Merge branch 'main' into add-autowarefoundation-packages

conda_build_config.yaml

@@ -41,3 +41,8 @@ cxx_compiler:
 cxx_compiler_version:          # [unix]
   - 13                         # [linux]
   - 18                         # [osx]
+
+libzenohc:
+  - 1.1.1
+libzenohcxx:
+  - 1.1.1

patch/dependencies.yaml

@@ -179,4 +179,8 @@ rosx_introspection:
 octomap_ros:
   add_host: ["octomap"]
 octomap_rviz_plugins:
-  add_host: ["octomap"]
+  add_host: ["octomap"]
+zenoh_cpp_vendor:
+  add_host: ["libzenohc", "libzenohcxx"]
+rmw_zenoh_cpp:
+  add_host: ["libzenohc", "libzenohcxx"]

patch/ros-humble-ffmpeg-encoder-decoder.patch

@@ -0,0 +1,54 @@
+diff --git a/src/decoder.cpp b/src/decoder.cpp
+index 0a12d25..10834e3 100644
+--- a/src/decoder.cpp
++++ b/src/decoder.cpp
+@@ -38,7 +38,11 @@ Decoder::~Decoder() { reset(); }
+ void Decoder::reset()
+ {
+   if (codecContext_) {
++#if LIBAVFORMAT_VERSION_MAJOR < 59
+     avcodec_close(codecContext_);
++#else
++    avcodec_free_context(&codecContext_);
++#endif
+     av_free(codecContext_);
+     codecContext_ = NULL;
+   }
+diff --git a/src/encoder.cpp b/src/encoder.cpp
+index a4b6de6..2e1d4a2 100644
+--- a/src/encoder.cpp
++++ b/src/encoder.cpp
+@@ -54,7 +54,11 @@ static void free_frame(AVFrame ** frame)
+ void Encoder::closeCodec()
+ {
+   if (codecContext_) {
++#if LIBAVFORMAT_VERSION_MAJOR < 59
+     avcodec_close(codecContext_);
++#else
++    avcodec_free_context(&codecContext_);
++#endif
+     codecContext_ = nullptr;
+   }
+   free_frame(&frame_);
+diff --git a/src/utils.cpp b/src/utils.cpp
+index da089e4..01e8eea 100644
+--- a/src/utils.cpp
++++ b/src/utils.cpp
+@@ -104,8 +104,15 @@ enum AVPixelFormat get_preferred_pixel_format(
+ std::vector<enum AVPixelFormat> get_encoder_formats(const AVCodec * c)
+ {
+   std::vector<enum AVPixelFormat> formats;
+-  if (c && c->pix_fmts) {
+-    for (const auto * p = c->pix_fmts; *p != AV_PIX_FMT_NONE; ++p) {
++#if LIBAVUTIL_VERSION_MAJOR > 59 || (LIBAVUTIL_VERSION_MAJOR == 59 && LIBAVUTIL_VERSION_MINOR >= 39)
++  const enum AVPixelFormat *pix_fmts = NULL;
++  avcodec_get_supported_config(NULL, c, AV_CODEC_CONFIG_PIX_FORMAT, 0, (const void **) &pix_fmts, NULL);
++  if (c && pix_fmts) {
++#else
++  const enum AVPixelFormat *pix_fmts = c->pix_fmts;
++  if (c && pix_fmts) {
++#endif
++    for (const auto * p = pix_fmts; *p != AV_PIX_FMT_NONE; ++p) {
+       formats.push_back(*p);
+     }
+   }

