Refresh patches for updated ROS packages

patch/ros-lyrical-sbg-driver.patch

@@ -1,79 +1,12 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a4a3964..4063ea2 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -23,17 +23,17 @@ find_package(builtin_interfaces REQUIRED)
- ## Generate messages in the 'msg' folder
-
- set (USED_LIBRARIES
--  rclcpp
--  sensor_msgs
--  std_msgs
--  std_srvs
--  geometry_msgs
--  nav_msgs
--  rtcm_msgs
--  tf2_ros
--  tf2_msgs
--  tf2_geometry_msgs
--  nmea_msgs
-+  rclcpp::rclcpp
-+  ${sensor_msgs_TARGETS}
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  ${geometry_msgs_TARGETS}
-+  ${nav_msgs_TARGETS}
-+  ${rtcm_msgs_TARGETS}
-+  tf2_ros::tf2_ros
-+  ${tf2_msgs_TARGETS}
-+  ${tf2_geometry_msgs_TARGETS}
-+  ${nmea_msgs_TARGETS}
- )
-
- set (msg_files
-@@ -125,8 +125,8 @@ endif()
- target_link_libraries(sbg_device sbgECom)
- target_link_libraries(sbg_device_mag sbgECom)
-
--ament_target_dependencies(sbg_device ${USED_LIBRARIES}) 
--ament_target_dependencies(sbg_device_mag ${USED_LIBRARIES})
-+target_link_libraries(sbg_device ${USED_LIBRARIES}) 
-+target_link_libraries(sbg_device_mag ${USED_LIBRARIES})
-
- rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
- target_link_libraries(sbg_device "${cpp_typesupport_target}")
 diff --git a/include/sbg_driver/sbg_vector3.h b/include/sbg_driver/sbg_vector3.h
 index 0bc5b80..0b1b02c 100644
 --- a/include/sbg_driver/sbg_vector3.h
 +++ b/include/sbg_driver/sbg_vector3.h
-@@ -115,7 +115,7 @@ public:
+@@ -115,6 +115,6 @@ public:
     * \param[in] p_raw_data                  Pointer to data array.
     * \param[in] array_size                  Array size (Should be defined as 3).
     */
 -  SbgVector3(const T* p_raw_data, size_t array_size)
 +  SbgVector3(const T* p_raw_data, [[maybe_unused]] size_t array_size)
    {
      assert(array_size == 3);
-
-diff --git a/src/sbg_device.cpp b/src/sbg_device.cpp
-index 820322e..b802365 100644
---- a/src/sbg_device.cpp
-+++ b/src/sbg_device.cpp
-@@ -5,6 +5,8 @@
- #include <iomanip>
- #include <fstream>
- #include <ctime>
-+#include <chrono>
-+#include <thread>
-
- // SbgECom headers
- #include <version/sbgVersion.h>
-@@ -118,7 +120,7 @@ void SbgDevice::onLogReceived(SbgEComClass msg_class, SbgEComMsgId msg, const Sb
-       log_replay_last_timestamp_ = timestamp;
-     }
-
--    usleep(time_to_sleep);
-+    std::this_thread::sleep_for(std::chrono::microseconds(time_to_sleep));
-   }
-
-   //

patch/ros-lyrical-slam-toolbox.win.patch

@@ -1,28 +1,9 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 3880aa7..90ee2a6 100644
+index dfed661..4f7473e 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -147,6 +147,11 @@ rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typ
- target_link_libraries(ceres_solver_plugin "${cpp_typesupport_target}")
- pluginlib_export_plugin_description_file(slam_toolbox solver_plugins.xml)
-
-+if(MSVC)
-+  add_compile_definitions(_USE_MATH_DEFINES)
-+  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
-+endif()
-+
- #### Tool lib for mapping
- add_library(toolbox_common src/slam_toolbox_common.cpp src/map_saver.cpp src/loop_closure_assistant.cpp src/laser_utils.cpp src/slam_mapper.cpp)
- ament_target_dependencies(toolbox_common
-@@ -155,26 +160,43 @@ ament_target_dependencies(toolbox_common
- target_link_libraries(toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
- rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
- target_link_libraries(toolbox_common "${cpp_typesupport_target}")
-+set_target_properties(toolbox_common PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
-
- #### Mapping executibles
+@@ -259,21 +259,33 @@ target_link_libraries(decentralized_multirobot_slam_toolbox_node decentralized_m
  add_library(async_slam_toolbox src/slam_toolbox_async.cpp)
-+set_target_properties(async_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
  target_link_libraries(async_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
  add_executable(async_slam_toolbox_node src/slam_toolbox_async_node.cpp)
 +if(MSVC)
@@ -31,7 +12,6 @@ index 3880aa7..90ee2a6 100644
  target_link_libraries(async_slam_toolbox_node async_slam_toolbox)
 
