From 22c18a4694d37fa1ad3b4be6d5c2e474884b20b4 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 16 Oct 2026 16:25:04 +1000 Subject: [PATCH 01/14] lyrical: on the shared conda-forge pinning, Qt6 mapping shared (from #82) Drops the distribution's own conda-forge-pinning version and migrations: it uses shared/pinning/conda_forge.yaml (2026.10.09.13.11.31), with the package fixes the new pins needed. Other distributions keep their own pinning version until their PR; their conda_build_config.yaml only gets the comment of the new shared openexr override (the value, 3.4, is what they pin already). shared/robostack.yaml maps the Qt5 rosdep keys to Qt6 (qt6-main, pyqt6), so lyrical's per-package Qt workarounds go. humble and jazzy keep Qt5 through overrides that their own sync PRs add: merge those first. Co-Authored-By: Claude Opus 5.5 --- distros/humble/conda_build_config.yaml | 6 +- distros/jazzy/conda_build_config.yaml | 6 +- distros/lyrical/conda_build_config.yaml | 5 +- distros/lyrical/distro.yaml | 6 -- distros/lyrical/patch/dependencies.yaml | 35 +++------ .../ros2-moveit-ros-visualization.win.patch | 3 +- distros/lyrical/pkg_additional_info.yaml | 12 +++ distros/rolling/conda_build_config.yaml | 2 + shared/pinning/conda_forge.yaml | 7 +- shared/pinning/overrides.yaml | 4 + shared/pkg_additional_info.yaml | 7 ++ shared/robostack.yaml | 78 +++++++++---------- 12 files changed, 93 insertions(+), 78 deletions(-) diff --git a/distros/humble/conda_build_config.yaml b/distros/humble/conda_build_config.yaml index 1319c2c9e..195402326 100644 --- a/distros/humble/conda_build_config.yaml +++ b/distros/humble/conda_build_config.yaml @@ -81,8 +81,8 @@ cuda_compiler: cuda_compiler_version: - None - 12.9 # [((linux and (x86_64 or aarch64)) or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - # pyqt-builder 1.20 defaults to sip ABI 12.20 / 13.13, which needs sip >=6.16 - # (python_qt_binding / qt_gui_cpp keep sip <6.16); 1.18 targets 12.15 / 13.8. + # libopencv 5.0.0 builds for openexr 3.5 need qt6-main >= 6.12, but pyqt6 6.11 (via + # qt6-multimedia 6.11) still requires qt6-main 6.11: stay on openexr 3.4 until pyqt6 is rebuilt cuda_compiler_version_min: - None # [not ((linux and (x86_64 or aarch64)) or win64)] - 12.9 # [((linux and (x86_64 or aarch64)) or win64)] @@ -894,6 +894,8 @@ openblas: - 0.3.* openexr: - '3.4' + # pyqt-builder 1.20 defaults to sip ABI 12.20 / 13.13, which needs sip >=6.16 + # (python_qt_binding / qt_gui_cpp keep sip <6.16); 1.18 targets 12.15 / 13.8. openh264: - 2.6.0 openjpeg: diff --git a/distros/jazzy/conda_build_config.yaml b/distros/jazzy/conda_build_config.yaml index db11768d9..a9d43983e 100644 --- a/distros/jazzy/conda_build_config.yaml +++ b/distros/jazzy/conda_build_config.yaml @@ -81,8 +81,8 @@ cuda_compiler: cuda_compiler_version: - None - 12.9 # [((linux and (x86_64 or aarch64)) or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - # pyqt-builder 1.20 defaults to sip ABI 12.20 / 13.13, which needs sip >=6.16 - # (python_qt_binding / qt_gui_cpp keep sip <6.16); 1.18 targets 12.15 / 13.8. + # libopencv 5.0.0 builds for openexr 3.5 need qt6-main >= 6.12, but pyqt6 6.11 (via + # qt6-multimedia 6.11) still requires qt6-main 6.11: stay on openexr 3.4 until pyqt6 is rebuilt cuda_compiler_version_min: - None # [not ((linux and (x86_64 or aarch64)) or win64)] - 12.9 # [((linux and (x86_64 or aarch64)) or win64)] @@ -894,6 +894,8 @@ openblas: - 0.3.* openexr: - '3.4' + # pyqt-builder 1.20 defaults to sip ABI 12.20 / 13.13, which needs sip >=6.16 + # (python_qt_binding / qt_gui_cpp keep sip <6.16); 1.18 targets 12.15 / 13.8. openh264: - 2.6.0 openjpeg: diff --git a/distros/lyrical/conda_build_config.yaml b/distros/lyrical/conda_build_config.yaml index b310c46a1..459bbb633 100644 --- a/distros/lyrical/conda_build_config.yaml +++ b/distros/lyrical/conda_build_config.yaml @@ -81,6 +81,8 @@ cuda_compiler: cuda_compiler_version: - None - 12.9 # [((linux and (x86_64 or aarch64)) or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + # libopencv 5.0.0 builds for openexr 3.5 need qt6-main >= 6.12, but pyqt6 6.11 (via + # qt6-multimedia 6.11) still requires qt6-main 6.11: stay on openexr 3.4 until pyqt6 is rebuilt cuda_compiler_version_min: - None # [not ((linux and (x86_64 or aarch64)) or win64)] - 12.9 # [((linux and (x86_64 or aarch64)) or win64)] @@ -916,7 +918,7 @@ oneloop: openblas: - 0.3.* openexr: - - 3.4 + - '3.4' openh264: - 2.6.0 openjpeg: @@ -1002,7 +1004,6 @@ python: python_impl: - cpython - # ros-lyrical specific (distros/lyrical/distro.yaml) python_min: # minimum supported python version per CFEP-25 # bump to next minor version when we drop python versions diff --git a/distros/lyrical/distro.yaml b/distros/lyrical/distro.yaml index 9d7f0f5b6..08d187b78 100644 --- a/distros/lyrical/distro.yaml +++ b/distros/lyrical/distro.yaml @@ -2,9 +2,3 @@ # (everything else is shared, see the README). channel_name: robostack-lyrical upload_target: prefix -conda_forge_pinning_version: 2026.10.09.13.11.31 -conda_forge_migrations: [elfutils0196, giflib6, go_macos, gsl28, gstreamer128, hdf52, libboost190, libhwloc2150, proj99, urdfdom6] -pinning_overrides: - # libopencv 5.0.0 builds for openexr 3.5 need qt6-main >= 6.12, but pyqt6 6.11 (via - # qt6-multimedia 6.11) still requires qt6-main 6.11: stay on openexr 3.4 until pyqt6 is rebuilt - openexr: ['3.4'] diff --git a/distros/lyrical/patch/dependencies.yaml b/distros/lyrical/patch/dependencies.yaml index 3a1626666..8ab1a809b 100644 --- a/distros/lyrical/patch/dependencies.yaml +++ b/distros/lyrical/patch/dependencies.yaml @@ -120,7 +120,17 @@ pcl_conversions: pinocchio: add_host: ["eigen-abi-devel"] plotjuggler: - add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros2-ros-workspace"] + # PlotJuggler 3.17 is Qt5-only (find_package(Qt5 ...)); the Qt rosdep keys map to Qt6 here + remove_host: ["qt6-main"] + remove_run: ["qt6-main"] + add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros2-ros-workspace", "qt-main"] + add_run: ["qt-main"] +plotjuggler_ros: + # Qt5-only like plotjuggler, which it links + remove_host: ["qt6-main"] + remove_run: ["qt6-main"] + add_host: ["qt-main"] + add_run: ["qt-main"] py_trees: add_host: ["hatchling"] py_trees_js: @@ -167,26 +177,8 @@ ros_ign_gazebo: add_host: ["ros2-std-msgs", "ros2-rclcpp", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"] ros_ign_interfaces: add_host: ["ros2-rcl-interfaces"] -ros_image_to_qimage: - # Qt6, like rqt_gui_cpp (patch/ros2-ros-image-to-qimage.patch) - remove_host: ["qt-main"] - add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"] rqt_gui_cpp: add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"] -rqt_image_overlay: - # Qt6, like rqt_gui_cpp (patch/ros2-rqt-image-overlay.patch) - remove_host: ["qt-main"] - add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"] -rqt_image_overlay_layer: - # Qt6, like rqt_gui_cpp (patch/ros2-rqt-image-overlay-layer.patch) - remove_host: ["qt-main"] - add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"] -rqt_image_view: - add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"] - remove_host: ["qt-main"] -rqt_mocap4r2_control: - remove_host: ["qt-main"] - remove_run: ["qt-main"] rtabmap: add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "libboost-devel", "${{ 'libdc1394' if not win }}", "libusb", "vtk"] rviz_ogre_vendor: @@ -201,10 +193,7 @@ sdformat_vendor: add_run: ["sdformat"] slam_toolbox: add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"] - add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel", "ceres-solver", "qt6-main"] - add_run: ["qt6-main"] - remove_host: ["qt-main"] - remove_run: ["qt-main"] + add_host: ["blas-devel", "ceres-solver"] spatio_temporal_voxel_layer: add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "openvdb"] spdlog_vendor: diff --git a/distros/lyrical/patch/ros2-moveit-ros-visualization.win.patch b/distros/lyrical/patch/ros2-moveit-ros-visualization.win.patch index 94d9e3748..74eccd8fe 100644 --- a/distros/lyrical/patch/ros2-moveit-ros-visualization.win.patch +++ b/distros/lyrical/patch/ros2-moveit-ros-visualization.win.patch @@ -1,7 +1,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -106,15 +106,41 @@ pluginlib_export_plugin_description_file( +@@ -106,15 +106,42 @@ pluginlib_export_plugin_description_file( pluginlib_export_plugin_description_file( rviz_common robot_state_rviz_plugin_description.xml) @@ -32,6 +32,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt +if(WIN32) + install( + TARGETS ${MOVEIT_ROS_VISUALIZATION_PLUGIN_LIBRARIES} ++ EXPORT moveit_ros_visualizationTargets + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib + RUNTIME DESTINATION bin diff --git a/distros/lyrical/pkg_additional_info.yaml b/distros/lyrical/pkg_additional_info.yaml index 19cf149df..1894379de 100644 --- a/distros/lyrical/pkg_additional_info.yaml +++ b/distros/lyrical/pkg_additional_info.yaml @@ -222,6 +222,8 @@ easynav_tools: build_number: 29 easynav_vff_controller: build_number: 29 +grid_map_rviz_plugin: + build_number: 29 gz_gui_vendor: build_number: 28 gz_sim_vendor: @@ -240,14 +242,24 @@ navmap_rviz_plugin: build_number: 29 navmap_tools: build_number: 29 +plansys2_tools: + build_number: 29 ros2cli: # Rebuild with the shell completions under the names bash/zsh/fish load (patch). build_number: 28 +ros_image_to_qimage: + build_number: 29 rosidl_cli: # Rebuild with the shell completions installed under the names bash/zsh/fish load (patch). build_number: 28 rplidar_ros: build_number: 29 +rqt_image_overlay: + build_number: 29 +rqt_image_overlay_layer: + build_number: 29 +rqt_mocap4r2_control: + build_number: 29 rqt_plot: build_number: 28 rqt_py_common: diff --git a/distros/rolling/conda_build_config.yaml b/distros/rolling/conda_build_config.yaml index aaa4d756f..dadde2d74 100644 --- a/distros/rolling/conda_build_config.yaml +++ b/distros/rolling/conda_build_config.yaml @@ -81,6 +81,8 @@ cuda_compiler: cuda_compiler_version: - None - 12.9 # [((linux and (x86_64 or aarch64)) or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + # libopencv 5.0.0 builds for openexr 3.5 need qt6-main >= 6.12, but pyqt6 6.11 (via + # qt6-multimedia 6.11) still requires qt6-main 6.11: stay on openexr 3.4 until pyqt6 is rebuilt cuda_compiler_version_min: - None # [not ((linux and (x86_64 or aarch64)) or win64)] - 12.9 # [((linux and (x86_64 or aarch64)) or win64)] diff --git a/shared/pinning/conda_forge.yaml b/shared/pinning/conda_forge.yaml index 854b233f8..25baa1db2 100644 --- a/shared/pinning/conda_forge.yaml +++ b/shared/pinning/conda_forge.yaml @@ -2,16 +2,17 @@ # top of it. `pixi run rs render-pinning` combines it with overrides.yaml into # distros//conda_build_config.yaml (tools/robostack.py, vinca_pinning). A # distribution that sets conda_forge_pinning_version / conda_forge_migrations in its -# distro.yaml uses those instead (see #54: the goal is every distribution on this one). +# distro.yaml uses those instead; all distributions are on this one (#54). # Updated by `robostack-bot update-conda-forge-pinning`. -conda_forge_pinning_version: 2026.09.25.23.22.04 +conda_forge_pinning_version: 2026.10.09.13.11.31 migrations: - elfutils0196 - giflib6 - go_macos + - gsl28 - gstreamer128 - hdf52 - libboost190 + - libhwloc2150 - proj99 - urdfdom6 - - vtk970 diff --git a/shared/pinning/overrides.yaml b/shared/pinning/overrides.yaml index 521fe8e7f..d7f56db33 100644 --- a/shared/pinning/overrides.yaml +++ b/shared/pinning/overrides.yaml @@ -32,6 +32,10 @@ pinning_overrides: cuda_compiler_version: - None - 12.9 # [((linux and (x86_64 or aarch64)) or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + # libopencv 5.0.0 builds for openexr 3.5 need qt6-main >= 6.12, but pyqt6 6.11 (via + # qt6-multimedia 6.11) still requires qt6-main 6.11: stay on openexr 3.4 until pyqt6 is rebuilt + openexr: + - '3.4' libzenohc: - 1.10.1 libzenohcxx: diff --git a/shared/pkg_additional_info.yaml b/shared/pkg_additional_info.yaml index 0de6803f7..ead8e2ff7 100644 --- a/shared/pkg_additional_info.yaml +++ b/shared/pkg_additional_info.yaml @@ -97,6 +97,13 @@ liblz4_vendor: additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK" libnabo: additional_cmake_args: "-DLIBNABO_BUILD_PYTHON=OFF" +libpointmatcher: + # Windows installs libpointmatcherConfig.cmake into both /Library/cmake and + # share/libpointmatcher/cmake but its export file only into the latter; CMake finds the + # former first and fails to include libpointmatcher-config.cmake. Keep both together. + additional_cmake_args: + if: win + then: "-DINSTALL_CMAKE_DIR=share/libpointmatcher/cmake" moveit_ros_visualization: additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON" mujoco_vendor: diff --git a/shared/robostack.yaml b/shared/robostack.yaml index e1dd8aeac..6e8b59e12 100644 --- a/shared/robostack.yaml +++ b/shared/robostack.yaml @@ -496,49 +496,49 @@ libqhull: robostack: [qhull] libqt5-core: robostack: - linux: [qt-main, libopengl-devel, libgl-devel] - osx: [qt-main] - win64: [qt-main] + linux: [qt6-main, libopengl-devel, libgl-devel] + osx: [qt6-main] + win64: [qt6-main] libqt5-gui: robostack: - linux: [qt-main, libopengl-devel, libgl-devel] - osx: [qt-main] - win64: [qt-main] + linux: [qt6-main, libopengl-devel, libgl-devel] + osx: [qt6-main] + win64: [qt6-main] libqt5-opengl: robostack: - linux: [qt-main, libopengl-devel, libgl-devel] - osx: [qt-main] - win64: [qt-main] + linux: [qt6-main, libopengl-devel, libgl-devel] + osx: [qt6-main] + win64: [qt6-main] libqt5-opengl-dev: robostack: - linux: [qt-main, libopengl-devel, libgl-devel] - osx: [qt-main] - win64: [qt-main] + linux: [qt6-main, libopengl-devel, libgl-devel] + osx: [qt6-main] + win64: [qt6-main] libqt5-svg: robostack: - linux: [qt-main, libopengl-devel, libgl-devel] - osx: [qt-main] - win64: [qt-main] + linux: [qt6-main, libopengl-devel, libgl-devel] + osx: [qt6-main] + win64: [qt6-main] libqt5-svg-dev: robostack: - linux: [qt-main, libopengl-devel, libgl-devel] - osx: [qt-main] - win64: [qt-main] + linux: [qt6-main, libopengl-devel, libgl-devel] + osx: [qt6-main] + win64: [qt6-main] libqt5-websockets-dev: robostack: - linux: [qt-main, libopengl-devel, libgl-devel] - osx: [qt-main] - win64: [qt-main] + linux: [qt6-main, libopengl-devel, libgl-devel] + osx: [qt6-main] + win64: [qt6-main] libqt5-widgets: robostack: - linux: [qt-main, libopengl-devel, libgl-devel] - osx: [qt-main] - win64: [qt-main] + linux: [qt6-main, libopengl-devel, libgl-devel] + osx: [qt6-main] + win64: [qt6-main] libqt5x11extras5-dev: robostack: - linux: [qt-main, libopengl-devel, libgl-devel] - osx: [qt-main] - win64: [qt-main] + linux: [qt6-main, libopengl-devel, libgl-devel] + osx: [qt6-main] + win64: [qt6-main] libqt6-core: robostack: linux: [qt6-main, libopengl-devel, libgl-devel] @@ -857,7 +857,7 @@ python-pygraphviz: python-pyusb-pip: robostack: [pyusb] python-qt5-bindings: - robostack: [pyqt, pyqt-builder] + robostack: [pyqt6, pyqt-builder] python-rosdep: robostack: [rosdep] python-rosdep-modules: @@ -1070,9 +1070,9 @@ python3-pytest-mock: python3-pytest-timeout: robostack: [pytest-timeout] python3-qt5-bindings: - robostack: [pyqt, pyqt-builder] + robostack: [pyqt6, pyqt-builder] python3-qt5-bindings-gl: - robostack: [pyqt, pyqt-builder] + robostack: [pyqt6, pyqt-builder] python3-qt5-bindings-webkit: robostack: [pyqtwebengine] python3-requests: @@ -1186,14 +1186,14 @@ qt-base-dev: win64: [qt6-main] qt5-image-formats-plugins: robostack: - linux: [qt-main, libopengl-devel, libgl-devel] - osx: [qt-main] - win64: [qt-main] + linux: [qt6-main, libopengl-devel, libgl-devel] + osx: [qt6-main] + win64: [qt6-main] qt5-qmake: robostack: - linux: [qt-main, libopengl-devel, libgl-devel] - osx: [qt-main] - win64: [qt-main] + linux: [qt6-main, libopengl-devel, libgl-devel] + osx: [qt6-main] + win64: [qt6-main] qt6-base-dev: robostack: linux: [qt6-main, libopengl-devel, libgl-devel] @@ -1203,9 +1203,9 @@ qt6-scxml-dev: robostack: [qt6-scxml] qtbase5-dev: robostack: - linux: [qt-main, libopengl-devel, libgl-devel] - osx: [qt-main] - win64: [qt-main] + linux: [qt6-main, libopengl-devel, libgl-devel] + osx: [qt6-main] + win64: [qt6-main] range-v3: robostack: [range-v3] rapidjson-dev: From b9a755cb8cdcb8b6565c3f377c082c9364d7029b Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 16 Oct 2026 16:26:21 +1000 Subject: [PATCH 02/14] lyrical: rosdistro sync 2026-10-05 `rs lyrical update-snapshot`, with the fixes from the full-rebuild runs: - lyrical: rtabmap without its tests (MSVC can't build test_optimizer_gtsam.cpp), as jazzy - lyrical: python_qt_binding uses PyQt6 on macOS too (RoboStack/ros-lyrical#86) - rcutils test: Python import only on humble and jazzy Co-Authored-By: Claude Opus 5.5 --- distros/lyrical/distro.yaml | 1 + .../lyrical/patch/ros2-foxglove-bridge.patch | 25 +- .../patch/ros2-foxglove-bridge.win.patch | 108 +- .../ros2-microstrain-inertial-driver.patch | 94 +- .../patch/ros2-python-qt-binding.patch | 24 + distros/lyrical/patch/ros2-rtabmap.patch | 2941 +---------------- distros/lyrical/pkg_additional_info.yaml | 176 +- distros/lyrical/rosdistro_snapshot.yaml | 551 +-- distros/lyrical/vinca.yaml | 4 +- shared/tests/ros2-rcutils.yaml | 10 +- 10 files changed, 391 insertions(+), 3543 deletions(-) create mode 100644 distros/lyrical/patch/ros2-python-qt-binding.patch diff --git a/distros/lyrical/distro.yaml b/distros/lyrical/distro.yaml index 08d187b78..0cbc7b6e5 100644 --- a/distros/lyrical/distro.yaml +++ b/distros/lyrical/distro.yaml @@ -2,3 +2,4 @@ # (everything else is shared, see the README). channel_name: robostack-lyrical upload_target: prefix +rosdistro_sync: lyrical/2026-10-05 diff --git a/distros/lyrical/patch/ros2-foxglove-bridge.patch b/distros/lyrical/patch/ros2-foxglove-bridge.patch index 0f0d55c2c..6822948e1 100644 --- a/distros/lyrical/patch/ros2-foxglove-bridge.patch +++ b/distros/lyrical/patch/ros2-foxglove-bridge.patch @@ -1,39 +1,26 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 6171894..f285973 100644 +index 64c1274..774140a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -97,6 +97,18 @@ if (CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarc elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64") set(FOXGLOVE_SDK_PLATFORM "x86_64-unknown-linux-gnu") - set(FOXGLOVE_SDK_SHA "4790dad26adaced1a5f81530ed406bab7b60aa202a868eb78cfc04976b9ce6d7") + set(FOXGLOVE_SDK_SHA "1a0d8e03a885f01ae7cfb08dc9076090ba2cf8a15b7f46dda11451e2e2758978") +elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64") + set(FOXGLOVE_SDK_PLATFORM "aarch64-apple-darwin") -+ set(FOXGLOVE_SDK_SHA "70c6e59cf757ac0480912c13cb2c630a3839de34eba428ef717411dae6b1688e") ++ set(FOXGLOVE_SDK_SHA "7b7a86a659a86544f23bed793b7913ad71c3f6c595233bbdb20d3968a3ce5a3a") +elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64") + set(FOXGLOVE_SDK_PLATFORM "x86_64-apple-darwin") -+ set(FOXGLOVE_SDK_SHA "c6092c615523d462a9d3779313b8c033cf923ce30a43dc5305d48fe4f6d26988") ++ set(FOXGLOVE_SDK_SHA "5bae49cac58fb423217e9214452c22faa95b51f5bda7c04469fb1649f8b74ce5") +elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "ARM64") + set(FOXGLOVE_SDK_PLATFORM "aarch64-pc-windows-msvc") -+ set(FOXGLOVE_SDK_SHA "b88abb1bc2c5e230db65cd3d608174f005b3b4563b1c0b2e33db05bc3a2b528b") ++ set(FOXGLOVE_SDK_SHA "8d067b5af329f808142a750e939799bfccb27926ff72b62da54e5280af002d3b") +elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64") + set(FOXGLOVE_SDK_PLATFORM "x86_64-pc-windows-msvc") -+ set(FOXGLOVE_SDK_SHA "ae4ac0f4ab9eb998542a5626cd7870ba011824499fe33fa86936e82ed6502185") ++ set(FOXGLOVE_SDK_SHA "ea4db36121adb0ee61315442ea43603136c6910b4d82814688f507cd6f7fdd3b") else() message(FATAL_ERROR "Unsupported platform/architecture combination: ${CMAKE_SYSTEM_PROCESSOR}-${CMAKE_SYSTEM_NAME}") endif() -@@ -201,6 +213,12 @@ target_link_libraries(foxglove_bridge_component - rosx_introspection::rosx_introspection - ) - -+if(APPLE) -+ find_library(COREFOUNDATION_FRAMEWORK CoreFoundation REQUIRED) -+ find_library(SECURITY_FRAMEWORK Security REQUIRED) -+ target_link_libraries(foxglove_bridge_component ${COREFOUNDATION_FRAMEWORK} ${SECURITY_FRAMEWORK}) -+endif() -+ - rclcpp_components_register_nodes(foxglove_bridge_component "foxglove_bridge::FoxgloveBridge") - enable_strict_compiler_warnings(foxglove_bridge_component) - set_target_properties(foxglove_bridge_component PROPERTIES diff --git a/src/message_definition_cache.cpp b/src/message_definition_cache.cpp index cf2864e..9124c80 100644 --- a/src/message_definition_cache.cpp diff --git a/distros/lyrical/patch/ros2-foxglove-bridge.win.patch b/distros/lyrical/patch/ros2-foxglove-bridge.win.patch index 575d47e8b..feaf5dfb9 100644 --- a/distros/lyrical/patch/ros2-foxglove-bridge.win.patch +++ b/distros/lyrical/patch/ros2-foxglove-bridge.win.patch @@ -1,9 +1,8 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index f285973..28652e5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -61,7 +61,7 @@ endif() - +@@ -62,7 +62,7 @@ endif() + macro(enable_strict_compiler_warnings target) if (MSVC) - target_compile_options(${target} PRIVATE /WX /W4) @@ -11,106 +10,3 @@ index f285973..28652e5 100644 elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang") target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal -Wmost -Wunused-exception-parameter) else() -@@ -121,6 +121,75 @@ FetchContent_Declare( - URL_HASH SHA256=${FOXGLOVE_SDK_SHA} - ) - FetchContent_MakeAvailable(foxglove_sdk) -+if(MSVC) -+ file(READ -+ "${foxglove_sdk_SOURCE_DIR}/include/foxglove/parameter.hpp" -+ _foxglove_parameter_hpp -+ ) -+ string(REPLACE "\r\n" "\n" _foxglove_parameter_hpp "${_foxglove_parameter_hpp}") -+ string(REPLACE -+[=[ -+ [[nodiscard]] bool isArray() const noexcept { -+ if (!this->isArray()) { -+ return false; -+ } -+ try { -+ const auto& arr = this->get(); -+ return std::all_of(arr.begin(), arr.end(), [](const ParameterValueView& elem) noexcept { -+ return elem.is(); -+ }); -+ } catch (...) { -+ return false; -+ } -+ } -+]=] -+[=[ -+ [[nodiscard]] bool isArray() const noexcept { -+ auto value = this->value(); -+ if (!value.has_value() || !value->is()) { -+ return false; -+ } -+ try { -+ const auto& arr = value->get(); -+ return std::all_of(arr.begin(), arr.end(), [](const ParameterValueView& elem) noexcept { -+ return elem.is(); -+ }); -+ } catch (...) { -+ return false; -+ } -+ } -+]=] -+ _foxglove_parameter_hpp -+ "${_foxglove_parameter_hpp}" -+ ) -+ string(REPLACE -+[=[ -+ [[nodiscard]] bool isDict() const noexcept { -+ if (!this->isDict()) { -+ return false; -+ } -+ try { -+ const auto& dict = this->get(); -+ return std::all_of( -+]=] -+[=[ -+ [[nodiscard]] bool isDict() const noexcept { -+ auto value = this->value(); -+ if (!value.has_value() || !value->is()) { -+ return false; -+ } -+ try { -+ const auto& dict = value->get(); -+ return std::all_of( -+]=] -+ _foxglove_parameter_hpp -+ "${_foxglove_parameter_hpp}" -+ ) -+ file(WRITE -+ "${foxglove_sdk_SOURCE_DIR}/include/foxglove/parameter.hpp" -+ "${_foxglove_parameter_hpp}" -+ ) -+endif() - - # The dist's CMake package config defines IMPORTED targets for the prebuilt C libraries - # (foxglove-static, foxglove-shared) and the foxglove_sdk_add_cpp_library() helper, which -@@ -135,6 +204,16 @@ if (FOXGLOVE_BRIDGE_REMOTE_ACCESS) - else() - foxglove_sdk_add_cpp_library(foxglove_cpp_shared TYPE SHARED REMOTE_ACCESS OFF) - endif() -+if(WIN32) -+ target_link_libraries(foxglove_cpp_shared PRIVATE -+ Ws2_32.lib -+ Userenv.lib -+ Ntdll.lib -+ Crypt32.lib -+ Secur32.lib -+ Ncrypt.lib -+ ) -+endif() - set_target_properties(foxglove_cpp_shared PROPERTIES - BUILD_WITH_INSTALL_RPATH TRUE - ) -diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp -index b7fc123..fa78588 100644 ---- a/src/ros2_foxglove_bridge.cpp -+++ b/src/ros2_foxglove_bridge.cpp -@@ -1,3 +1,5 @@ -+#define _CRT_SECURE_NO_WARNINGS -+ - #include - #include - #include diff --git a/distros/lyrical/patch/ros2-microstrain-inertial-driver.patch b/distros/lyrical/patch/ros2-microstrain-inertial-driver.patch index cb5214c3c..6da1ef587 100644 --- a/distros/lyrical/patch/ros2-microstrain-inertial-driver.patch +++ b/distros/lyrical/patch/ros2-microstrain-inertial-driver.patch @@ -1,5 +1,5 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 35e036fa..db513f68 100644 +index a98cb77..4d92e1b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,6 +1,14 @@ @@ -17,40 +17,8 @@ index 35e036fa..db513f68 100644 # C++ 14 required set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD_REQUIRED ON) -@@ -187,6 +195,14 @@ set(COMMON_INC_FILES +@@ -236,7 +244,10 @@ target_link_libraries(${LIFECYCLE_NAME} PUBLIC ) - set(COMMON_FILES ${COMMON_SRC_FILES} ${COMMON_INC_FILES}) - -+# ament_target_dependencies() was removed from ament_cmake_target_dependencies; -+# link against each dependency's exported _TARGETS instead. -+macro(link_ament_dependencies target) -+ foreach(_ament_dep ${ARGN}) -+ target_link_libraries(${target} ${${_ament_dep}_TARGETS}) -+ endforeach() -+endmacro() -+ - set(AMENT_COMMON_DEPENDENCIES - rclcpp - rclcpp_lifecycle -@@ -215,9 +231,7 @@ set(NODE_INC_FILES - ) - set(NODE_FILES ${NODE_SRC_FILES} ${NODE_INC_FILES}) - add_executable(${NODE_NAME} ${NODE_FILES} ${COMMON_FILES}) --ament_target_dependencies(${NODE_NAME} -- ${AMENT_COMMON_DEPENDENCIES} --) -+link_ament_dependencies(${NODE_NAME} ${AMENT_COMMON_DEPENDENCIES}) - - # Lifecycle node - set(LIFECYCLE_NAME ${PROJECT_NAME}_lifecycle_node) -@@ -231,12 +245,13 @@ set(LIFECYCLE_INC_FILES - set(LIFECYCLE_FILES ${LIFECYCLE_SRC_FILES} ${LIFECYCLE_INC_FILES}) - add_executable(${LIFECYCLE_NAME} ${LIFECYCLE_FILES} ${COMMON_FILES}) - target_compile_definitions(${LIFECYCLE_NAME} PUBLIC MICROSTRAIN_LIFECYCLE) --ament_target_dependencies(${LIFECYCLE_NAME} -- ${AMENT_COMMON_DEPENDENCIES} --) -+link_ament_dependencies(${LIFECYCLE_NAME} ${AMENT_COMMON_DEPENDENCIES}) # Annoying, but the ROS types don't match up with the MIP types for floats and