Merge pull request #275 from Ericsii/package-spatio_temporal_voxel_layer

Add spatio_temporal_voxel_layer

Author: traversaro

patch/dependencies.yaml

@@ -184,3 +184,7 @@ zenoh_cpp_vendor:
   add_host: ["libzenohc", "libzenohcxx"]
 rmw_zenoh_cpp:
   add_host: ["libzenohc", "libzenohcxx"]
+openvdb_vendor:
+  add_host: ["openvdb"]
+spatio_temporal_voxel_layer:
+  add_host: ["REQUIRE_OPENGL"]

patch/ros-humble-openvdb-vendor.patch

@@ -0,0 +1,27 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c158a4a..8fad1d8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -4,7 +4,11 @@ project(openvdb_vendor)
+ find_package(ament_cmake REQUIRED)
+ find_package(ament_cmake_vendor_package REQUIRED)
+ 
++list(APPEND CMAKE_MODULE_PATH "$ENV{PREFIX}/lib/cmake/OpenVDB")
++find_package(OpenVDB REQUIRED)
++
+ ament_vendor(${PROJECT_NAME}
++  SATISFIED ${OpenVDB_FOUND}
+   VCS_URL https://github.com/AcademySoftwareFoundation/openvdb.git
+   VCS_VERSION v10.0.1
+   VCS_TYPE git
+diff --git a/openvdb_vendor-extras.cmake b/openvdb_vendor-extras.cmake
+index a32dfc5..93ce1b9 100644
+--- a/openvdb_vendor-extras.cmake
++++ b/openvdb_vendor-extras.cmake
+@@ -3,5 +3,5 @@ if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
+   set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
+ endif()
+ message( STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}" )
+-list(APPEND CMAKE_MODULE_PATH "${openvdb_vendor_DIR}/../../../opt/openvdb_vendor/lib/cmake/OpenVDB")
++list(APPEND CMAKE_MODULE_PATH "$ENV{PREFIX}/lib/cmake/OpenVDB")
+ find_package(OpenVDB REQUIRED)

patch/ros-humble-spatio-temporal-voxel-layer.patch

@@ -0,0 +1,30 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c0f52e7..378a082 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -9,9 +9,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ endif()
+ 
+-# Get a linker error when there are undefined symbols
+-add_link_options(-Wl,--no-undefined)
+-
+ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake/")
+ 
+ find_package(ament_cmake REQUIRED)
+@@ -111,6 +108,15 @@ target_link_libraries(${library_name}
+   OpenVDB::openvdb
+ )
+ 
++# Get a linker error when there are undefined symbols
++# target_link_options (https://cmake.org/cmake/help/latest/command/target_link_options.html)
++# is only available since CMake 3.13
++if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.13)
++  target_link_options(${library_name} PRIVATE -Wl,--no-undefined)
++else()
++  add_link_options(-Wl,--no-undefined)
++endif()
++
+ ament_target_dependencies(${library_name} ${dependencies})
+ 
+ if(BUILD_TESTING)

vinca_linux_64.yaml

@@ -41,6 +41,7 @@ skip_existing:
   - https://conda.anaconda.org/robostack-staging/
 
 packages_select_by_deps:
+  - spatio_temporal_voxel_layer
   # only subset of packages to reduce maintainer load
 
   # build 7 reselect

vinca_linux_aarch64.yaml

@@ -39,6 +39,7 @@ skip_existing:
   # - /home/ubuntu/micromamba/envs/devenv/conda-bld/
 
 packages_select_by_deps:
+  - spatio_temporal_voxel_layer
   # only subset of packages to reduce maintainer load
   - ros2-controllers
   - diff-drive-controller