From 93a15c85e5e38040bde9ce980b5777d84ce7a23d Mon Sep 17 00:00:00 2001 From: barrett Date: Sat, 31 Jan 2026 14:01:48 -0600 Subject: [PATCH 1/2] feat: add `spatio_temporal_voxel_layer` (Nav2) this was already added in the Humble repo: https://github.com/RoboStack/ros-humble/pull/275 by the way, this package is called `ros-humble-spatio-temporal-voxel-layer` for Humble, so the new package name would be `ros-jazzy-spatio-temporal-voxel-layer` --- patch/dependencies.yaml | 4 +++ patch/ros-jazzy-openvdb-vendor.patch | 27 +++++++++++++++++ ...os-jazzy-spatio-temporal-voxel-layer.patch | 30 +++++++++++++++++++ vinca.yaml | 5 ++-- 4 files changed, 64 insertions(+), 2 deletions(-) create mode 100644 patch/ros-jazzy-openvdb-vendor.patch create mode 100644 patch/ros-jazzy-spatio-temporal-voxel-layer.patch diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index c9ec24c10..9695e4a36 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -246,6 +246,10 @@ 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: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"] autoware_utils_pcl: add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"] autoware_utils_debug: diff --git a/patch/ros-jazzy-openvdb-vendor.patch b/patch/ros-jazzy-openvdb-vendor.patch new file mode 100644 index 000000000..683a9ea4e --- /dev/null +++ b/patch/ros-jazzy-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) \ No newline at end of file diff --git a/patch/ros-jazzy-spatio-temporal-voxel-layer.patch b/patch/ros-jazzy-spatio-temporal-voxel-layer.patch new file mode 100644 index 000000000..af08a2f3d --- /dev/null +++ b/patch/ros-jazzy-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} ${dependencies}) + + if(BUILD_TESTING) \ No newline at end of file diff --git a/vinca.yaml b/vinca.yaml index 8293ec219..f51bbfa6a 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -28,7 +28,6 @@ packages_skip_by_deps: - tlsf - tlsf_cpp - packages_remove_from_deps: - if: not linux then: @@ -37,7 +36,6 @@ packages_remove_from_deps: - tlsf - tlsf_cpp - skip_existing: # - output - https://conda.anaconda.org/robostack-jazzy/ @@ -188,6 +186,9 @@ packages_select_by_deps: - orbbec_camera # on macos it fails with https://github.com/RoboStack/ros-jazzy/pull/135#issuecomment-3772187665 - mavros_extras + # Uses linux-specific flags in https://github.com/SteveMacenski/spatio_temporal_voxel_layer/blob/e23d730d35407bd8e2bf9c33d10388a6a07c735d/spatio_temporal_voxel_layer/CMakeLists.txt#L124, + # but should be easy to fix + - spatio_temporal_voxel_layer # These packages are currently not build on Windows, but they be with some work - if: not win From 8cf8f1fe64501dc30c96c605a5ce2e97bdbb556d Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Sun, 8 Feb 2026 08:54:12 +0100 Subject: [PATCH 2/2] Delete patch/ros-jazzy-openvdb-vendor.patch --- patch/ros-jazzy-openvdb-vendor.patch | 27 --------------------------- 1 file changed, 27 deletions(-) delete mode 100644 patch/ros-jazzy-openvdb-vendor.patch diff --git a/patch/ros-jazzy-openvdb-vendor.patch b/patch/ros-jazzy-openvdb-vendor.patch deleted file mode 100644 index 683a9ea4e..000000000 --- a/patch/ros-jazzy-openvdb-vendor.patch +++ /dev/null @@ -1,27 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index c158a4a..8fad1d8 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -4,7 +4,11 @@ project(openvdb_vendor) - find_package(ament_cmake REQUIRED) - find_package(ament_cmake_vendor_package REQUIRED) - -+list(APPEND CMAKE_MODULE_PATH "$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) \ No newline at end of file