  add_library(sync_slam_toolbox src/slam_toolbox_sync.cpp)
-+set_target_properties(sync_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
  target_link_libraries(sync_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
  add_executable(sync_slam_toolbox_node src/slam_toolbox_sync_node.cpp)
 +if(MSVC)
@@ -40,7 +20,6 @@ index 3880aa7..90ee2a6 100644
  target_link_libraries(sync_slam_toolbox_node sync_slam_toolbox)
 
  add_library(localization_slam_toolbox src/slam_toolbox_localization.cpp)
-+set_target_properties(localization_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
  target_link_libraries(localization_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
  add_executable(localization_slam_toolbox_node src/slam_toolbox_localization_node.cpp)
 +if(MSVC)
@@ -49,7 +28,6 @@ index 3880aa7..90ee2a6 100644
  target_link_libraries(localization_slam_toolbox_node localization_slam_toolbox)
 
  add_library(lifelong_slam_toolbox src/experimental/slam_toolbox_lifelong.cpp)
-+set_target_properties(lifelong_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
  target_link_libraries(lifelong_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
  add_executable(lifelong_slam_toolbox_node src/experimental/slam_toolbox_lifelong_node.cpp)
 +if(MSVC)
@@ -58,155 +36,3 @@ index 3880aa7..90ee2a6 100644
  target_link_libraries(lifelong_slam_toolbox_node lifelong_slam_toolbox)
 
