Add rosbridge_suite to osx and osx_arm64 (#108)

* Add rosbridge_suite to osx and osx_arm64

* Fixup patch

* Update patch

* Update ros-galactic-rviz-ogre-vendor.patch

* Update ros-galactic-rviz-ogre-vendor.patch

* Update ros-galactic-rviz-rendering.patch

* Update testpr_environment.yml

Co-authored-by: Tobias Fischer <info@tobiasfischer.info>

Author: defunctzombie

.github/testpr_environment.yml

@@ -1,9 +1,10 @@
 name: base
 channels:
   - robostack
+  - robostack-experimental
   - conda-forge
 dependencies:
-  - python 3.7.*
+  - python 3.9.*
   - pip
   - boa
   - rospkg

patch/ros-galactic-rclpy.patch

@@ -1,5 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9d0379d..53302d6 100644
+index 1481e6a..a2b19a3 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -14,6 +14,8 @@ if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
@@ -59,33 +59,35 @@ index 9d0379d..53302d6 100644
 
    # Install library for actual use
    install(TARGETS ${_library_name}
-@@ -128,10 +114,15 @@ add_library(rclpy_common SHARED
+@@ -128,10 +114,17 @@ add_library(rclpy_common SHARED
  )
  target_link_libraries(rclpy_common PUBLIC
    pybind11::pybind11
 -  ${PYTHON_LIBRARIES}
    rcl::rcl
    rmw::rmw
  )
++
 +if(NOT APPLE)
 +  target_link_libraries(rclpy_common PUBLIC ${Python_LIBRARIES})
 +else()
 +  set_target_properties(rclpy_common PROPERTIES
 +                        LINK_FLAGS "-undefined dynamic_lookup")
 +endif()
++
  target_include_directories(rclpy_common PUBLIC
    src/rclpy_common/include
  )
-@@ -147,7 +138,7 @@ install(TARGETS rclpy_common
+@@ -147,7 +140,7 @@ install(TARGETS rclpy_common
  )
 
  # Split from main extension and converted to pybind11
 -pybind11_add_module(_rclpy_pybind11 SHARED
 +add_library(_rclpy_pybind11 MODULE
-   src/rclpy/_rclpy_action.cpp
    src/rclpy/_rclpy_handle.cpp
    src/rclpy/_rclpy_logging.cpp
-@@ -177,6 +168,10 @@ pybind11_add_module(_rclpy_pybind11 SHARED
+   src/rclpy/_rclpy_pybind11.cpp
+@@ -178,6 +171,10 @@ pybind11_add_module(_rclpy_pybind11 SHARED
    src/rclpy/utils.cpp
    src/rclpy/wait_set.cpp
  )
@@ -96,7 +98,7 @@ index 9d0379d..53302d6 100644
  target_include_directories(_rclpy_pybind11 PRIVATE
    src/rclpy/
  )
-@@ -187,18 +182,24 @@ target_link_libraries(_rclpy_pybind11 PRIVATE
+@@ -188,18 +185,24 @@ target_link_libraries(_rclpy_pybind11 PRIVATE
    rclpy_common
    rcpputils::rcpputils
    rcutils::rcutils
@@ -122,7 +124,7 @@ index 9d0379d..53302d6 100644
  )
  configure_build_install_location(_rclpy_signal_handler)
  clean_windows_flags(_rclpy_signal_handler)
-@@ -300,6 +301,5 @@ if(BUILD_TESTING)
+@@ -301,6 +304,5 @@ if(BUILD_TESTING)
      endforeach()
    endif()
  endif()

patch/ros-galactic-rviz-assimp-vendor.patch

@@ -1,5 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e92c59f2..9cfdbec5 100644
+index 034f3f2a..2c1b4c2d 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -83,6 +83,8 @@ if(FORCE_BUILD_VENDOR_PKG OR NOT assimp_FOUND OR "${assimp_VERSION}" VERSION_LES
@@ -12,10 +12,10 @@ index e92c59f2..9cfdbec5 100644
 
  if(BUILD_TESTING)
 diff --git a/rviz_assimp_vendor-extras.cmake.in b/rviz_assimp_vendor-extras.cmake.in
-index 8e41fe66..67467f16 100644
+index d8ec4765..ad39a517 100644
 --- a/rviz_assimp_vendor-extras.cmake.in
 +++ b/rviz_assimp_vendor-extras.cmake.in
-@@ -4,30 +4,14 @@
+@@ -4,35 +4,13 @@
  #   https://bugs.launchpad.net/ubuntu/+source/assimp/+bug/1869405
  set(ON 1)
 
