Merge pull request #388 from mebbaid/aerostack2

add aerostack packages in linux64

Author: traversaro

patch/ros-humble-as2-behaviors-perception.patch

@@ -0,0 +1,37 @@
+diff --git a/detect_aruco_markers_behavior/src/detect_aruco_markers_behavior.cpp b/detect_aruco_markers_behavior/src/detect_aruco_markers_behavior.cpp
+index ce4a7522..640e5a3a 100644
+--- a/detect_aruco_markers_behavior/src/detect_aruco_markers_behavior.cpp
++++ b/detect_aruco_markers_behavior/src/detect_aruco_markers_behavior.cpp
+@@ -85,8 +85,9 @@ void DetectArucoMarkersBehavior::loadParameters()
+   RCLCPP_INFO(get_logger(), "Params: aruco_size: %.3f m", aruco_size_);
+ 
+   // TODO(david): Load dictionary from param
+-  aruco_dict_ = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
++  //aruco_dict_ = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
+   // aruco_dict_ = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_5X5_1000);
++  aruco_dict_ = cv::makePtr<cv::aruco::Dictionary>(cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250));
+ }
+ 
+ // SIMULATION
+@@ -161,7 +162,8 @@ void DetectArucoMarkersBehavior::imageCallback(const sensor_msgs::msg::Image::Sh
+   // init ArUco detection
+   std::vector<int> marker_ids;
+   std::vector<std::vector<cv::Point2f>> marker_corners, rejected_candidates;
+-  cv::Ptr<cv::aruco::DetectorParameters> detector_params = cv::aruco::DetectorParameters::create();
++  //cv::Ptr<cv::aruco::DetectorParameters> detector_params = cv::aruco::DetectorParameters::create();
++  cv::Ptr<cv::aruco::DetectorParameters> detector_params = cv::makePtr<cv::aruco::DetectorParameters>();
+ 
+   // detect markers on the fisheye, it's no worth it to detect over the rectified image
+   cv::aruco::detectMarkers(
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 643ca101..612f51c3 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -35,6 +35,7 @@ set(PROJECT_DEPENDENCIES
+ foreach(DEPENDENCY ${PROJECT_DEPENDENCIES})
+   find_package(${DEPENDENCY} REQUIRED)
+ endforeach()
++find_package(GeographicLib REQUIRED)
+ 
+ # List of behaviors
+ set(BEHAVIORS_LIST

patch/ros-humble-as2-core.patch

@@ -0,0 +1,55 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index f33fc523..4ee0d389 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -51,13 +51,14 @@ set(PROJECT_DEPENDENCIES
+     yaml-cpp
+     image_transport
+     cv_bridge
+-    geographic_msgs)
++    geographic_msgs
++    GeographicLib)
+ 
+ foreach(DEPENDENCY ${PROJECT_DEPENDENCIES})
+   find_package(${DEPENDENCY} REQUIRED)
+ endforeach()
+ 
+-find_package(GeographicLib REQUIRED)
++# find_package(GeographicLib REQUIRED)
+ 
+ # Pybind11
+ find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
+@@ -82,8 +83,15 @@ set(SOURCE_CPP_FILES
+ 
+ # Create the library
+ add_library(${PROJECT_NAME} STATIC ${SOURCE_CPP_FILES})
+-target_link_libraries(${PROJECT_NAME} yaml-cpp)
+-target_link_libraries(${PROJECT_NAME} ${GeographicLib_LIBRARIES})
++if(TARGET GeographicLib::GeographicLib)
++  set(GEOLIBS GeographicLib::GeographicLib)
++elseif(DEFINED GeographicLib_LIBRARIES)
++  set(GEOLIBS ${GeographicLib_LIBRARIES})
++else()
++  message(FATAL_ERROR "GeographicLib not found (no GeographicLib::GeographicLib target and no GeographicLib_LIBRARIES).")
++endif()
++
++target_link_libraries(${PROJECT_NAME} yaml-cpp ${GEOLIBS})
+ 
+ # Mocks library
+ set(MOCKS_LIBRARY_NAME mocks)
+diff --git a/package.xml b/package.xml
+index cad667e8..d8ddb4c3 100644
+--- a/package.xml
++++ b/package.xml
+@@ -30,7 +30,10 @@
+   <depend>image_transport</depend>
+   <depend>cv_bridge</depend>
+ 
+-  <depend>geographiclib</depend>
++  <!-- <depend>geographiclib</depend> -->
++  <build_depend>geographiclib</build_depend>
++  <build_export_depend>geographiclib</build_export_depend>
++  <exec_depend>geographiclib</exec_depend>
+   <depend>yaml-cpp</depend>
+   <depend>eigen</depend>
+   <depend>pybind11-dev</depend>

vinca.yaml

@@ -376,6 +376,7 @@ packages_select_by_deps:
       # Franka robots suppot
       # See https://github.com/RoboStack/ros-humble/pull/338#issuecomment-3146453142 for macos and Windows errors
       - franka_ros2
+      - aerostack2
 
 
   # These packages are currently not build on Windows, but they may with some work