Merge pull request #24 from wep21/add-grid-map

feat: add grid map into linux and osx

additional_recipes/ros-jazzy-octomap/recipe.yaml

@@ -0,0 +1,20 @@
+package:
+  name: ros-jazzy-octomap
+  version: "1.10.0"
+
+build:
+  number: 0
+
+requirements:
+  run:
+    - octomap 1.10.*
+
+
+about:
+  homepage: https://github.com/conda-forge/octomap-feedstock
+  license: BSD-3-Clause
+  summary: |
+    An Efficient Probabilistic 3D Mapping Framework Based on Octrees
+extra:
+  recipe-maintainers:
+    - ros-forge

patch/dependencies.yaml

@@ -231,6 +231,10 @@ gz_ros2_control:
   add_host: ["REQUIRE_OPENGL"]
 gz_ros2_control_demos:
   add_host: ["REQUIRE_OPENGL"]
+octomap_ros:
+  add_host: ["octomap"]
+octomap_rviz_plugins:
+  add_host: ["octomap"]
 zenoh_cpp_vendor:
   add_host: ["libzenohc", "libzenohcxx"]
 rmw_zenoh_cpp:

patch/ros-jazzy-grid-map-core.osx.patch

@@ -0,0 +1,27 @@
+diff --git a/include/grid_map_core/BufferRegion.hpp b/include/grid_map_core/BufferRegion.hpp
+index fbe2d20..873b4b6 100644
+--- a/include/grid_map_core/BufferRegion.hpp
++++ b/include/grid_map_core/BufferRegion.hpp
+@@ -39,6 +39,8 @@ public:
+   BufferRegion(
+     const Index & startIndex, const Size & size,
+     const BufferRegion::Quadrant & quadrant);
++  BufferRegion(const BufferRegion & other) = default;
++  BufferRegion & operator=(const BufferRegion & other) = default;
+   virtual ~BufferRegion() = default;
+
+   const Index & getStartIndex() const;
+diff --git a/include/grid_map_core/Polygon.hpp b/include/grid_map_core/Polygon.hpp
+index 9d7ad27..a02b133 100644
+--- a/include/grid_map_core/Polygon.hpp
++++ b/include/grid_map_core/Polygon.hpp
+@@ -40,6 +40,9 @@ public:
+    */
+   explicit Polygon(std::vector<Position> vertices);
+
++  Polygon(const Polygon & other) = default;
++  Polygon & operator=(const Polygon & other) = default;
++
+   /*!
+    * Destructor.
+    */

patch/ros-jazzy-grid-map-pcl.osx.patch

@@ -0,0 +1,16 @@
+diff --git a/include/grid_map_pcl/helpers.hpp b/include/grid_map_pcl/helpers.hpp
+index f3d9f38..fc94637 100644
+--- a/include/grid_map_pcl/helpers.hpp
++++ b/include/grid_map_pcl/helpers.hpp
+@@ -42,7 +42,11 @@ void saveGridMap(
+   const std::string & mapTopic);
+
+ inline void printTimeElapsedToRosInfoStream(
++#if defined(__APPLE__)
++  const std::chrono::steady_clock::time_point & start,
++#else
+   const std::chrono::system_clock::time_point & start,
++#endif
+   const std::string & prefix,
+   const rclcpp::Logger & node_logger)
+ {

patch/ros-jazzy-octomap-rviz-plugins.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 2bdfa4d..c16ebcc 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -33,7 +33,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
+
+ target_link_libraries(${PROJECT_NAME}
+   Qt5::Widgets
+-  ${OCTOMAP_LIBRARIES}
++  octomap
+ )
+
+ target_include_directories(${PROJECT_NAME} PUBLIC

vinca_linux_64.yaml

@@ -21,6 +21,7 @@ packages_skip_by_deps:
   - urdfdom
   - urdfdom_headers
   - urdfdom_py
+  - octomap
 
 packages_remove_from_deps:
   - cartographer
@@ -85,5 +86,7 @@ packages_select_by_deps:
   - ament_cmake_mypy
   - rosbridge_suite
 
+  - grid_map
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_linux_aarch64.yaml

@@ -21,6 +21,7 @@ packages_skip_by_deps:
   - urdfdom
   - urdfdom_headers
   - urdfdom_py
+  - octomap
 
 packages_remove_from_deps:
   - cartographer
@@ -85,6 +86,7 @@ packages_select_by_deps:
   - ament_cmake_mypy
   - rosbridge_suite
 
+  - grid_map
 
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_osx.yaml

@@ -25,6 +25,7 @@ packages_skip_by_deps:
   - rttest
   - tlsf
   - tlsf_cpp
+  - octomap
 
 packages_remove_from_deps:
   - cartographer
@@ -94,7 +95,7 @@ packages_select_by_deps:
   - ament_cmake_mypy
   - rosbridge_suite
 
-
+  - grid_map
 
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_osx_arm64.yaml

@@ -25,6 +25,7 @@ packages_skip_by_deps:
   - rttest
   - tlsf
   - tlsf_cpp
+  - octomap
 
 packages_remove_from_deps:
   - cartographer
@@ -94,5 +95,7 @@ packages_select_by_deps:
 
   - rosbridge_suite
 
+  - grid_map
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_win.yaml

@@ -25,6 +25,7 @@ packages_skip_by_deps:
   - tlsf
   - tlsf_cpp
   - pendulum_control
+  - octomap
 
 packages_remove_from_deps:
   - cartographer