RoboStack · Tobias-Fischer · Jun 12, 2025 · Feb 21, 2025 · Jun 4, 2025 · Jun 4, 2025
diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
@@ -131,29 +131,29 @@ jobs:
       shell: bash -l {0}
       if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'linux-64'
       run: |
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        # env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
         env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
     - name: Build recipes for linux-aarch64
       shell: bash -l {0}
       if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'linux-aarch64'
       run: |
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        # env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
         env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
     - name: Build recipes for osx-64
       shell: bash -l {0}
       if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'osx-64'
       run: |
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        # env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
         env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
     - name: Build recipes for osx-arm64
       shell: bash -l {0}
       if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'osx-arm64'
       run: |
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        # env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
         env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
     - name: Build recipes for win-64
       shell: bash -l {0}
       if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'win-64'
       run: |
-        $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform win-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        # $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform win-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
         $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform win-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
diff --git a/patch/ros-jazzy-apriltag-detector.win.patch b/patch/ros-jazzy-apriltag-detector.win.patch
@@ -0,0 +1,16 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 35b0303..b7b031a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -16,7 +16,10 @@
+ cmake_minimum_required(VERSION 3.16)
+ project(apriltag_detector)
+
+-add_compile_options(-Wall -Wextra -Wpedantic -Werror)
++if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
++  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
++endif()
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+ # find dependencies
+ find_package(ament_cmake REQUIRED)
diff --git a/patch/ros-jazzy-foxglove-bridge.win.patch b/patch/ros-jazzy-foxglove-bridge.win.patch
@@ -69,42 +69,6 @@ index 4b85891..6a946ee 100644
 +extern FOXGLOVE_BRIDGE_BASE_EXPORT const char FOXGLOVE_BRIDGE_GIT_HASH[];
 
  }  // namespace foxglove
-diff --git a/ros2_foxglove_bridge/src/generic_client.cpp b/ros2_foxglove_bridge/src/generic_client.cpp
-index 7c58801..3e0b015 100644
---- a/ros2_foxglove_bridge/src/generic_client.cpp
-+++ b/ros2_foxglove_bridge/src/generic_client.cpp
-@@ -11,17 +11,20 @@
-
- // clang-format off
- /* True if the version of RCLCPP is at least major.minor.patch */
--#define RCLCPP_VERSION_GTE(major, minor, patch)        \
--  (major < RCLCPP_VERSION_MAJOR                        \
--     ? true                                            \
--     : major > RCLCPP_VERSION_MAJOR                    \
--         ? false                                       \
--         : minor < RCLCPP_VERSION_MINOR                \
--             ? true                                    \
--             : minor > RCLCPP_VERSION_MINOR            \
--                 ? false                               \
--                 : patch < RCLCPP_VERSION_PATCH ? true \
--                                                : patch > RCLCPP_VERSION_PATCH ? false : true)
-+#define RCLCPP_VERSION_MAJOR_GT(major) ((major) < RCLCPP_VERSION_MAJOR)
-+#define RCLCPP_VERSION_MAJOR_LT(major) ((major) > RCLCPP_VERSION_MAJOR)
-+#define RCLCPP_VERSION_MINOR_GT(minor) ((minor) < RCLCPP_VERSION_MINOR)
-+#define RCLCPP_VERSION_MINOR_LT(minor) ((minor) > RCLCPP_VERSION_MINOR)
-+#define RCLCPP_VERSION_PATCH_GT(patch) ((patch) < RCLCPP_VERSION_PATCH)
-+#define RCLCPP_VERSION_PATCH_LT(patch) ((patch) > RCLCPP_VERSION_PATCH)
-+
-+#define RCLCPP_VERSION_GTE(major, minor, patch) \
-+    (RCLCPP_VERSION_MAJOR_GT(major) || \
-+    (!RCLCPP_VERSION_MAJOR_LT(major) && \
-+     (RCLCPP_VERSION_MINOR_GT(minor) || \
-+      (!RCLCPP_VERSION_MINOR_LT(minor) && \
-+       (RCLCPP_VERSION_PATCH_GT(patch) || \
-+        (!RCLCPP_VERSION_PATCH_LT(patch)))))))
- // clang-format on
-
- namespace {
 diff --git a/ros2_foxglove_bridge/src/message_definition_cache.cpp b/ros2_foxglove_bridge/src/message_definition_cache.cpp
 index 262c482..2d72a3a 100644
 --- a/ros2_foxglove_bridge/src/message_definition_cache.cpp

diff --git a/patch/ros-jazzy-ouster-ros.osx.patch b/patch/ros-jazzy-ouster-ros.osx.patch
@@ -0,0 +1,26 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e07dcf4..1b430f8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -78,7 +78,7 @@ target_link_libraries(ouster_ros_library
+     ouster_build
+     pcl_common
+   # PRIVATE (unsupported)
+-  -Wl,--whole-archive ouster_client -Wl,--no-whole-archive
++    ouster_client
+ )
+
+ # helper method to construct ouster-ros components
+diff --git a/src/os_ros.cpp b/src/os_ros.cpp
+index 0ddbf8e..a326b1a 100644
+--- a/src/os_ros.cpp
++++ b/src/os_ros.cpp
+@@ -127,7 +127,7 @@ void copy_scan_to_cloud(ouster_ros::Cloud& cloud, const ouster::LidarScan& ls,
+     const auto rf = reflectivity.data();
+     const auto nr = near_ir.data();
+     const auto sg = signal.data();
+-    const auto t_zero = std::chrono::duration<long int, std::nano>::zero();
++    constexpr std::chrono::nanoseconds t_zero{0};
+
+ #ifdef __OUSTER_UTILIZE_OPENMP__
+ #pragma omp parallel for collapse(2)
diff --git a/patch/ros-jazzy-ouster-ros.win.patch b/patch/ros-jazzy-ouster-ros.win.patch
@@ -0,0 +1,27 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e07dcf4..8d23997 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -23,13 +23,21 @@ find_package(pcl_conversions REQUIRED)
+ find_package(tf2_eigen REQUIRED)
+
+ # ==== Options ====
+-add_compile_options(-Wall -Wextra)
++if(MSVC)
++  add_compile_options(/W2)
++  add_compile_definitions(NOMINMAX _USE_MATH_DEFINES WIN32_LEAN_AND_MEAN)
++else()
++  add_compile_options(-Wall -Wextra)
++endif()
++
+ if(NOT DEFINED CMAKE_CXX_STANDARD)
+   set(CMAKE_CXX_STANDARD 17)
+   set(CMAKE_CXX_STANDARD_REQUIRED ON)
+ endif()
+ option(CMAKE_POSITION_INDEPENDENT_CODE "Build position independent code." ON)
+
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++
+ set(_ouster_ros_INCLUDE_DIRS
+   include
+   ouster-sdk/ouster_client/include
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
@@ -146,5 +146,7 @@ packages_select_by_deps:
 
   - odom_to_tf_ros2
 
+  - ouster_ros
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
@@ -144,5 +144,7 @@ packages_select_by_deps:
 
   - odom_to_tf_ros2
 
+  - ouster_ros
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
@@ -152,5 +152,7 @@ packages_select_by_deps:
 
   - odom_to_tf_ros2
 
+  - ouster_ros 
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
@@ -152,5 +152,7 @@ packages_select_by_deps:
 
   - odom_to_tf_ros2
 
+  - ouster_ros
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_win.yaml b/vinca_win.yaml
@@ -134,5 +134,7 @@ packages_select_by_deps:
 
   - behaviortree_cpp
 
+  - ouster_ros
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml