/ros2cli/0.41.0-1 + tag: release/rolling/ros2cli/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2cli_common_extensions: tag: release/rolling/ros2cli_common_extensions/0.6.0-1 url: https://github.com/ros2-gbp/ros2cli_common_extensions-release.git version: 0.6.0 ros2cli_test_interfaces: - tag: release/rolling/ros2cli_test_interfaces/0.41.0-1 + tag: release/rolling/ros2cli_test_interfaces/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2component: - tag: release/rolling/ros2component/0.41.0-1 + tag: release/rolling/ros2component/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2controlcli: - tag: release/rolling/ros2controlcli/6.7.1-1 + tag: release/rolling/ros2controlcli/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.9.0 ros2doctor: - tag: release/rolling/ros2doctor/0.41.0-1 + tag: release/rolling/ros2doctor/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2interface: - tag: release/rolling/ros2interface/0.41.0-1 + tag: release/rolling/ros2interface/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2launch: - tag: release/rolling/ros2launch/0.30.0-1 + tag: release/rolling/ros2launch/0.30.1-1 url: https://github.com/ros2-gbp/launch_ros-release.git - version: 0.30.0 + version: 0.30.1 ros2launch_security: tag: release/rolling/ros2launch_security/1.0.0-5 url: https://github.com/ros2-gbp/ros2launch_security-release.git @@ -4532,53 +4616,53 @@ ros2launch_security_examples: url: https://github.com/ros2-gbp/ros2launch_security-release.git version: 1.0.0 ros2lifecycle: - tag: release/rolling/ros2lifecycle/0.41.0-1 + tag: release/rolling/ros2lifecycle/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2lifecycle_test_fixtures: - tag: release/rolling/ros2lifecycle_test_fixtures/0.41.0-1 + tag: release/rolling/ros2lifecycle_test_fixtures/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2multicast: - tag: release/rolling/ros2multicast/0.41.0-1 + tag: release/rolling/ros2multicast/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2node: - tag: release/rolling/ros2node/0.41.0-1 + tag: release/rolling/ros2node/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2nodl: tag: release/rolling/ros2nodl/0.3.1-5 url: https://github.com/ros2-gbp/nodl-release.git version: 0.3.1 ros2param: - tag: release/rolling/ros2param/0.41.0-1 + tag: release/rolling/ros2param/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2pkg: - tag: release/rolling/ros2pkg/0.41.0-1 + tag: release/rolling/ros2pkg/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2plugin: - tag: release/rolling/ros2plugin/6.0.0-1 + tag: release/rolling/ros2plugin/6.0.1-1 url: https://github.com/ros2-gbp/pluginlib-release.git - version: 6.0.0 + version: 6.0.1 ros2run: - tag: release/rolling/ros2run/0.41.0-1 + tag: release/rolling/ros2run/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2service: - tag: release/rolling/ros2service/0.41.0-1 + tag: release/rolling/ros2service/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2test: tag: release/rolling/ros2test/0.10.0-1 url: https://github.com/ros2-gbp/ros_testing-release.git version: 0.10.0 ros2topic: - tag: release/rolling/ros2topic/0.41.0-1 + tag: release/rolling/ros2topic/0.41.1-1 url: https://github.com/ros2-gbp/ros2cli-release.git - version: 0.41.0 + version: 0.41.1 ros2trace: tag: release/rolling/ros2trace/9.0.0-1 url: https://github.com/ros2-gbp/ros2_tracing-release.git @@ -4639,6 +4723,10 @@ ros_industrial_cmake_boilerplate: tag: release/rolling/ros_industrial_cmake_boilerplate/0.5.4-2 url: https://github.com/ros2-gbp/ros_industrial_cmake_boilerplate-release.git version: 0.5.4 +ros_snapd_interfaces: + tag: release/rolling/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/rolling/ros_testing/0.10.0-1 url: https://github.com/ros2-gbp/ros_testing-release.git @@ -4648,13 +4736,13 @@ ros_workspace: url: https://github.com/ros2-gbp/ros_workspace-release.git version: 1.0.3 rosapi: - tag: release/rolling/rosapi/4.2.0-1 + tag: release/rolling/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/rolling/rosapi_msgs/4.2.0-1 + tag: release/rolling/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/rolling/rosbag2/0.34.0-1 url: https://github.com/ros2-gbp/rosbag2-release.git @@ -4740,29 +4828,29 @@ rosbag2rawlog: url: https://github.com/ros2-gbp/mrpt_ros_bridge-release.git version: 3.5.3 rosbag_timing_inspector: - tag: release/rolling/rosbag_timing_inspector/1.0.0-1 + tag: release/rolling/rosbag_timing_inspector/1.0.2-1 url: https://github.com/ros2-gbp/rosbag_timing_inspector-release.git - version: 1.0.0 + version: 1.0.2 rosbridge_library: - tag: release/rolling/rosbridge_library/4.2.0-1 + tag: release/rolling/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/rolling/rosbridge_msgs/4.2.0-1 + tag: release/rolling/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/rolling/rosbridge_server/4.2.0-1 + tag: release/rolling/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/rolling/rosbridge_suite/4.2.0-1 + tag: release/rolling/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/rolling/rosbridge_test_msgs/4.2.0-1 + tag: release/rolling/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/rolling/rosgraph_monitor/0.2.3-2 url: https://github.com/ros2-gbp/graph_monitor-release.git @@ -4772,9 +4860,9 @@ rosgraph_monitor_msgs: url: https://github.com/ros2-gbp/graph_monitor-release.git version: 0.2.3 rosgraph_msgs: - tag: release/rolling/rosgraph_msgs/2.5.0-1 + tag: release/rolling/rosgraph_msgs/2.5.1-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git - version: 2.5.0 + version: 2.5.1 rosidl_adapter: tag: release/rolling/rosidl_adapter/5.3.1-2 url: https://github.com/ros2-gbp/rosidl-release.git @@ -4844,9 +4932,9 @@ rosidl_generator_py: url: https://github.com/ros2-gbp/rosidl_python-release.git version: 0.28.0 rosidl_generator_rs: - tag: release/rolling/rosidl_generator_rs/0.4.12-2 + tag: release/rolling/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/rolling/rosidl_generator_type_description/5.3.1-2 url: https://github.com/ros2-gbp/rosidl-release.git @@ -4955,6 +5043,10 @@ rosx_introspection: tag: release/rolling/rosx_introspection/2.3.0-2 url: https://github.com/ros2-gbp/rosx_introspection-release.git version: 2.3.0 +rplidar_driver: + tag: release/rolling/rplidar_driver/1.4.1-1 + url: https://github.com/ros2-gbp/rplidar_driver-release.git + version: 1.4.1 rpyutils: tag: release/rolling/rpyutils/0.8.0-1 url: https://github.com/ros2-gbp/rpyutils-release.git @@ -4976,33 +5068,33 @@ rqml_plugin_example: url: https://github.com/ros2-gbp/rqml-release.git version: 3.26.42 rqt: - tag: release/rolling/rqt/2.0.0-1 + tag: release/rolling/rqt/2.0.2-1 url: https://github.com/ros2-gbp/rqt-release.git - version: 2.0.0 + version: 2.0.2 rqt_action: tag: release/rolling/rqt_action/3.0.0-1 url: https://github.com/ros2-gbp/rqt_action-release.git version: 3.0.0 rqt_bag: - tag: release/rolling/rqt_bag/2.3.2-1 + tag: release/rolling/rqt_bag/2.3.3-1 url: https://github.com/ros2-gbp/rqt_bag-release.git - version: 2.3.2 + version: 2.3.3 rqt_bag_plugins: - tag: release/rolling/rqt_bag_plugins/2.3.2-1 + tag: release/rolling/rqt_bag_plugins/2.3.3-1 url: https://github.com/ros2-gbp/rqt_bag-release.git - version: 2.3.2 + version: 2.3.3 rqt_common_plugins: tag: release/rolling/rqt_common_plugins/1.2.0-4 url: https://github.com/ros2-gbp/rqt_common_plugins-release.git version: 1.2.0 rqt_console: - tag: release/rolling/rqt_console/3.0.0-1 + tag: release/rolling/rqt_console/3.0.1-1 url: https://github.com/ros2-gbp/rqt_console-release.git - version: 3.0.0 + version: 3.0.1 rqt_controller_manager: - tag: release/rolling/rqt_controller_manager/6.7.1-1 + tag: release/rolling/rqt_controller_manager/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.9.0 rqt_dotgraph: tag: release/rolling/rqt_dotgraph/0.0.5-2 url: https://github.com/ros2-gbp/rqt_dotgraph-release.git @@ -5012,21 +5104,21 @@ rqt_gauges: url: https://github.com/ros2-gbp/rqt_gauges-release.git version: 0.0.3 rqt_graph: - tag: release/rolling/rqt_graph/2.0.0-1 + tag: release/rolling/rqt_graph/2.0.2-1 url: https://github.com/ros2-gbp/rqt_graph-release.git - version: 2.0.0 + version: 2.0.2 rqt_gui: - tag: release/rolling/rqt_gui/2.0.0-1 + tag: release/rolling/rqt_gui/2.0.2-1 url: https://github.com/ros2-gbp/rqt-release.git - version: 2.0.0 + version: 2.0.2 rqt_gui_cpp: - tag: release/rolling/rqt_gui_cpp/2.0.0-1 + tag: release/rolling/rqt_gui_cpp/2.0.2-1 url: https://github.com/ros2-gbp/rqt-release.git - version: 2.0.0 + version: 2.0.2 rqt_gui_py: - tag: release/rolling/rqt_gui_py/2.0.0-1 + tag: release/rolling/rqt_gui_py/2.0.2-1 url: https://github.com/ros2-gbp/rqt-release.git - version: 2.0.0 + version: 2.0.2 rqt_image_overlay: tag: release/rolling/rqt_image_overlay/0.5.0-2 url: https://github.com/ros2-gbp/rqt_image_overlay-release.git @@ -5040,41 +5132,41 @@ rqt_image_view: url: https://github.com/ros2-gbp/rqt_image_view-release.git version: 2.0.5 rqt_joint_trajectory_controller: - tag: release/rolling/rqt_joint_trajectory_controller/6.7.0-1 + tag: release/rolling/rqt_joint_trajectory_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 rqt_moveit: tag: release/rolling/rqt_moveit/1.0.1-5 url: https://github.com/ros2-gbp/rqt_moveit-release.git version: 1.0.1 rqt_msg: - tag: release/rolling/rqt_msg/2.0.0-1 + tag: release/rolling/rqt_msg/2.0.2-1 url: https://github.com/ros2-gbp/rqt_msg-release.git - version: 2.0.0 + version: 2.0.2 rqt_play_motion_builder: tag: release/rolling/rqt_play_motion_builder/1.4.1-2 url: https://github.com/ros2-gbp/play_motion_builder-release.git