@@ -28,26 +28,31 @@ index 8e41fe66..67467f16 100644
 -  message(STATUS "Setting assimp_DIR to: '${assimp_DIR}'")
 -endif()
 +set(ASSIMP_LIBRARIES assimp::assimp)
++set(rviz_assimp_vendor_LIBRARIES "${ASSIMP_LIBRARIES}")
 
 -find_package(assimp REQUIRED QUIET)
-+set(rviz_assimp_vendor_LIBRARIES "${ASSIMP_LIBRARIES}")
++find_library(ASSIMP_LIB assimp)
++get_filename_component(ASSIMP_LIBRARY_DIRS "${ASSIMP_LIB}" DIRECTORY)
 
 -# workaround bug in Assimp 4.1.0 https://github.com/assimp/assimp/issues/1914
 -# Affecting Ubuntu package: libassimp-dev 4.1.0~dfsg-3, Brew: assimp 4.1.0
 -string(REPLACE "/lib/lib/" "/lib/" ASSIMP_LIBRARY_DIRS "${ASSIMP_LIBRARY_DIRS}")
 -string(REGEX REPLACE "/lib/include$" "/include" ASSIMP_INCLUDE_DIRS "${ASSIMP_INCLUDE_DIRS}")
-+find_library(ASSIMP_LIB assimp)
-+get_filename_component(ASSIMP_LIBRARY_DIRS "${ASSIMP_LIB}" DIRECTORY)
- 
--set(rviz_assimp_vendor_LIBRARIES)
--foreach(library IN LISTS ASSIMP_LIBRARIES)
--  message(STATUS "library: ${library}")
--  if(IS_ABSOLUTE "${library}")
--    list(APPEND rviz_assimp_vendor_LIBRARIES "${library}")
--  else()
--    find_library(library_abs ${library} PATHS "${ASSIMP_LIBRARY_DIRS}" NO_DEFAULT_PATH)
--    list(APPEND rviz_assimp_vendor_LIBRARIES "${library_abs}")
--  endif()
--endforeach()
+-
+-# Fix for https://github.com/ros2/ros2/issues/1222
+-if(TARGET assimp::assimp AND "${assimp_VERSION}" VERSION_GREATER 5.0.1)
+-  set(rviz_assimp_vendor_LIBRARIES assimp::assimp)
+-else()
+-  set(rviz_assimp_vendor_LIBRARIES)
+-  foreach(library IN LISTS ASSIMP_LIBRARIES)
+-    message(STATUS "library: ${library}")
+-    if(IS_ABSOLUTE "${library}")
+-      list(APPEND rviz_assimp_vendor_LIBRARIES "${library}")
+-    else()
+-      find_library(library_abs ${library} PATHS "${ASSIMP_LIBRARY_DIRS}" NO_DEFAULT_PATH)
+-      list(APPEND rviz_assimp_vendor_LIBRARIES "${library_abs}")
+-    endif()
+-  endforeach()
+-endif()
  set(rviz_assimp_vendor_LIBRARY_DIRS ${ASSIMP_LIBRARY_DIRS})
  set(rviz_assimp_vendor_INCLUDE_DIRS ${ASSIMP_INCLUDE_DIRS})

patch/ros-galactic-rviz-ogre-vendor.patch

@@ -1,18 +1,26 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index faac7e1b..8b93592e 100644
+index 7a917af8..591cfbae 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -204,28 +204,36 @@ macro(build_ogre)
-   )
- endmacro()
+@@ -6,13 +6,8 @@ find_package(ament_cmake REQUIRED)
 