doubles, so ignore those warnings for now -set_source_files_properties(${COMMON_SRC_DIR}/services.cpp PROPERTIES COMPILE_OPTIONS "-Wno-narrowing") @@ -61,57 +29,8 @@ index 35e036fa..db513f68 100644 # Tell the code the version of the driver that is being build add_definitions(-DMICROSTRAIN_DRIVER_VERSION="${DRIVER_GIT_VERSION}") - -diff --git a/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/utils/ros_compat.h b/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/utils/ros_compat.h -index f1fe0879..5b866134 100644 ---- a/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/utils/ros_compat.h -+++ b/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/utils/ros_compat.h -@@ -779,7 +779,7 @@ inline TransformListenerType createTransformListener(TransformBufferType buffer) - */ - inline StaticTransformBroadcasterType createStaticTransformBroadcaster(RosNodeType* node) - { -- return std::make_shared(node); -+ return std::make_shared(*node); - } - - /** -@@ -789,7 +789,7 @@ inline StaticTransformBroadcasterType createStaticTransformBroadcaster(RosNodeTy - */ - inline TransformBroadcasterType createTransformBroadcaster(RosNodeType* node) - { -- return std::make_shared(node); -+ return std::make_shared(*node); - } - - /** -diff --git a/src/microstrain_inertial_driver.cpp b/src/microstrain_inertial_driver.cpp -index e679866b..eaea4f15 100644 ---- a/src/microstrain_inertial_driver.cpp -+++ b/src/microstrain_inertial_driver.cpp -@@ -18,7 +18,7 @@ - #include - #include - --#include -+#include - - #include "lifecycle_msgs/msg/transition.hpp" - -diff --git a/src/microstrain_inertial_driver_lifecycle.cpp b/src/microstrain_inertial_driver_lifecycle.cpp -index 1e2a6757..f77bb1d9 100644 ---- a/src/microstrain_inertial_driver_lifecycle.cpp -+++ b/src/microstrain_inertial_driver_lifecycle.cpp -@@ -18,7 +18,7 @@ - #include - #include - --#include -+#include - - #include "lifecycle_msgs/msg/transition.hpp" - diff --git a/include/microstrain_inertial_driver/microstrain_inertial_driver.h b/include/microstrain_inertial_driver/microstrain_inertial_driver.h -index 8e9c2f0e..63edec08 100644 +index 8e9c2f0..63edec0 100644 --- a/include/microstrain_inertial_driver/microstrain_inertial_driver.h +++ b/include/microstrain_inertial_driver/microstrain_inertial_driver.h @@ -14,7 +14,9 @@ @@ -124,9 +43,8 @@ index 8e9c2f0e..63edec08 100644 #include #include #include - diff --git a/include/microstrain_inertial_driver/microstrain_inertial_driver_lifecycle.h b/include/microstrain_inertial_driver/microstrain_inertial_driver_lifecycle.h -index c8ef84e9..931163c2 100644 +index c8ef84e..931163c 100644 --- a/include/microstrain_inertial_driver/microstrain_inertial_driver_lifecycle.h +++ b/include/microstrain_inertial_driver/microstrain_inertial_driver_lifecycle.h @@ -14,7 +14,9 @@ @@ -139,9 +57,8 @@ index c8ef84e9..931163c2 100644 #include #include #include - diff --git a/microstrain_inertial_driver_common/src/utils/mip/ros_connection.cpp b/microstrain_inertial_driver_common/src/utils/mip/ros_connection.cpp -index e2eae441..826b8c24 100644 +index e2eae44..826b8c2 100644 --- a/microstrain_inertial_driver_common/src/utils/mip/ros_connection.cpp +++ b/microstrain_inertial_driver_common/src/utils/mip/ros_connection.cpp @@ -10,6 +10,14 @@ @@ -159,4 +76,3 @@ index e2eae441..826b8c24 100644 #include #include #include - diff --git a/distros/lyrical/patch/ros2-python-qt-binding.patch b/distros/lyrical/patch/ros2-python-qt-binding.patch new file mode 100644 index 000000000..89498768f --- /dev/null +++ b/distros/lyrical/patch/ros2-python-qt-binding.patch @@ -0,0 +1,24 @@ +diff --git a/src/python_qt_binding/binding_helper.py b/src/python_qt_binding/binding_helper.py +index cb6b835..cdb8369 100644 +--- a/src/python_qt_binding/binding_helper.py ++++ b/src/python_qt_binding/binding_helper.py +@@ -32,7 +32,6 @@ + + import builtins + import os +-import platform + import sys + import traceback + +@@ -48,10 +47,7 @@ def _select_qt_binding(binding_name=None, binding_order=None): + global QT_BINDING, QT_BINDING_VERSION + + # order of default bindings can be changed here +- if platform.system() == 'Darwin': +- DEFAULT_BINDING_ORDER = ['pyside'] +- else: +- DEFAULT_BINDING_ORDER = ['pyqt', 'pyside'] ++ DEFAULT_BINDING_ORDER = ['pyqt', 'pyside'] + + binding_order = binding_order or DEFAULT_BINDING_ORDER + diff --git a/distros/lyrical/patch/ros2-rtabmap.patch b/distros/lyrical/patch/ros2-rtabmap.patch index 4044071ff..938a6087c 100644 --- a/distros/lyrical/patch/ros2-rtabmap.patch +++ b/distros/lyrical/patch/ros2-rtabmap.patch @@ -1,8 +1,8 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 3fd1801..934ae3c 100644 +index 8b55e49..6bf425e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -113,6 +113,10 @@ if(MSVC) +@@ -114,6 +114,10 @@ if(MSVC) endif() endif() add_compile_options("/bigobj") @@ -13,31 +13,7 @@ index 3fd1801..934ae3c 100644 endif() # [Eclipse] Automatic Discovery of Include directories (Optional, but handy) -@@ -241,7 +245,22 @@ option(BUILD_WITH_RPATH_NOT_RUNPATH "Explicitly disable usage of RUNPATH for the - set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.") - set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6) - --FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc) -+# OpenCV components. calib3d was split into "calib" + "geometry" in OpenCV 5. -+# These lists are reused below to generate RTABMapConfig.cmake so downstream -+# find_package(RTABMap) requests the same components this build used. -+SET(RTABMAP_OpenCV_COMPONENTS_5 core imgproc highgui stitching photo video videoio calib geometry) -+SET(RTABMAP_OpenCV_COMPONENTS_4 core imgproc highgui stitching photo video videoio calib3d) -+SET(RTABMAP_OpenCV_OPTIONAL_COMPONENTS_5 objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc) -+SET(RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4 aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc) -+ -+# Probe OpenCV without a version constraint first, then request the components -+# matching the detected major version. -+FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core) -+IF(OpenCV_VERSION_MAJOR GREATER 4) -+ FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_5} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_5}) -+ELSE() -+ FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_4} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4}) -+ENDIF() - - IF(WITH_QT) - FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization) -@@ -536,8 +555,12 @@ IF(WITH_G2O) +@@ -617,8 +621,12 @@ IF(WITH_G2O) ENDIF(WITH_G2O) IF(WITH_GTSAM) @@ -49,317 +25,14 @@ index 3fd1801..934ae3c 100644 FIND_PACKAGE(GTSAM CONFIG QUIET) + SET(CMAKE_FIND_PACKAGE_PREFER_CONFIG ${_RTABMAP_CMAKE_FIND_PACKAGE_PREFER_CONFIG}) IF(GTSAM_FOUND) - # For issue https://github.com/introlab/rtabmap/pull/1626 - FIND_FILE(GTSAM_NOISE_MODEL_FACTOR_N_FILE gtsam/nonlinear/NoiseModelFactorN.h -@@ -1318,6 +1341,18 @@ install(EXPORT rtabmapTargets - #### - # Setup RTABMapConfig.cmake - #### -+IF(OpenCV_VERSION_MAJOR GREATER 4) -+ SET(CONF_OPENCV_COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_5}) -+ SET(CONF_OPENCV_OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_5}) -+ELSE() -+ SET(CONF_OPENCV_COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_4}) -+ SET(CONF_OPENCV_OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4}) -+ENDIF() -+STRING(REPLACE ";" " " CONF_OPENCV_COMPONENTS "${CONF_OPENCV_COMPONENTS}") -+STRING(REPLACE ";" " " CONF_OPENCV_OPTIONAL_COMPONENTS "${CONF_OPENCV_OPTIONAL_COMPONENTS}") -+# Pin the OpenCV major version so downstream projects find the same major RTAB-Map was -+# built against -+SET(CONF_OPENCV_VERSION_MAJOR ${OpenCV_VERSION_MAJOR}) - include(CMakePackageConfigHelpers) - write_basic_package_version_file( - "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake" -@@ -1484,7 +1519,8 @@ ENDIF(PCL_COMPILE_OPTIONS) - MESSAGE(STATUS "") - MESSAGE(STATUS "Optional dependencies ('*' affects some default parameters) :") - IF(OpenCV_FOUND) -- IF(OPENCV_ARUCO_FOUND) -+ IF((OpenCV_VERSION_MAJOR LESS 4 AND OPENCV_ARUCO_FOUND) OR -+ (OpenCV_VERSION_MAJOR GREATER 4 AND OPENCV_OBJDETECT_FOUND)) - set(ARUCO_STR "YES") - ELSE() - set(ARUCO_STR "NO") -diff --git a/RTABMapConfig.cmake.in b/RTABMapConfig.cmake.in -index 155ef3e..713359b 100644 ---- a/RTABMapConfig.cmake.in -+++ b/RTABMapConfig.cmake.in -@@ -1,7 +1,7 @@ - include(CMakeFindDependencyMacro) - - # Mandatory dependencies --find_dependency(OpenCV COMPONENTS core calib3d imgproc highgui stitching photo video OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d) -+find_dependency(OpenCV @CONF_OPENCV_VERSION_MAJOR@ COMPONENTS @CONF_OPENCV_COMPONENTS@ OPTIONAL_COMPONENTS @CONF_OPENCV_OPTIONAL_COMPONENTS@) - - if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_guiTargets.cmake") - find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization) -diff --git a/corelib/include/rtabmap/core/DBDriverSqlite3.h b/corelib/include/rtabmap/core/DBDriverSqlite3.h -index a5df8e9..ad7358d 100644 ---- a/corelib/include/rtabmap/core/DBDriverSqlite3.h -+++ b/corelib/include/rtabmap/core/DBDriverSqlite3.h -@@ -30,7 +30,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines - #include "rtabmap/core/DBDriver.h" -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - - typedef struct sqlite3_stmt sqlite3_stmt; - typedef struct sqlite3 sqlite3; -diff --git a/corelib/include/rtabmap/core/EpipolarGeometry.h b/corelib/include/rtabmap/core/EpipolarGeometry.h -index e9408cd..c739d0d 100644 ---- a/corelib/include/rtabmap/core/EpipolarGeometry.h -+++ b/corelib/include/rtabmap/core/EpipolarGeometry.h -@@ -31,7 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/core/Parameters.h" - #include "rtabmap/utilite/UStl.h" - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - #include -diff --git a/corelib/include/rtabmap/core/Features2d.h b/corelib/include/rtabmap/core/Features2d.h -index eec3f57..82a6ddb 100644 ---- a/corelib/include/rtabmap/core/Features2d.h -+++ b/corelib/include/rtabmap/core/Features2d.h -@@ -32,7 +32,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - #include - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - #include "rtabmap/core/Parameters.h" -@@ -70,6 +74,10 @@ class BriefDescriptorExtractor; - class SIFT; - #endif - class SURF; -+#if (CV_MAJOR_VERSION == 5) -+class BRISK; -+class KAZE; -+#endif - } - namespace cuda { - class FastFeatureDetector; -@@ -89,7 +97,13 @@ typedef cv::xfeatures2d::FREAK CV_FREAK; - typedef cv::xfeatures2d::DAISY CV_DAISY; - typedef cv::GFTTDetector CV_GFTT; - typedef cv::xfeatures2d::BriefDescriptorExtractor CV_BRIEF; -+#if (CV_MAJOR_VERSION < 5) - typedef cv::BRISK CV_BRISK; -+typedef cv::KAZE CV_KAZE; -+#else -+typedef cv::xfeatures2d::BRISK CV_BRISK; -+typedef cv::xfeatures2d::KAZE CV_KAZE; -+#endif - typedef cv::ORB CV_ORB; - typedef cv::cuda::SURF_CUDA CV_SURF_GPU; - typedef cv::cuda::ORB CV_ORB_GPU; -@@ -578,7 +592,7 @@ private: - int diffusivity_; - - #if CV_MAJOR_VERSION > 2 -- cv::Ptr kaze_; -+ cv::Ptr kaze_; - #endif - }; - -diff --git a/corelib/include/rtabmap/core/MarkerDetector.h b/corelib/include/rtabmap/core/MarkerDetector.h -index 630bf87..26b6a73 100644 ---- a/corelib/include/rtabmap/core/MarkerDetector.h -+++ b/corelib/include/rtabmap/core/MarkerDetector.h -@@ -32,7 +32,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - --#ifdef HAVE_OPENCV_ARUCO -+#if (CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT) -+#include -+#elif defined(HAVE_OPENCV_ARUCO) - #include - #endif - -@@ -97,8 +99,11 @@ private: - float maxRange_; - float minRange_; - int dictionaryId_; --#ifdef HAVE_OPENCV_ARUCO -- cv::Ptr detectorParams_; -+#if ((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) || defined(HAVE_OPENCV_ARUCO) -+#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7) -+ cv::Ptr arucoDetector_; -+#endif -+ cv::Ptr detectorParams_; - cv::Ptr dictionary_; - #endif - void * apriltagLibDetector_; -diff --git a/corelib/include/rtabmap/core/Memory.h b/corelib/include/rtabmap/core/Memory.h -index 8c3306a..543b834 100644 ---- a/corelib/include/rtabmap/core/Memory.h -+++ b/corelib/include/rtabmap/core/Memory.h -@@ -41,7 +41,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include "rtabmap/utilite/UStl.h" - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - - namespace rtabmap { -diff --git a/corelib/include/rtabmap/core/OdometryInfo.h b/corelib/include/rtabmap/core/OdometryInfo.h -index 484692b..4f96a59 100644 ---- a/corelib/include/rtabmap/core/OdometryInfo.h -+++ b/corelib/include/rtabmap/core/OdometryInfo.h -@@ -34,7 +34,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/core/RegistrationInfo.h" - #include "rtabmap/core/CameraModel.h" - #include "rtabmap/core/LaserScan.h" -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - - namespace rtabmap { - -diff --git a/corelib/include/rtabmap/core/SensorData.h b/corelib/include/rtabmap/core/SensorData.h -index ea5a5de..a088755 100644 ---- a/corelib/include/rtabmap/core/SensorData.h -+++ b/corelib/include/rtabmap/core/SensorData.h -@@ -34,7 +34,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - #include -diff --git a/corelib/include/rtabmap/core/Signature.h b/corelib/include/rtabmap/core/Signature.h -index 9dbbe53..11f6f9c 100644 ---- a/corelib/include/rtabmap/core/Signature.h -+++ b/corelib/include/rtabmap/core/Signature.h -@@ -31,7 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - #include - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - #include -diff --git a/corelib/include/rtabmap/core/Statistics.h b/corelib/include/rtabmap/core/Statistics.h -index 1cdaf40..f787d9b 100644 ---- a/corelib/include/rtabmap/core/Statistics.h -+++ b/corelib/include/rtabmap/core/Statistics.h -@@ -31,7 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines - - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - #include -diff --git a/corelib/include/rtabmap/core/VWDictionary.h b/corelib/include/rtabmap/core/VWDictionary.h -index ebfa3a6..3a7e195 100644 ---- a/corelib/include/rtabmap/core/VWDictionary.h -+++ b/corelib/include/rtabmap/core/VWDictionary.h -@@ -31,7 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - #include - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - #include "rtabmap/core/Parameters.h" -diff --git a/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h b/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h -index 2fc12a2..60b1d79 100644 ---- a/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h -+++ b/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h -@@ -32,6 +32,15 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #ifndef CORELIB_SRC_OPENCV_STEREORECTIFYFISHEYE_H_ - #define CORELIB_SRC_OPENCV_STEREORECTIFYFISHEYE_H_ - -+// This header relies on the OpenCV C API (cvRodrigues2, cvProjectPoints2, ...) -+// which was removed in OpenCV 5. Pull in only the version macros (available in -+// all OpenCV versions) so we can fail early with a clear message rather than -+// with cryptic errors from the includes below. -+#include -+#if CV_MAJOR_VERSION >= 5 -+#error "stereoRectifyFisheye.h is not supported with OpenCV 5 or later (it uses the removed OpenCV C API). Use cv::fisheye::stereoRectify() instead, or guard your include with '#if CV_MAJOR_VERSION < 5'." -+#endif -+ - #include - #if CV_MAJOR_VERSION >= 3 - #include -diff --git a/corelib/include/rtabmap/core/util3d_correspondences.h b/corelib/include/rtabmap/core/util3d_correspondences.h -index 6bbaeb2..d53ece4 100644 ---- a/corelib/include/rtabmap/core/util3d_correspondences.h -+++ b/corelib/include/rtabmap/core/util3d_correspondences.h -@@ -32,7 +32,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - #include - #include -+#include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - #include -diff --git a/corelib/include/rtabmap/core/util3d_features.h b/corelib/include/rtabmap/core/util3d_features.h -index 2ea95bf..6547e5c 100644 ---- a/corelib/include/rtabmap/core/util3d_features.h -+++ b/corelib/include/rtabmap/core/util3d_features.h -@@ -30,7 +30,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - #include - -+#include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - #include + INCLUDE(${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/CheckGTSAMFeatures.cmake) + ENDIF(GTSAM_FOUND) diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt -index e6bf74c..fdfe0fa 100644 +index 892279c..06c7972 100644 --- a/corelib/src/CMakeLists.txt +++ b/corelib/src/CMakeLists.txt -@@ -875,6 +875,12 @@ add_definitions(${PCL_DEFINITIONS}) - # The extension is automatically found. +@@ -912,6 +912,12 @@ configure_file( + ADD_LIBRARY(rtabmap_core ${SRC_FILES} ${RESOURCES_HEADERS}) ADD_LIBRARY(rtabmap::core ALIAS rtabmap_core) +# GTSAM and this target both instantiate an identical inline TBB allocator @@ -371,2601 +44,3 @@ index e6bf74c..fdfe0fa 100644 generate_export_header(rtabmap_core DEPRECATED_MACRO_NAME RTABMAP_DEPRECATED) -diff --git a/corelib/src/EpipolarGeometry.cpp b/corelib/src/EpipolarGeometry.cpp -index 38f1584..758a14a 100644 ---- a/corelib/src/EpipolarGeometry.cpp -+++ b/corelib/src/EpipolarGeometry.cpp -@@ -33,8 +33,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/UMath.h" - - #include --#include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - - namespace rtabmap -diff --git a/corelib/src/Features2d.cpp b/corelib/src/Features2d.cpp -index da83db7..184a4d8 100644 ---- a/corelib/src/Features2d.cpp -+++ b/corelib/src/Features2d.cpp -@@ -36,7 +36,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/UMath.h" - #include "rtabmap/utilite/ULogger.h" - #include "rtabmap/utilite/UTimer.h" --#include - #include - #include - -@@ -865,7 +864,7 @@ std::vector Feature2D::generateKeypoints(const cv::Mat & image, co - cv::cornerSubPix( image, corners, - cv::Size( _subPixWinSize, _subPixWinSize ), - cv::Size( -1, -1 ), -- cv::TermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, _subPixIterations, _subPixEps ) ); -+ cv::TermCriteria( cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, _subPixIterations, _subPixEps ) ); - - for(unsigned int i=0;i 4 -+#ifdef HAVE_OPENCV_XFEATURES2D -+ brisk_ = CV_BRISK::create(thresh_, octaves_, patternScale_); -+#else -+ UWARN("RTAB-Map is not built with OpenCV xfeatures2d module so BRISK cannot be used!"); -+#endif -+#elif CV_MAJOR_VERSION < 3 - brisk_ = cv::Ptr(new CV_BRISK(thresh_, octaves_, patternScale_)); - #else - brisk_ = CV_BRISK::create(thresh_, octaves_, patternScale_); -@@ -2389,6 +2393,7 @@ std::vector BRISK::generateKeypointsImpl(const cv::Mat & image, co - { - UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U); - std::vector keypoints; -+#if CV_MAJOR_VERSION < 5 || (CV_MAJOR_VERSION > 4 && defined(HAVE_OPENCV_XFEATURES2D)) - cv::Mat imgRoi(image, roi); - cv::Mat maskRoi; - if(!mask.empty()) -@@ -2396,6 +2401,9 @@ std::vector BRISK::generateKeypointsImpl(const cv::Mat & image, co - maskRoi = cv::Mat(mask, roi); - } - brisk_->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints -+#else -+ UWARN("RTAB-Map is not built with BRISK feature support!"); -+#endif - return keypoints; - } - -@@ -2403,7 +2411,11 @@ cv::Mat BRISK::generateDescriptorsImpl(const cv::Mat & image, std::vector 4 && defined(HAVE_OPENCV_XFEATURES2D)) - brisk_->compute(image, keypoints, descriptors); -+#else -+ UWARN("RTAB-Map is not built with BRISK feature support!"); -+#endif - return descriptors; - } - -@@ -2436,10 +2448,16 @@ void KAZE::parseParameters(const