version: 1.4.1 rqt_plot: - tag: release/rolling/rqt_plot/2.0.0-2 + tag: release/rolling/rqt_plot/2.0.1-1 url: https://github.com/ros2-gbp/rqt_plot-release.git - version: 2.0.0 + version: 2.0.1 rqt_publisher: - tag: release/rolling/rqt_publisher/2.0.0-1 + tag: release/rolling/rqt_publisher/2.0.1-1 url: https://github.com/ros2-gbp/rqt_publisher-release.git - version: 2.0.0 + version: 2.0.1 rqt_py_common: - tag: release/rolling/rqt_py_common/2.0.0-1 + tag: release/rolling/rqt_py_common/2.0.2-1 url: https://github.com/ros2-gbp/rqt-release.git - version: 2.0.0 + version: 2.0.2 rqt_py_console: - tag: release/rolling/rqt_py_console/2.0.0-1 + tag: release/rolling/rqt_py_console/2.0.1-1 url: https://github.com/ros2-gbp/rqt_py_console-release.git - version: 2.0.0 + version: 2.0.1 rqt_reconfigure: - tag: release/rolling/rqt_reconfigure/2.0.1-1 + tag: release/rolling/rqt_reconfigure/2.0.2-1 url: https://github.com/ros2-gbp/rqt_reconfigure-release.git - version: 2.0.1 + version: 2.0.2 rqt_robot_dashboard: tag: release/rolling/rqt_robot_dashboard/0.6.1-5 url: https://github.com/ros2-gbp/rqt_robot_dashboard-release.git @@ -5092,25 +5184,25 @@ rqt_runtime_monitor: url: https://github.com/ros2-gbp/rqt_runtime_monitor-release.git version: 1.0.0 rqt_service_caller: - tag: release/rolling/rqt_service_caller/2.0.0-1 + tag: release/rolling/rqt_service_caller/2.0.2-1 url: https://github.com/ros2-gbp/rqt_service_caller-release.git - version: 2.0.0 + version: 2.0.2 rqt_shell: - tag: release/rolling/rqt_shell/2.0.0-1 + tag: release/rolling/rqt_shell/2.0.1-1 url: https://github.com/ros2-gbp/rqt_shell-release.git - version: 2.0.0 + version: 2.0.1 rqt_srv: tag: release/rolling/rqt_srv/2.0.0-1 url: https://github.com/ros2-gbp/rqt_srv-release.git version: 2.0.0 rqt_tf_tree: - tag: release/rolling/rqt_tf_tree/1.1.0-1 + tag: release/rolling/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/rolling/rqt_topic/3.0.1-1 + tag: release/rolling/rqt_topic/3.0.2-1 url: https://github.com/ros2-gbp/rqt_topic-release.git - version: 3.0.1 + version: 3.0.2 rsl: tag: release/rolling/rsl/1.3.0-2 url: https://github.com/ros2-gbp/RSL-release.git @@ -5128,9 +5220,9 @@ rtcm_msgs: url: https://github.com/ros2-gbp/rtcm_msgs-release.git version: 1.1.6 rtest: - tag: release/rolling/rtest/0.2.2-2 + tag: release/rolling/rtest/0.2.3-1 url: https://github.com/ros2-gbp/rtest-release.git - version: 0.2.2 + version: 0.2.3 rti_connext_dds_cmake_module: tag: release/rolling/rti_connext_dds_cmake_module/1.3.0-2 url: https://github.com/ros2-gbp/rmw_connextdds-release.git @@ -5140,69 +5232,77 @@ rtsp_image_transport: url: https://github.com/ros2-gbp/rtsp_image_transport-release.git version: 2.0.2 rttest: - tag: release/rolling/rttest/1.0.0-1 + tag: release/rolling/rttest/1.0.1-1 url: https://github.com/ros2-gbp/realtime_support-release.git - version: 1.0.0 + version: 1.0.1 ruckig: tag: release/rolling/ruckig/0.9.2-5 url: https://github.com/ros2-gbp/ruckig-release.git version: 0.9.2 rviz2: - tag: release/rolling/rviz2/16.0.1-1 + tag: release/rolling/rviz2/16.0.2-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 16.0.1 + version: 16.0.2 rviz_2d_overlay_msgs: - tag: release/rolling/rviz_2d_overlay_msgs/1.4.1-2 + tag: release/rolling/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/rolling/rviz_2d_overlay_plugins/1.4.1-2 + tag: release/rolling/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/rolling/rviz_common/16.0.1-1 + tag: release/rolling/rviz_common/16.0.2-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 16.0.1 + version: 16.0.2 rviz_default_plugins: - tag: release/rolling/rviz_default_plugins/16.0.1-1 + tag: release/rolling/rviz_default_plugins/16.0.2-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 16.0.1 + version: 16.0.2 rviz_imu_plugin: - tag: release/rolling/rviz_imu_plugin/2.2.3-1 + tag: release/rolling/rviz_imu_plugin/2.2.4-2 url: https://github.com/ros2-gbp/imu_tools-release.git - version: 2.2.3 + version: 2.2.4 rviz_marker_tools: tag: release/rolling/rviz_marker_tools/0.1.5-2 url: https://github.com/ros2-gbp/moveit_task_constructor-release.git version: 0.1.5 rviz_ogre_vendor: - tag: release/rolling/rviz_ogre_vendor/16.0.1-1 + tag: release/rolling/rviz_ogre_vendor/16.0.2-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 16.0.1 + version: 16.0.2 rviz_rendering: - tag: release/rolling/rviz_rendering/16.0.1-1 + tag: release/rolling/rviz_rendering/16.0.2-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 16.0.1 + version: 16.0.2 rviz_rendering_tests: - tag: release/rolling/rviz_rendering_tests/16.0.1-1 + tag: release/rolling/rviz_rendering_tests/16.0.2-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 16.0.1 + version: 16.0.2 +rviz_satellite: + tag: release/rolling/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/rolling/rviz_visual_testing_framework/16.0.1-1 + tag: release/rolling/rviz_visual_testing_framework/16.0.2-1 url: https://github.com/ros2-gbp/rviz-release.git - version: 16.0.1 + version: 16.0.2 +rviz_visual_tools: + tag: release/rolling/rviz_visual_tools/4.2.0-1 + url: https://github.com/ros2-gbp/rviz_visual_tools-release.git + version: 4.2.0 sdformat_test_files: - tag: release/rolling/sdformat_test_files/2.1.0-2 + tag: release/rolling/sdformat_test_files/3.0.0-1 url: https://github.com/ros2-gbp/sdformat_urdf-release.git - version: 2.1.0 + version: 3.0.0 sdformat_urdf: - tag: release/rolling/sdformat_urdf/2.1.0-2 + tag: release/rolling/sdformat_urdf/3.0.0-1 url: https://github.com/ros2-gbp/sdformat_urdf-release.git - version: 2.1.0 + version: 3.0.0 sdformat_vendor: - tag: release/rolling/sdformat_vendor/0.4.0-1 + tag: release/rolling/sdformat_vendor/0.4.1-1 url: https://github.com/ros2-gbp/sdformat_vendor-release.git - version: 0.4.0 + version: 0.4.1 sdl2_vendor: tag: release/rolling/sdl2_vendor/3.3.0-3 url: https://github.com/ros2-gbp/joystick_drivers-release.git @@ -5212,17 +5312,17 @@ self_test: url: https://github.com/ros2-gbp/diagnostics-release.git version: 4.5.7 sensor_msgs: - tag: release/rolling/sensor_msgs/5.10.0-1 + tag: release/rolling/sensor_msgs/5.10.1-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.10.0 + version: 5.10.1 sensor_msgs_py: - tag: release/rolling/sensor_msgs_py/5.10.0-1 + tag: release/rolling/sensor_msgs_py/5.10.1-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.10.0 + version: 5.10.1 septentrio_gnss_driver: - tag: release/rolling/septentrio_gnss_driver/1.4.6-2 + tag: release/rolling/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/rolling/serial_driver/1.2.0-4 url: https://github.com/ros2-gbp/transport_drivers-release.git @@ -5232,17 +5332,17 @@ service_load_balancing: url: https://github.com/ros2-gbp/service_load_balancing-release.git version: 0.1.3 service_msgs: - tag: release/rolling/service_msgs/2.5.0-1 + tag: release/rolling/service_msgs/2.5.1-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git - version: 2.5.0 + version: 2.5.1 shape_msgs: - tag: release/rolling/shape_msgs/5.10.0-1 + tag: release/rolling/shape_msgs/5.10.1-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.10.0 + version: 5.10.1 sick_safetyscanners2: - tag: release/rolling/sick_safetyscanners2/1.0.4-2 + tag: release/rolling/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/rolling/sick_safetyscanners2_interfaces/1.0.0-2 url: https://github.com/ros2-gbp/sick_safetyscanners2_interfaces-release.git @@ -5311,10 +5411,6 @@ smclib: tag: release/rolling/smclib/4.4.0-2 url: https://github.com/ros2-gbp/bond_core-release.git version: 4.4.0 -snowbot_operating_system: - tag: release/rolling/snowbot_operating_system/0.1.2-5 - url: https://github.com/ros2-gbp/snowbot_release.git - version: 0.1.2 soccer_geometry_msgs: tag: release/rolling/soccer_geometry_msgs/1.0.0-2 url: https://github.com/ros2-gbp/soccer_interfaces-release.git @@ -5396,93 +5492,93 @@ sros2_cmake: url: https://github.com/ros2-gbp/sros2-release.git version: 0.17.0 state_interfaces_broadcaster: - tag: release/rolling/state_interfaces_broadcaster/6.7.0-1 + tag: release/rolling/state_interfaces_broadcaster/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 statistics_msgs: - tag: release/rolling/statistics_msgs/2.5.0-1 + tag: release/rolling/statistics_msgs/2.5.1-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git - version: 2.5.0 + version: 2.5.1 std_msgs: - tag: release/rolling/std_msgs/5.10.0-1 + tag: release/rolling/std_msgs/5.10.1-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.10.0 + version: 5.10.1 std_srvs: - tag: release/rolling/std_srvs/5.10.0-1 + tag: release/rolling/std_srvs/5.10.1-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.10.0 + version: 5.10.1 steering_controllers_library: - tag: release/rolling/steering_controllers_library/6.7.0-1 + tag: release/rolling/steering_controllers_library/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 steering_functions: tag: release/rolling/steering_functions/0.3.0-2 url: https://github.com/ros2-gbp/steering_functions-release.git version: 0.3.0 stereo_image_proc: - tag: release/rolling/stereo_image_proc/8.0.0-1 + tag: release/rolling/stereo_image_proc/8.0.1-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 8.0.0 + version: 8.0.1 stereo_msgs: - tag: release/rolling/stereo_msgs/5.10.0-1 + tag: release/rolling/stereo_msgs/5.10.1-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.10.0 + version: 5.10.1 stomp: tag: release/rolling/stomp/0.1.2-4 url: https://github.com/ros2-gbp/stomp-release.git version: 0.1.2 swri_cli_tools: - tag: release/rolling/swri_cli_tools/3.9.0-1 + tag: release/rolling/swri_cli_tools/3.9.0-2 url: https://github.com/ros2-gbp/marti_common-release.git version: 3.9.0 swri_console: - tag: release/rolling/swri_console/2.1.3-1 + tag: release/rolling/swri_console/2.3.0-1 url: https://github.com/ros2-gbp/swri_console-release.git - version: 2.1.3 + version: 2.3.0 swri_console_util: - tag: release/rolling/swri_console_util/3.9.0-1 + tag: release/rolling/swri_console_util/3.9.0-2 url: https://github.com/ros2-gbp/marti_common-release.git version: 3.9.0 swri_dbw_interface: - tag: release/rolling/swri_dbw_interface/3.9.0-1 + tag: release/rolling/swri_dbw_interface/3.9.0-2 url: https://github.com/ros2-gbp/marti_common-release.git version: 3.9.0 swri_geometry_util: - tag: release/rolling/swri_geometry_util/3.9.0-1 + tag: release/rolling/swri_geometry_util/3.9.0-2 url: https://github.com/ros2-gbp/marti_common-release.git version: 3.9.0 swri_image_util: - tag: release/rolling/swri_image_util/3.9.0-1 + tag: release/rolling/swri_image_util/3.9.0-2 url: https://github.com/ros2-gbp/marti_common-release.git version: 3.9.0 swri_math_util: - tag: release/rolling/swri_math_util/3.9.0-1 + tag: release/rolling/swri_math_util/3.9.0-2 url: https://github.com/ros2-gbp/marti_common-release.git version: 3.9.0 swri_opencv_util: - tag: release/rolling/swri_opencv_util/3.9.0-1 + tag: release/rolling/swri_opencv_util/3.9.0-2 url: https://github.com/ros2-gbp/marti_common-release.git version: 3.9.0 swri_roscpp: - tag: release/rolling/swri_roscpp/3.9.0-1 + tag: release/rolling/swri_roscpp/3.9.0-2 url: https://github.com/ros2-gbp/marti_common-release.git version: 3.9.0 swri_route_util: - tag: release/rolling/swri_route_util/3.9.0-1 + tag: release/rolling/swri_route_util/3.9.0-2 url: https://github.com/ros2-gbp/marti_common-release.git version: 3.9.0 swri_serial_util: - tag: release/rolling/swri_serial_util/3.9.0-1 + tag: release/rolling/swri_serial_util/3.9.0-2 url: https://github.com/ros2-gbp/marti_common-release.git version: 3.9.0 swri_transform_util: - tag: release/rolling/swri_transform_util/3.9.0-1 + tag: release/rolling/swri_transform_util/3.9.0-2 url: https://github.com/ros2-gbp/marti_common-release.git version: 3.9.0 sync_tooling_msgs: - tag: release/rolling/sync_tooling_msgs/0.2.10-1 + tag: release/rolling/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/rolling/system_fingerprint/0.7.0-4 url: https://github.com/ros2-gbp/ros_system_fingerprint-release.git @@ -5544,61 +5640,61 @@ test_interface_files: url: https://github.com/ros2-gbp/test_interface_files-release.git version: 0.15.0 test_msgs: - tag: release/rolling/test_msgs/2.5.0-1 + tag: release/rolling/test_msgs/2.5.1-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git - version: 2.5.0 + version: 2.5.1 tf2: - tag: release/rolling/tf2/0.46.0-1 + tag: release/rolling/tf2/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 tf2_2d: tag: release/rolling/tf2_2d/1.6.1-2 url: https://github.com/ros2-gbp/tf2_2d-release.git version: 1.6.1 tf2_bullet: - tag: release/rolling/tf2_bullet/0.46.0-1 + tag: release/rolling/tf2_bullet/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 tf2_eigen: - tag: release/rolling/tf2_eigen/0.46.0-1 + tag: release/rolling/tf2_eigen/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 tf2_eigen_kdl: - tag: release/rolling/tf2_eigen_kdl/0.46.0-1 + tag: release/rolling/tf2_eigen_kdl/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 tf2_geometry_msgs: - tag: release/rolling/tf2_geometry_msgs/0.46.0-1 + tag: release/rolling/tf2_geometry_msgs/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 tf2_kdl: - tag: release/rolling/tf2_kdl/0.46.0-1 + tag: release/rolling/tf2_kdl/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 tf2_msgs: - tag: release/rolling/tf2_msgs/0.46.0-1 + tag: release/rolling/tf2_msgs/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 tf2_py: - tag: release/rolling/tf2_py/0.46.0-1 + tag: release/rolling/tf2_py/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 tf2_ros: - tag: release/rolling/tf2_ros/0.46.0-1 + tag: release/rolling/tf2_ros/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 tf2_ros_py: - tag: release/rolling/tf2_ros_py/0.46.0-1 + tag: release/rolling/tf2_ros_py/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 tf2_sensor_msgs: - tag: release/rolling/tf2_sensor_msgs/0.46.0-1 + tag: release/rolling/tf2_sensor_msgs/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 tf2_tools: - tag: release/rolling/tf2_tools/0.46.0-1 + tag: release/rolling/tf2_tools/0.46.3-1 url: https://github.com/ros2-gbp/geometry2-release.git - version: 0.46.0 + version: 0.46.3 tf2_web_republisher: tag: release/rolling/tf2_web_republisher/1.0.0-2 url: https://github.com/ros2-gbp/tf2_web_republisher-release.git @@ -5616,13 +5712,13 @@ tf_tree_terminal: url: https://github.com/ros2-gbp/tf_tree_terminal-release.git version: 2.0.0 theora_image_transport: - tag: release/rolling/theora_image_transport/7.0.0-1 + tag: release/rolling/theora_image_transport/7.0.1-1 url: https://github.com/ros2-gbp/image_transport_plugins-release.git - version: 7.0.0 + version: 7.0.1 tile_map: - tag: release/rolling/tile_map/3.0.0-1 + tag: release/rolling/tile_map/4.0.1-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 3.0.0 + version: 4.0.1 tinyspline_vendor: tag: release/rolling/tinyspline_vendor/0.6.1-2 url: https://github.com/ros2-gbp/tinyspline_vendor-release.git @@ -5640,9 +5736,9 @@ tlsf: url: https://github.com/ros2-gbp/tlsf-release.git version: 0.12.0 tlsf_cpp: - tag: release/rolling/tlsf_cpp/1.0.0-1 + tag: release/rolling/tlsf_cpp/1.0.1-1 url: https://github.com/ros2-gbp/realtime_support-release.git - version: 1.0.0 + version: 1.0.1 topic_monitor: tag: release/rolling/topic_monitor/0.38.0-1 url: https://github.com/ros2-gbp/demos-release.git @@ -5660,9 +5756,9 @@ topic_tools_interfaces: url: https://github.com/ros2-gbp/topic_tools-release.git version: 1.6.0 toppra: - tag: release/rolling/toppra/0.6.8-1 + tag: release/rolling/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/rolling/torch_conversions/0.1.2-1 url: https://github.com/ros2-gbp/rosidl_buffer_backends-release.git @@ -5692,9 +5788,9 @@ tracetools_analysis: url: https://github.com/ros2-gbp/tracetools_analysis-release.git version: 3.1.0 tracetools_image_pipeline: - tag: release/rolling/tracetools_image_pipeline/8.0.0-1 + tag: release/rolling/tracetools_image_pipeline/8.0.1-1 url: https://github.com/ros2-gbp/image_pipeline-release.git - version: 8.0.0 + version: 8.0.1 tracetools_launch: tag: release/rolling/tracetools_launch/9.0.0-1 url: https://github.com/ros2-gbp/ros2_tracing-release.git @@ -5712,21 +5808,21 @@ tracetools_trace: url: https://github.com/ros2-gbp/ros2_tracing-release.git version: 9.0.0 trajectory_msgs: - tag: release/rolling/trajectory_msgs/5.10.0-1 + tag: release/rolling/trajectory_msgs/5.10.1-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.10.0 + version: 5.10.1 transmission_interface: - tag: release/rolling/transmission_interface/6.7.1-1 + tag: release/rolling/transmission_interface/6.9.0-1 url: https://github.com/ros2-gbp/ros2_control-release.git - version: 6.7.1 + version: 6.9.0 tricycle_controller: - tag: release/rolling/tricycle_controller/6.7.0-1 + tag: release/rolling/tricycle_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 tricycle_steering_controller: - tag: release/rolling/tricycle_steering_controller/6.7.0-1 + tag: release/rolling/tricycle_steering_controller/6.9.0-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git - version: 6.7.0 + version: 6.9.0 tsid: tag: release/rolling/tsid/1.10.0-1 url: https://github.com/ros2-gbp/tsid-release.git @@ -5784,13 +5880,13 @@ turtlebot3_simulations: url: https://github.com/ros2-gbp/turtlebot3_simulations-release.git version: 2.3.7 turtlesim: - tag: release/rolling/turtlesim/1.11.1-1 + tag: release/rolling/turtlesim/1.11.2-1 url: https://github.com/ros2-gbp/ros_tutorials-release.git - version: 1.11.1 + version: 1.11.2 turtlesim_msgs: - tag: release/rolling/turtlesim_msgs/1.11.1-1 + tag: release/rolling/turtlesim_msgs/1.11.2-1 url: https://github.com/ros2-gbp/ros_tutorials-release.git - version: 1.11.1 + version: 1.11.2 tuw_airskin_msgs: tag: release/rolling/tuw_airskin_msgs/0.2.6-2 url: https://github.com/ros2-gbp/tuw_msgs-release.git @@ -5852,21 +5948,21 @@ twist_stamper: url: https://github.com/ros2-gbp/twist_stamper-release.git version: 0.0.5 type_description_interfaces: - tag: release/rolling/type_description_interfaces/2.5.0-1 + tag: release/rolling/type_description_interfaces/2.5.1-1 url: https://github.com/ros2-gbp/rcl_interfaces-release.git - version: 2.5.0 + version: 2.5.1 ublox: tag: release/rolling/ublox/3.0.0-2 url: https://github.com/ros2-gbp/ublox-release.git version: 3.0.0 ublox_dgnss: - tag: release/rolling/ublox_dgnss/0.7.4-2 + tag: release/rolling/ublox_dgnss/0.7.6-1 url: https://github.com/ros2-gbp/ublox_dgnss-release.git - version: 0.7.4 + version: 0.7.6 ublox_dgnss_node: - tag: release/rolling/ublox_dgnss_node/0.7.4-2 + tag: release/rolling/ublox_dgnss_node/0.7.6-1 url: https://github.com/ros2-gbp/ublox_dgnss-release.git - version: 0.7.4 + version: 0.7.6 ublox_gps: tag: release/rolling/ublox_gps/3.0.0-2 url: https://github.com/ros2-gbp/ublox-release.git @@ -5876,21 +5972,21 @@ ublox_msgs: url: https://github.com/ros2-gbp/ublox-release.git version: 3.0.0 ublox_nav_sat_fix_hp_node: - tag: release/rolling/ublox_nav_sat_fix_hp_node/0.7.4-2 + tag: release/rolling/ublox_nav_sat_fix_hp_node/0.7.6-1 url: https://github.com/ros2-gbp/ublox_dgnss-release.git - version: 0.7.4 + version: 0.7.6 ublox_serialization: tag: release/rolling/ublox_serialization/3.0.0-2 url: https://github.com/ros2-gbp/ublox-release.git version: 3.0.0 ublox_ubx_interfaces: - tag: release/rolling/ublox_ubx_interfaces/0.7.4-2 + tag: release/rolling/ublox_ubx_interfaces/0.7.6-1 url: https://github.com/ros2-gbp/ublox_dgnss-release.git - version: 0.7.4 + version: 0.7.6 ublox_ubx_msgs: - tag: release/rolling/ublox_ubx_msgs/0.7.4-2 + tag: release/rolling/ublox_ubx_msgs/0.7.6-1 url: https://github.com/ros2-gbp/ublox_dgnss-release.git - version: 0.7.4 + version: 0.7.6 udp_driver: tag: release/rolling/udp_driver/1.2.0-4 url: https://github.com/ros2-gbp/transport_drivers-release.git @@ -5899,6 +5995,10 @@ udp_msgs: tag: release/rolling/udp_msgs/0.0.5-2 url: https://github.com/ros2-gbp/udp_msgs-release.git version: 0.0.5 +unbag: + tag: release/rolling/unbag/1.3.0-1 + url: https://github.com/ros2-gbp/unbag-release.git + version: 1.3.0 uncrustify_vendor: tag: release/rolling/uncrustify_vendor/3.3.0-1 url: https://github.com/ros2-gbp/uncrustify_vendor-release.git @@ -5908,41 +6008,45 @@ unique_identifier_msgs: url: https://github.com/ros2-gbp/unique_identifier_msgs-release.git version: 2.9.0 ur: - tag: release/rolling/ur/6.0.0-1 + tag: release/rolling/ur/7.0.0-1 url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git - version: 6.0.0 + version: 7.0.0 +ur10_inverse_dynamics_solver: + tag: release/rolling/ur10_inverse_dynamics_solver/6.0.1-4 + url: https://github.com/ros2-gbp/inverse_dynamics_solver-release.git + version: 6.0.1 ur_calibration: - tag: release/rolling/ur_calibration/6.0.0-1 + tag: release/rolling/ur_calibration/7.0.0-1 url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git - version: 6.0.0 + version: 7.0.0 ur_client_library: - tag: release/rolling/ur_client_library/2.12.0-1 + tag: release/rolling/ur_client_library/2.14.1-1 url: https://github.com/ros2-gbp/Universal_Robots_Client_Library-release.git - version: 2.12.0 + version: 2.14.1 ur_controllers: - tag: release/rolling/ur_controllers/6.0.0-1 + tag: release/rolling/ur_controllers/7.0.0-1 url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git - version: 6.0.0 + version: 7.0.0 ur_dashboard_msgs: - tag: release/rolling/ur_dashboard_msgs/6.0.0-1 + tag: release/rolling/ur_dashboard_msgs/7.0.0-1 url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git - version: 6.0.0 + version: 7.0.0 ur_description: tag: release/rolling/ur_description/4.3.1-1 url: https://github.com/ros2-gbp/ur_description-release.git version: 4.3.1 ur_moveit_config: - tag: release/rolling/ur_moveit_config/6.0.0-1 + tag: release/rolling/ur_moveit_config/7.0.0-1 url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git - version: 6.0.0 + version: 7.0.0 ur_msgs: - tag: release/rolling/ur_msgs/2.5.0-2 + tag: release/rolling/ur_msgs/3.0.0-1 url: https://github.com/ros2-gbp/ur_msgs-release.git - version: 2.5.0 + version: 3.0.0 ur_robot_driver: - tag: release/rolling/ur_robot_driver/6.0.0-1 + tag: release/rolling/ur_robot_driver/7.0.0-1 url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git - version: 6.0.0 + version: 7.0.0 ur_simulation_gz: tag: release/rolling/ur_simulation_gz/2.5.0-2 url: https://github.com/ros2-gbp/ur_simulation_gz-release.git @@ -5968,13 +6072,13 @@ urdf_tutorial: url: https://github.com/ros2-gbp/urdf_tutorial-release.git version: 1.1.0 urdfdom: - tag: release/rolling/urdfdom/6.0.0-2 + tag: release/rolling/urdfdom/6.0.1-1 url: https://github.com/ros2-gbp/urdfdom-release.git - version: 6.0.0 + version: 6.0.1 urdfdom_headers: - tag: release/rolling/urdfdom_headers/3.0.0-2 + tag: release/rolling/urdfdom_headers/3.0.1-1 url: https://github.com/ros2-gbp/urdfdom_headers-release.git - version: 3.0.0 + version: 3.0.1 urdfdom_py: tag: release/rolling/urdfdom_py/1.2.1-3 url: https://github.com/ros2-gbp/urdfdom_py-release.git @@ -5996,9 +6100,9 @@ usb_cam: url: https://github.com/ros2-gbp/usb_cam-release.git version: 0.8.1 v4l2_camera: - tag: release/rolling/v4l2_camera/0.8.0-2 + tag: release/rolling/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/rolling/velodyne/2.5.1-2 url: https://github.com/ros2-gbp/velodyne-release.git @@ -6040,9 +6144,9 @@ visp: url: https://github.com/ros2-gbp/visp-release.git version: 3.7.0 visualization_msgs: - tag: release/rolling/visualization_msgs/5.10.0-1 + tag: release/rolling/visualization_msgs/5.10.1-1 url: https://github.com/ros2-gbp/common_interfaces-release.git - version: 5.10.0 + version: 5.10.1 vitis_common: tag: release/rolling/vitis_common/0.4.2-4 url: https://github.com/ros2-gbp/vitis_common-release.git @@ -6056,13 +6160,13 @@ vrpn_mocap: url: https://github.com/ros2-gbp/vrpn_mocap-release.git version: 1.1.0 