Linux_64 - rebuild September 2024

.github/workflows/testpr.yml

@@ -121,6 +121,7 @@ jobs:
       shell: bash -l {0}
       if: steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-64'
       run: |
+        echo "CONDA_BLD_PATH=$HOME/conda-bld" >> $GITHUB_ENV
         git clean -fdx
         cp vinca_linux_64.yaml vinca.yaml
         vinca --platform linux-64
@@ -174,7 +175,9 @@ jobs:
     - name: Build recipes for linux-64
       shell: bash -l {0}
       run: |
+        mkdir -p $CONDA_BLD_PATH
         boa build additional_recipes/ros2-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml
+        conda index $CONDA_BLD_PATH
         boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml
       if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-64'
     - name: Build recipes for linux-aarch64

additional_recipes/ros2-distro-mutex/recipe.yaml

@@ -1,10 +1,12 @@
 package:
   name: ros2-distro-mutex
-  version: 0.5.0
+  version: 0.6.0
 
 build:
   number: 0
-  string: humble
+  # Note: keep in sync with build number
+  # Cannot be done automatically, see https://github.com/mamba-org/boa/issues/278
+  string: humble_0
   run_exports:
     weak:
       - "{{ pin_subpackage('ros2-distro-mutex', max_pin='x.x') }}"
@@ -29,11 +31,12 @@ requirements:
   # if the upstream package does not have run_exports
   # please change it in the conda_build_config.yaml!
   run_constrained:
-    - libboost 1.82
-    - libboost-devel 1.82
-    - pcl 1.13.1
+    - libboost 1.86
+    - libboost-devel 1.86
+    - pcl 1.14.1
     - gazebo 11
     - libpqxx 6
+    - libprotobuf 4.25.3
 
 about:
   home: https://github.com/robostack/ros-humble

patch/dependencies.yaml

@@ -84,7 +84,7 @@ popf:
 rtabmap:
   add_host: ["REQUIRE_OPENGL", "ceres-solver", "libdc1394", "libusb", "vtk"]
 backward_ros:
-  add_host: [{sel(linux or (osx and x86_64)): binutils}, {sel(linux): elfutils}]
+  add_host: [{sel(linux or (osx and x86_64)): binutils}, {sel(linux): elfutils}, "ros-humble-ament-cmake-libraries"]
 nav2_smac_planner:
   add_build: [{"sel(osx)": "llvm-openmp"}]
   add_host: [{"sel(osx)": "llvm-openmp"}, "ompl", "libode"]
@@ -162,3 +162,5 @@ velodyne_pointcloud:
   add_host: ["libboost-devel"]
 motion_capture_tracking:
   add_host: ["REQUIRE_OPENGL", "libboost-devel"]
+rosx_introspection:
+  add_host: ["rapidjson"]

patch/ros-humble-backward-ros.patch

@@ -1,34 +1,15 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 8927192..cb461f6 100644
+index 64af86c..9be355d 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -29,6 +29,7 @@ include(cmake/BackwardConfig.cmake)
+@@ -27,6 +27,7 @@ include(cmake/BackwardConfig.cmake)
 
  set(CMAKE_CXX_STANDARD_REQUIRED True)
  set(CMAKE_CXX_STANDARD 11)
 +set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 
  ###############################################################################
  # COMPILER FLAGS
-diff --git a/cmake/BackwardConfigAment.cmake b/cmake/BackwardConfigAment.cmake
-index 273a51a..d981cbb 100644
---- a/cmake/BackwardConfigAment.cmake
-+++ b/cmake/BackwardConfigAment.cmake
-@@ -24,5 +24,13 @@ foreach(lib ${backward_ros_forced_LIBRARIES})
-         set(backward_ros_full_path_LIBRARIES "${backward_ros_full_path_LIBRARIES} ${lib}")
-     endif()
- endforeach()
--SET(CMAKE_EXE_LINKER_FLAGS "-Wl,--no-as-needed ${backward_ros_full_path_LIBRARIES} -Wl,--as-needed ${CMAKE_EXE_LINKER_FLAGS}")
-+set(no_as_needed)
-+set(as_needed)
-
-+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-+    set(no_as_needed "-Wl,--no-as-needed")
-+    set(as_needed "-Wl,--as-needed")
-+endif()
-+
-+SET(CMAKE_EXE_LINKER_FLAGS "${no_as_needed} ${backward_ros_full_path_LIBRARIES} ${as_needed} ${CMAKE_EXE_LINKER_FLAGS}")
-+ 
 diff --git a/cmake/BackwardConfig.cmake b/cmake/BackwardConfig.cmake
 index 77d22d2..8e95287 100644
 --- a/cmake/BackwardConfig.cmake
@@ -51,3 +32,34 @@ index 77d22d2..8e95287 100644
  )
  list(APPEND _BACKWARD_INCLUDE_DIRS ${BACKWARD_INCLUDE_DIR})
 