  add_library(map_and_localization_slam_toolbox src/experimental/slam_toolbox_map_and_localization.cpp)
-diff --git a/include/slam_toolbox/merge_maps_kinematic.hpp b/include/slam_toolbox/merge_maps_kinematic.hpp
-index 95c9931..c159ab8 100644
---- a/include/slam_toolbox/merge_maps_kinematic.hpp
-+++ b/include/slam_toolbox/merge_maps_kinematic.hpp
-@@ -21,7 +21,9 @@
-
- #include <thread>
- #include <sys/stat.h>
-+#ifndef _WIN32
- #include <unistd.h>
-+#endif
- #include <string>
- #include <map>
- #include <memory>
-diff --git a/include/slam_toolbox/slam_toolbox_common.hpp b/include/slam_toolbox/slam_toolbox_common.hpp
-index 96bd049..d6e9630 100644
---- a/include/slam_toolbox/slam_toolbox_common.hpp
-+++ b/include/slam_toolbox/slam_toolbox_common.hpp
-@@ -19,7 +19,9 @@
- #ifndef SLAM_TOOLBOX__SLAM_TOOLBOX_COMMON_HPP_
- #define SLAM_TOOLBOX__SLAM_TOOLBOX_COMMON_HPP_
-
-+#ifndef _WIN32
- #include <sys/resource.h>
-+#endif
- #include <boost/thread.hpp>
- #include <string>
- #include <map>
-@@ -35,7 +37,7 @@
- #include "bond/msg/constants.hpp"
- #include "rclcpp_lifecycle/lifecycle_node.hpp"
- #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
--#include "message_filters/subscriber.h"
-+#include "message_filters/subscriber.hpp"
- #include "tf2_ros/transform_broadcaster.h"
- #include "tf2_ros/transform_listener.h"
- #include "tf2_ros/create_timer_ros.h"
-diff --git a/lib/karto_sdk/CMakeLists.txt b/lib/karto_sdk/CMakeLists.txt
-index a620bfd..196aab5 100644
---- a/lib/karto_sdk/CMakeLists.txt
-+++ b/lib/karto_sdk/CMakeLists.txt
-@@ -5,7 +5,9 @@ if(NOT CMAKE_CXX_STANDARD)
-   set(CMAKE_CXX_STANDARD 17)
- endif()
- set(CMAKE_BUILD_TYPE Release) #None, Debug, Release, RelWithDebInfo, MinSizeRel
--set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-backtrace-limit=0")
-+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-backtrace-limit=0")
-+endif()
- set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
-
- find_package(ament_cmake REQUIRED)
-@@ -29,6 +31,7 @@ add_definitions(${EIGEN3_DEFINITIONS})
-
- include_directories(include ${EIGEN3_INCLUDE_DIRS} ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
- add_library(kartoSlamToolbox SHARED src/Karto.cpp src/Mapper.cpp)
-+target_compile_definitions(kartoSlamToolbox PRIVATE KARTO_DYNAMIC)
- ament_target_dependencies(kartoSlamToolbox ${dependencies})
- target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} TBB::tbb)
-
-diff --git a/lib/karto_sdk/src/Mapper.cpp b/lib/karto_sdk/src/Mapper.cpp
-index e969404..d87d33f 100644
---- a/lib/karto_sdk/src/Mapper.cpp
-+++ b/lib/karto_sdk/src/Mapper.cpp
-@@ -405,7 +405,7 @@ void MapperSensorManager::SetRunningScanBufferSize(kt_int32u rScanBufferSize)
-   m_RunningBufferMaximumSize = rScanBufferSize;
-
-   std::vector<Name> names = GetSensorNames();
--  for (uint i = 0; i != names.size(); i++) {
-+  for (unsigned int i = 0; i != names.size(); i++) {
-     GetScanManager(names[i])->SetRunningScanBufferSize(rScanBufferSize);
-   }
- }
-@@ -415,7 +415,7 @@ void MapperSensorManager::SetRunningScanBufferMaximumDistance(kt_double rScanBuf
-   m_RunningBufferMaximumDistance = rScanBufferMaxDistance;
-
-   std::vector<Name> names = GetSensorNames();
--  for (uint i = 0; i != names.size(); i++) {
-+  for (unsigned int i = 0; i != names.size(); i++) {
-     GetScanManager(names[i])->SetRunningScanBufferMaximumDistance(rScanBufferMaxDistance);
-   }
- }
-@@ -1868,7 +1868,7 @@ std::vector<Vertex<LocalizedRangeScan> *> MapperGraph::FindNearByVertices(
-
-   std::vector<Vertex<LocalizedRangeScan> *> rtn_vertices;
-   rtn_vertices.reserve(ret_matches.size());
--  for (uint i = 0; i != ret_matches.size(); i++) {
-+  for (unsigned int i = 0; i != ret_matches.size(); i++) {
-     rtn_vertices.push_back(vertices_to_search[ret_matches[i].first]);
-   }
-   return rtn_vertices;
-@@ -2984,7 +2984,7 @@ void Mapper::ClearLocalizationBuffer()
-   }
-
-   std::vector<Name> names = m_pMapperSensorManager->GetSensorNames();
--  for (uint i = 0; i != names.size(); i++)
-+  for (unsigned int i = 0; i != names.size(); i++)
-   {
-     m_pMapperSensorManager->ClearRunningScans(names[i]);
-     m_pMapperSensorManager->ClearLastScan(names[i]);
-diff --git a/rviz_plugin/slam_toolbox_rviz_plugin.hpp b/rviz_plugin/slam_toolbox_rviz_plugin.hpp
-index dafa5d0..905d515 100644
---- a/rviz_plugin/slam_toolbox_rviz_plugin.hpp
-+++ b/rviz_plugin/slam_toolbox_rviz_plugin.hpp
-@@ -32,6 +32,7 @@
- #include <QLabel>
- #include <QFrame>
- #include <QRadioButton>
-+#undef NO_ERROR
- // STL
- #include <thread>
- #include <chrono>
-diff --git a/src/merge_maps_kinematic.cpp b/src/merge_maps_kinematic.cpp
-index 3ee0bde..cc8e505 100644
---- a/src/merge_maps_kinematic.cpp
-+++ b/src/merge_maps_kinematic.cpp
-@@ -105,7 +105,11 @@ bool MergeMapsKinematic::addSubmapCallback(
-       "/map_" + std::to_string(num_submaps_), rclcpp::QoS(1)));
-   sstmS_.push_back(this->create_publisher<nav_msgs::msg::MapMetaData>(
-       "/map_metadata_" + std::to_string(num_submaps_), rclcpp::QoS(1)));
-+#ifdef _WIN32
-+  Sleep(1000);
-+#else
-   sleep(1.0);
-+#endif
-
-   nav_msgs::srv::GetMap::Response map;
-   nav_msgs::msg::OccupancyGrid & og = map.map;
-diff --git a/src/slam_toolbox_common.cpp b/src/slam_toolbox_common.cpp
-index 916a207..18c2fa2 100644
---- a/src/slam_toolbox_common.cpp
-+++ b/src/slam_toolbox_common.cpp
-@@ -52,6 +52,11 @@ SlamToolbox::SlamToolbox(rclcpp::NodeOptions options)
-     this->declare_parameter(
-       "stack_size_to_use", rclcpp::ParameterType::PARAMETER_INTEGER, descriptor);
-     if (this->get_parameter("stack_size_to_use", stack_size)) {
-+#ifdef _WIN32
-+      if (stack_size != 40'000'000) {
-+        RCLCPP_WARN(get_logger(), "Can't dynamically change stack size on Windows to %i. Node using stack size 40000000", (int)stack_size);
-+      }
-+#else
-       RCLCPP_INFO(get_logger(), "Node using stack size %i", (int)stack_size);
-       const rlim_t max_stack_size = stack_size;
-       struct rlimit stack_limit;
-@@ -60,6 +65,7 @@ SlamToolbox::SlamToolbox(rclcpp::NodeOptions options)
-         stack_limit.rlim_cur = stack_size;
-       }
-       setrlimit(RLIMIT_STACK, &stack_limit);
-+#endif
-     }
-   }
-   // server side never times out from lifecycle manager