warehouse_ros: - tag: release/rolling/warehouse_ros/2.0.6-2 + tag: release/rolling/warehouse_ros/2.0.8-1 url: https://github.com/ros2-gbp/warehouse_ros-release.git - version: 2.0.6 + version: 2.0.8 warehouse_ros_sqlite: - tag: release/rolling/warehouse_ros_sqlite/1.0.7-2 + tag: release/rolling/warehouse_ros_sqlite/1.0.9-1 url: https://github.com/ros2-gbp/warehouse_ros_sqlite-release.git - version: 1.0.7 + version: 1.0.9 web_video_server: tag: release/rolling/web_video_server/3.1.1-1 url: https://github.com/ros2-gbp/web_video_server-release.git @@ -6140,45 +6244,45 @@ yaml_cpp_vendor: url: https://github.com/ros2-gbp/yaml_cpp_vendor-release.git version: 9.3.0 yasmin: - tag: release/rolling/yasmin/5.0.0-2 + tag: release/rolling/yasmin/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_cli: - tag: release/rolling/yasmin_cli/5.0.0-2 + tag: release/rolling/yasmin_cli/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_demos: - tag: release/rolling/yasmin_demos/5.0.0-2 + tag: release/rolling/yasmin_demos/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_editor: - tag: release/rolling/yasmin_editor/5.0.0-2 + tag: release/rolling/yasmin_editor/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_factory: - tag: release/rolling/yasmin_factory/5.0.0-2 + tag: release/rolling/yasmin_factory/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_msgs: - tag: release/rolling/yasmin_msgs/5.0.0-2 + tag: release/rolling/yasmin_msgs/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_pcl: - tag: release/rolling/yasmin_pcl/5.0.0-2 + tag: release/rolling/yasmin_pcl/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_plugins_manager: - tag: release/rolling/yasmin_plugins_manager/5.0.0-2 + tag: release/rolling/yasmin_plugins_manager/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_ros: - tag: release/rolling/yasmin_ros/5.0.0-2 + tag: release/rolling/yasmin_ros/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_viewer: - tag: release/rolling/yasmin_viewer/5.0.0-2 + tag: release/rolling/yasmin_viewer/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 zbar_ros: tag: release/rolling/zbar_ros/0.7.0-2 url: https://github.com/ros2-gbp/zbar_ros-release.git @@ -6200,17 +6304,17 @@ zenoh_bridge_dds: url: https://github.com/ros2-gbp/zenoh_bridge_dds-release.git version: 0.5.0 zenoh_cpp_vendor: - tag: release/rolling/zenoh_cpp_vendor/0.11.0-1 + tag: release/rolling/zenoh_cpp_vendor/0.12.0-1 url: https://github.com/ros2-gbp/rmw_zenoh-release.git - version: 0.11.0 + version: 0.12.0 zenoh_security_tools: - tag: release/rolling/zenoh_security_tools/0.11.0-1 + tag: release/rolling/zenoh_security_tools/0.12.0-1 url: https://github.com/ros2-gbp/rmw_zenoh-release.git - version: 0.11.0 + version: 0.12.0 zlib_point_cloud_transport: - tag: release/rolling/zlib_point_cloud_transport/6.1.0-2 + tag: release/rolling/zlib_point_cloud_transport/7.0.0-1 url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git - version: 6.1.0 + version: 7.0.0 zmqpp_vendor: tag: release/rolling/zmqpp_vendor/0.0.2-4 url: https://github.com/ros2-gbp/zmqpp_vendor-release.git @@ -6220,10 +6324,10 @@ zstd_cmake_module: url: https://github.com/ros2-gbp/rosbag2-release.git version: 0.34.0 zstd_image_transport: - tag: release/rolling/zstd_image_transport/7.0.0-1 + tag: release/rolling/zstd_image_transport/7.0.1-1 url: https://github.com/ros2-gbp/image_transport_plugins-release.git - version: 7.0.0 + version: 7.0.1 zstd_point_cloud_transport: - tag: release/rolling/zstd_point_cloud_transport/6.1.0-2 + tag: release/rolling/zstd_point_cloud_transport/7.0.0-1 url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git - version: 6.1.0 + version: 7.0.0 diff --git a/vinca.yaml b/vinca.yaml index 90eac458..d8a23462 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -1,24 +1,28 @@ ros_distro: rolling +package_name_mode: both + # mapping for package keys conda_index: - robostack.yaml - packages-ignore.yaml -# Reminder for next full rebuild, the next build number should be 24 -build_number: 23 +# Reminder for next full rebuild, the next build number should be 25 +build_number: 24 mutex_package: name: "ros2-distro-mutex" - version: "0.18.0" + version: "0.19.0" upper_bound: "x.x" run_constraints: - libboost 1.90.* - libboost-devel 1.90.* - pcl 1.15.1.* - gazebo 11.* - - libprotobuf 6.33.5.* + - libprotobuf 7.35.1.* - vtk 9.6.2.* + # 3.13.2 requires hdf5 2.1.0, but not compatible with vtk-base 9.6.2 + - libgdal 3.13.1.* packages_skip_by_deps: - rplidar_ros @@ -33,6 +37,12 @@ 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 @@ -81,7 +91,6 @@ packages_select_by_deps: - bond_core - bondcpp - can_msgs - - cm_executors - data_tamer_cpp # Requested in https://github.com/RoboStack/ros-humble/issues/325 - desktop - desktop_full