--if(BUILDING_FREETYPE_LOCALLY)
--  build_freetype()
--endif()
--if(BUILDING_ZLIB_LOCALLY)
--  build_zlib()
+ set(PACKAGE_VERSION "1.0.0")
+ 
+-if(WIN32)
+-  set(BUILDING_FREETYPE_LOCALLY ON)
+-  set(BUILDING_ZLIB_LOCALLY ON)
+-else()
+-  set(BUILDING_FREETYPE_LOCALLY OFF)
+-  set(BUILDING_ZLIB_LOCALLY OFF)
 -endif()
-+set(RVIZ_OGRE_IS_VENDORBUILD OFF)
++set(BUILDING_FREETYPE_LOCALLY OFF)
++set(BUILDING_ZLIB_LOCALLY OFF)
+ 
+ if(WIN32 AND NOT ${CMAKE_VERBOSE_MAKEFILE})
+   set(should_log ON)  # prevent warnings in Windows CI
+@@ -217,20 +212,32 @@ if(BUILDING_ZLIB_LOCALLY)
+   build_zlib()
+ endif()
 
 -build_ogre()
 +find_package(OGRE)
@@ -52,12 +60,10 @@ index faac7e1b..8b93592e 100644
    endif()
 -  set(ENV_VAR_VALUE "opt/rviz_ogre_vendor/lib")
  endif()
-+
  ament_environment_hooks(env_hook/rviz_ogre_vendor_library_path.dsv.in)
 
- if(BUILD_TESTING)
 diff --git a/rviz_ogre_vendor-extras.cmake.in b/rviz_ogre_vendor-extras.cmake.in
-index 0ab09b60..6365c570 100644
+index 786aff99..935ed247 100644
 --- a/rviz_ogre_vendor-extras.cmake.in
 +++ b/rviz_ogre_vendor-extras.cmake.in
 @@ -1,20 +1,26 @@

patch/ros-galactic-rviz-rendering.patch

@@ -1,31 +1,3 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a0e8c892..a05ef366 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -121,6 +121,7 @@ ament_target_dependencies(rviz_rendering
- )
- ament_export_dependencies(
-   rviz_ogre_vendor
-+  rviz_assimp_vendor
-   eigen3_cmake_module
-   Eigen3
-   resource_retriever
-diff --git a/src/rviz_rendering/material_manager.cpp b/src/rviz_rendering/material_manager.cpp
-index 3866ae00..11eede92 100644
---- a/src/rviz_rendering/material_manager.cpp
-+++ b/src/rviz_rendering/material_manager.cpp
-@@ -122,9 +122,9 @@ void MaterialManager::enableAlphaBlending(
- 
- void MaterialManager::createDefaultMaterials()
- {
--  auto material = Ogre::MaterialManager::getSingleton().create(
-+  auto retrieve_result = Ogre::MaterialManager::getSingleton().createOrRetrieve(
-     "BaseWhiteNoLighting", "rviz_rendering");
--  material->setLightingEnabled(false);
-+  std::dynamic_pointer_cast<Ogre::Material>(retrieve_result.first)->setLightingEnabled(false);
- }
- 
- }  // namespace rviz_rendering
 diff --git a/src/rviz_rendering/render_system.cpp b/src/rviz_rendering/render_system.cpp
 index 1765e804..eb426dd8 100644
 --- a/src/rviz_rendering/render_system.cpp

vinca_osx.yaml

@@ -41,7 +41,7 @@ packages_select_by_deps:
   - joint-state-publisher
   - joint-trajectory-controller
   - xacro
-  # - rosbridge_suite
+  - rosbridge_suite
   # - rosbridge-msgs
   # - rosbridge-library
   # - robot-localization

vinca_osx_arm64.yaml

@@ -43,7 +43,7 @@ packages_select_by_deps:
   - joint-state-publisher
   - joint-trajectory-controller
   - xacro
-  # - rosbridge_suite
+  - rosbridge_suite
   # - rosbridge-msgs
   # - rosbridge-library
   # - robot-localization