+diff --git a/cmake/BackwardConfigAment.cmake b/cmake/BackwardConfigAment.cmake
+index 273a51a..d981cbb 100644
+--- a/cmake/BackwardConfigAment.cmake
++++ b/cmake/BackwardConfigAment.cmake
+@@ -24,5 +24,13 @@ foreach(lib ${backward_ros_forced_LIBRARIES})
+         set(backward_ros_full_path_LIBRARIES "${backward_ros_full_path_LIBRARIES} ${lib}")
+     endif()
+ endforeach()
+-SET(CMAKE_EXE_LINKER_FLAGS "-Wl,--no-as-needed ${backward_ros_full_path_LIBRARIES} -Wl,--as-needed ${CMAKE_EXE_LINKER_FLAGS}")
++set(no_as_needed)
++set(as_needed)
+
++if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
++    set(no_as_needed "-Wl,--no-as-needed")
++    set(as_needed "-Wl,--as-needed")
++endif()
++
++SET(CMAKE_EXE_LINKER_FLAGS "${no_as_needed} ${backward_ros_full_path_LIBRARIES} ${as_needed} ${CMAKE_EXE_LINKER_FLAGS}")
++ 
+diff --git a/package.xml b/package.xml
+index e8bc10a..d39e613 100644
+--- a/package.xml
++++ b/package.xml
+@@ -11,6 +11,7 @@
+   <url type="website">https://github.com/pal-robotics/backward_ros</url>
+
+   <buildtool_depend>cmake</buildtool_depend>
++  <buildtool_depend>ament_cmake_libraries</buildtool_depend>
+
+   <depend>libdw-dev</depend>
+

patch/ros-humble-cartographer-ros.patch

@@ -11,27 +11,6 @@ index 1beca59..3b63beb 100644
 
  include_directories(
    include
-@@ -59,20 +61,13 @@ include_directories(
- # Library
- add_library(${PROJECT_NAME}
-   src/assets_writer.cpp
--  src/assets_writer_main.cpp
-   src/map_builder_bridge.cpp
-   src/msg_conversion.cpp
-   src/node_constants.cpp
-   src/node.cpp
--  src/node_main.cpp
-   src/node_options.cpp
--  src/occupancy_grid_node_main.cpp
-   src/offline_node.cpp
--  src/offline_node_main.cpp
--  src/pbstream_map_publisher_main.cpp
--  src/pbstream_to_ros_map_main.cpp
-   src/playable_bag.cpp
--  src/rosbag_validate_main.cpp
-   src/ros_log_sink.cpp
-   src/ros_map.cpp
-   src/ros_map_writing_points_processor.cpp
 diff --git a/include/cartographer_ros/map_builder_bridge.h b/include/cartographer_ros/map_builder_bridge.h
 index b2c00b7..9c1befd 100644
 --- a/include/cartographer_ros/map_builder_bridge.h
@@ -111,19 +90,6 @@ index f3527ca..f9fb9fb 100644
 
    rclcpp::Node::SharedPtr node_;
    ::rclcpp::Publisher<::cartographer_ros_msgs::msg::SubmapList>::SharedPtr submap_list_publisher_;
-diff --git a/include/cartographer_ros/ros_log_sink.h b/include/cartographer_ros/ros_log_sink.h
-index e603727..651305a 100644
---- a/include/cartographer_ros/ros_log_sink.h
-+++ b/include/cartographer_ros/ros_log_sink.h
-@@ -32,7 +32,7 @@ class ScopedRosLogSink : public ::google::LogSink {
-   ~ScopedRosLogSink() override;
-
-   void send(::google::LogSeverity severity, const char* filename,
--            const char* base_filename, int line, const struct std::tm* tm_time,
-+            const char* base_filename, int line, const ::google::LogMessageTime &logmsgtime,
-             const char* message, size_t message_len) override;
-
-   void WaitTillSent() override;
 diff --git a/src/occupancy_grid_node_main.cpp b/src/occupancy_grid_node_main.cpp
 index 324426b..443dac2 100644
 --- a/src/occupancy_grid_node_main.cpp
@@ -143,23 +109,3 @@ index 324426b..443dac2 100644
    rclcpp::TimerBase::SharedPtr occupancy_grid_publisher_timer_;
    std::string last_frame_id_;
    rclcpp::Time last_timestamp_;
-diff --git a/src/ros_log_sink.cpp b/src/ros_log_sink.cpp
-index d9b8ee2..2c688ea 100644
---- a/src/ros_log_sink.cpp
-+++ b/src/ros_log_sink.cpp
-@@ -40,13 +40,13 @@ ScopedRosLogSink::~ScopedRosLogSink() { RemoveLogSink(this); }
- void ScopedRosLogSink::send(const ::google::LogSeverity severity,
-                             const char* const filename,
-                             const char* const base_filename, const int line,
--                            const struct std::tm* const tm_time,
-+                            const ::google::LogMessageTime &logmsgtime,
-                             const char* const message,
-                             const size_t message_len) {
-   (void) base_filename; // TODO: remove unused arg ?
-
-   const std::string message_string = ::google::LogSink::ToString(
--      severity, GetBasename(filename), line, tm_time, message, message_len);
-+      severity, GetBasename(filename), line, logmsgtime, message, message_len);
-   switch (severity) {
-     case ::google::GLOG_INFO:
-       RCLCPP_INFO_STREAM(logger_, message_string);