patch/ros-humble-ur-client-library.osx.patch

@@ -0,0 +1,226 @@
+diff --git a/include/ur_client_library/comm/bin_parser.h b/include/ur_client_library/comm/bin_parser.h
+index e13aba6..6931af3 100644
+--- a/include/ur_client_library/comm/bin_parser.h
++++ b/include/ur_client_library/comm/bin_parser.h
+@@ -21,7 +21,31 @@
+ #pragma once
+
+ #include <assert.h>
++#ifdef __APPLE__
++
++#include <machine/endian.h>
++#include <libkern/OSByteOrder.h>
++
++#define htobe16(x) OSSwapHostToBigInt16(x)
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define be16toh(x) OSSwapBigToHostInt16(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#define htobe32(x) OSSwapHostToBigInt32(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define be32toh(x) OSSwapBigToHostInt32(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#define htobe64(x) OSSwapHostToBigInt64(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define be64toh(x) OSSwapBigToHostInt64(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#else
++
+ #include <endian.h>
++
++#endif /* __APPLE__ */
+ #include <inttypes.h>
+ #include <array>
+ #include <bitset>
+diff --git a/include/ur_client_library/comm/package_serializer.h b/include/ur_client_library/comm/package_serializer.h
+index 7745da9..78859d9 100644
+--- a/include/ur_client_library/comm/package_serializer.h
++++ b/include/ur_client_library/comm/package_serializer.h
+@@ -29,7 +29,31 @@
+ #ifndef UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
+ #define UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
+
++#ifdef __APPLE__
++
++#include <machine/endian.h>
++#include <libkern/OSByteOrder.h>
++
++#define htobe16(x) OSSwapHostToBigInt16(x)
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define be16toh(x) OSSwapBigToHostInt16(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#define htobe32(x) OSSwapHostToBigInt32(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define be32toh(x) OSSwapBigToHostInt32(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#define htobe64(x) OSSwapHostToBigInt64(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define be64toh(x) OSSwapBigToHostInt64(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#else
++
+ #include <endian.h>
++
++#endif /* __APPLE__ */
+ #include <cstring>
+
+ namespace urcl
+diff --git a/include/ur_client_library/control/reverse_interface.h b/include/ur_client_library/control/reverse_interface.h
+index 9919dbd..077403e 100644
+--- a/include/ur_client_library/control/reverse_interface.h
++++ b/include/ur_client_library/control/reverse_interface.h
+@@ -35,7 +35,31 @@
+ #include "ur_client_library/log.h"
+ #include "ur_client_library/ur/robot_receive_timeout.h"
+ #include <cstring>
++#ifdef __APPLE__
++
++#include <machine/endian.h>
++#include <libkern/OSByteOrder.h>
++
++#define htobe16(x) OSSwapHostToBigInt16(x)
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define be16toh(x) OSSwapBigToHostInt16(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#define htobe32(x) OSSwapHostToBigInt32(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define be32toh(x) OSSwapBigToHostInt32(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#define htobe64(x) OSSwapHostToBigInt64(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define be64toh(x) OSSwapBigToHostInt64(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#else
++
+ #include <endian.h>
++
++#endif /* __APPLE__ */
+ #include <condition_variable>
+
+ namespace urcl
+diff --git a/include/ur_client_library/primary/package_header.h b/include/ur_client_library/primary/package_header.h
+index cd64bda..b4738dd 100644
+--- a/include/ur_client_library/primary/package_header.h
++++ b/include/ur_client_library/primary/package_header.h
+@@ -32,7 +32,31 @@
+
+ #include <inttypes.h>
+ #include <cstddef>
++#ifdef __APPLE__
++
++#include <machine/endian.h>
++#include <libkern/OSByteOrder.h>
++
++#define htobe16(x) OSSwapHostToBigInt16(x)
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define be16toh(x) OSSwapBigToHostInt16(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#define htobe32(x) OSSwapHostToBigInt32(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define be32toh(x) OSSwapBigToHostInt32(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#define htobe64(x) OSSwapHostToBigInt64(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define be64toh(x) OSSwapBigToHostInt64(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#else
++
+ #include <endian.h>
++
++#endif /* __APPLE__ */
+ #include "ur_client_library/types.h"
+
+ namespace urcl
+diff --git a/include/ur_client_library/rtde/package_header.h b/include/ur_client_library/rtde/package_header.h
+index f910a08..4013e26 100644
+--- a/include/ur_client_library/rtde/package_header.h
++++ b/include/ur_client_library/rtde/package_header.h
+@@ -31,7 +31,31 @@
+ #define UR_CLIENT_LIBRARY_RTDE__HEADER_H_INCLUDED
+
+ #include <cstddef>
++#ifdef __APPLE__
++
++#include <machine/endian.h>
++#include <libkern/OSByteOrder.h>
++
++#define htobe16(x) OSSwapHostToBigInt16(x)
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define be16toh(x) OSSwapBigToHostInt16(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#define htobe32(x) OSSwapHostToBigInt32(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define be32toh(x) OSSwapBigToHostInt32(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#define htobe64(x) OSSwapHostToBigInt64(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define be64toh(x) OSSwapBigToHostInt64(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#else
++
+ #include <endian.h>
++
++#endif /* __APPLE__ */
+ #include "ur_client_library/types.h"
+ #include "ur_client_library/comm/package_serializer.h"
+
+diff --git a/src/comm/tcp_socket.cpp b/src/comm/tcp_socket.cpp
+index 8803664..f75f381 100644
+--- a/src/comm/tcp_socket.cpp
++++ b/src/comm/tcp_socket.cpp
+@@ -21,7 +21,31 @@
+  */
+
+ #include <arpa/inet.h>
++#ifdef __APPLE__
++
++#include <machine/endian.h>
++#include <libkern/OSByteOrder.h>
++
++#define htobe16(x) OSSwapHostToBigInt16(x)
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define be16toh(x) OSSwapBigToHostInt16(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#define htobe32(x) OSSwapHostToBigInt32(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define be32toh(x) OSSwapBigToHostInt32(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#define htobe64(x) OSSwapHostToBigInt64(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define be64toh(x) OSSwapBigToHostInt64(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#else
++
+ #include <endian.h>
++
++#endif /* __APPLE__ */
+ #include <netinet/tcp.h>
+ #include <unistd.h>
+ #include <chrono>
+@@ -48,7 +72,9 @@ void TCPSocket::setupOptions()
+ {
+   int flag = 1;
+   setsockopt(socket_fd_, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(int));
++#ifndef __APPLE__
+   setsockopt(socket_fd_, IPPROTO_TCP, TCP_QUICKACK, &flag, sizeof(int));
++#endif
+
+   if (recv_timeout_ != nullptr)
+   {

