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Add spatio_temporal_voxel_layer (Nav2 layer) #157

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Add spatio_temporal_voxel_layer (Nav2 layer) #157

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feat: add `spatio_temporal_voxel_layer` (Nav2)
onkoe Jan 31, 2026
8cf8f1f
Delete patch/ros-jazzy-openvdb-vendor.patch
traversaro Feb 8, 2026
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4 changes: 4 additions & 0 deletions patch/dependencies.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -246,6 +246,10 @@ zenoh_cpp_vendor:
add_host: ["libzenohc", "libzenohcxx"]
rmw_zenoh_cpp:
add_host: ["libzenohc", "libzenohcxx"]
openvdb_vendor:
add_host: ["openvdb"]
Comment on lines +249 to +250
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@wep21 wep21 Feb 8, 2026

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Suggested change
openvdb_vendor:
add_host: ["openvdb"]

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@traversaro traversaro Feb 8, 2026

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To do this, I guess we also need to add the libopenvdb-dev key in robostack.yml ?

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@traversaro traversaro Feb 8, 2026

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See https://github.com/SteveMacenski/spatio_temporal_voxel_layer/blob/f37544ef1b2b21623eacb0808c69b4cf912ac30f/openvdb_vendor/package.xml#L29 .

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@wep21 wep21 Feb 8, 2026

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You're right. Thank you for pointing it out.

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:
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30 changes: 30 additions & 0 deletions patch/ros-jazzy-spatio-temporal-voxel-layer.patch
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Original file line number Diff line number Diff line change
@@ -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)
5 changes: 3 additions & 2 deletions vinca.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,6 @@ packages_skip_by_deps:
- tlsf
- tlsf_cpp


packages_remove_from_deps:
- if: not linux
then:
Expand All @@ -37,7 +36,6 @@ packages_remove_from_deps:
- tlsf
- tlsf_cpp


skip_existing:
# - output
- https://conda.anaconda.org/robostack-jazzy/
Expand Down Expand Up @@ -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
Expand Down