patch/ros-humble-zenoh-cpp-vendor.patch

@@ -0,0 +1,42 @@
+diff --git a/zenoh_cpp_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt
+index 2d3ae046..de971841 100644
+--- a/zenoh_cpp_vendor/CMakeLists.txt
++++ b/zenoh_cpp_vendor/CMakeLists.txt
+@@ -10,35 +10,10 @@ endif()
+ find_package(ament_cmake REQUIRED)
+ find_package(ament_cmake_vendor_package REQUIRED)
+
+-# Disable default features and enable only the most useful ones. This reduces build time and footprint.
+-# For a complete list of features see: https://github.com/eclipse-zenoh/zenoh/blob/main/zenoh/Cargo.toml
+-# Note: We separate the two args needed for cargo with "$<SEMICOLON>" and not ";" as the
+-# latter is a list separater in cmake and hence the string will be split into two
+-# when expanded.
+-set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
+-
+-ament_vendor(zenoh_c_vendor
+-  VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
+-  VCS_VERSION 57d5e4d31d9b38fef34d7bcad3d3e54869c4ce73
+-  CMAKE_ARGS
+-    "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
+-    "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
+-    "-DZENOHC_CUSTOM_TARGET=${ZENOHC_CUSTOM_TARGET}"
+-)
+-
++find_package(zenohc REQUIRED)
+ ament_export_dependencies(zenohc)
+
+-# Set VCS_VERSION to include latest changes from zenoh-c to benefit from :
+-# - https://github.com/eclipse-zenoh/zenoh-cpp/pull/342 (Fix include what you use)
+-ament_vendor(zenoh_cpp_vendor
+-  VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
+-  VCS_VERSION 964b64dc8b935a43147287199e7bb12da7b141e6
+-  CMAKE_ARGS
+-    -DZENOHCXX_ZENOHC=OFF
+-)
+-
+-externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)
+-
++find_package(zenohcxx REQUIRED)
+ ament_export_dependencies(zenohcxx)
+
+ ament_package()