ParametersMap & parameters) - Parameters::parse(parameters, Parameters::kKAZENOctaveLayers(), nOctaveLayers_); - Parameters::parse(parameters, Parameters::kKAZEDiffusivity(), diffusivity_); - --#if CV_MAJOR_VERSION > 3 -- kaze_ = cv::KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, (cv::KAZE::DiffusivityType)diffusivity_); -+#if CV_MAJOR_VERSION > 4 -+#ifdef HAVE_OPENCV_XFEATURES2D -+ kaze_ = CV_KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, (CV_KAZE::DiffusivityType)diffusivity_); -+#else -+ UWARN("RTAB-Map is not built with OpenCV xfeatures2d module so KAZE cannot be used!"); -+#endif -+#elif CV_MAJOR_VERSION > 3 -+ kaze_ = CV_KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, (CV_KAZE::DiffusivityType)diffusivity_); - #elif CV_MAJOR_VERSION > 2 -- kaze_ = cv::KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, diffusivity_); -+ kaze_ = CV_KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, diffusivity_); - #else - UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!"); - #endif -@@ -2449,7 +2467,7 @@ std::vector KAZE::generateKeypointsImpl(const cv::Mat & image, con - { - UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U); - std::vector keypoints; --#if CV_MAJOR_VERSION > 2 -+#if (CV_MAJOR_VERSION > 2 && CV_MAJOR_VERSION < 5) || (CV_MAJOR_VERSION > 4 && defined(HAVE_OPENCV_XFEATURES2D)) - cv::Mat imgRoi(image, roi); - cv::Mat maskRoi; - if (!mask.empty()) -@@ -2458,7 +2476,7 @@ std::vector KAZE::generateKeypointsImpl(const cv::Mat & image, con - } - kaze_->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints - #else -- UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!"); -+ UWARN("RTAB-Map is not built with Kaze feature support!"); - #endif - return keypoints; - } -@@ -2467,10 +2485,10 @@ cv::Mat KAZE::generateDescriptorsImpl(const cv::Mat & image, std::vector 2 -+#if (CV_MAJOR_VERSION > 2 && CV_MAJOR_VERSION < 5) || (CV_MAJOR_VERSION > 4 && defined(HAVE_OPENCV_XFEATURES2D)) - kaze_->compute(image, keypoints, descriptors); - #else -- UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!"); -+ UWARN("RTAB-Map is not built with Kaze feature support!"); - #endif - return descriptors; - } -diff --git a/corelib/src/MarkerDetector.cpp b/corelib/src/MarkerDetector.cpp -index 1484082..0b7acde 100644 ---- a/corelib/src/MarkerDetector.cpp -+++ b/corelib/src/MarkerDetector.cpp -@@ -30,6 +30,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - -+#if CV_MAJOR_VERSION > 4 -+#include -+#endif -+ - #ifdef HAVE_OPENCV_ARUCO - #if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <8) - namespace cv{ -@@ -72,7 +76,7 @@ extern "C" { - #include "apriltag/tag36h11.h" - } - --#ifndef HAVE_OPENCV_ARUCO -+#if !((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) && !defined(HAVE_OPENCV_ARUCO) - // To match opencv::aruco module, add opencv::aruco dictionary enum - namespace cv{ - namespace aruco { -@@ -200,7 +204,7 @@ MarkerDetector::MarkerDetector(const ParametersMap & parameters) : - apriltagLibDetector_(NULL), - apriltagLibFamily_(NULL) - { --#ifdef HAVE_OPENCV_ARUCO -+#if ((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) || defined(HAVE_OPENCV_ARUCO) - #if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7) - detectorParams_.reset(new cv::aruco::DetectorParameters()); - #elif CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2) -@@ -310,7 +314,7 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters) - } - } - --#ifdef HAVE_OPENCV_ARUCO -+#if ((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) || defined(HAVE_OPENCV_ARUCO) - detectorParams_->adaptiveThreshWinSizeMin = 3; - detectorParams_->adaptiveThreshWinSizeMax = 23; - detectorParams_->adaptiveThreshWinSizeStep = 10; -@@ -364,6 +368,7 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters) - dictionaryId_ = Parameters::defaultMarkerDictionary(); - } - #endif -+ - #if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7) - dictionary_.reset(new cv::aruco::Dictionary()); - *dictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(dictionaryId_)); -@@ -373,6 +378,11 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters) - dictionary_.reset(new cv::aruco::Dictionary()); - *dictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(dictionaryId_)); - #endif -+ -+#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7) -+ arucoDetector_.reset(new cv::aruco::ArucoDetector(*dictionary_, *detectorParams_)); -+#endif -+ - #else - if(strategy_ == 0) - { -@@ -441,7 +451,7 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters) - #else - if(strategy_ == 1) - { --#ifdef HAVE_OPENCV_ARUCO -+#if ((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) || defined(HAVE_OPENCV_ARUCO) - UERROR("RTAB-Map is not built with apriltag library! Fallback to OpenCV (%s=0).", Parameters::kMarkerStrategy().c_str()); - strategy_ = kStrategyOpencv; - #else -@@ -471,6 +481,34 @@ std::map MarkerDetector::detect(const cv::Mat & image, const Cam - return detections; - } - -+#if (((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) || defined(HAVE_OPENCV_ARUCO)) && (CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7)) -+// Drop-in replacement for cv::aruco::estimatePoseSingleMarkers(), which was deprecated -+// in OpenCV 4.7 and removed in OpenCV 5. It reproduces the legacy default behavior (marker -+// object points ordered as ARUCO_CCW_CENTER + SOLVEPNP_ITERATIVE) using cv::solvePnP() per -+// marker. For OpenCV < 4.7 the native cv::aruco::estimatePoseSingleMarkers() is still used. -+static void estimatePoseSingleMarkers( -+ const std::vector > & corners, -+ float markerLength, -+ const cv::Mat & cameraMatrix, -+ const cv::Mat & distCoeffs, -+ std::vector & rvecs, -+ std::vector & tvecs) -+{ -+ cv::Mat objPoints(4, 1, CV_32FC3); -+ objPoints.ptr(0)[0] = cv::Vec3f(-markerLength/2.f, markerLength/2.f, 0); -+ objPoints.ptr(0)[1] = cv::Vec3f( markerLength/2.f, markerLength/2.f, 0); -+ objPoints.ptr(0)[2] = cv::Vec3f( markerLength/2.f, -markerLength/2.f, 0); -+ objPoints.ptr(0)[3] = cv::Vec3f(-markerLength/2.f, -markerLength/2.f, 0); -+ -+ rvecs.resize(corners.size()); -+ tvecs.resize(corners.size()); -+ for(size_t i=0; i MarkerDetector::detect(const cv::Mat & image, - const std::vector & models, - const cv::Mat & depth, -@@ -482,20 +520,27 @@ std::map MarkerDetector::detect(const cv::Mat & image, - UASSERT(int((depth.cols/models.size())*models.size()) == depth.cols); - int subRGBWidth = image.cols/models.size(); - -+ // Only a real depth map (CV_16UC1/CV_32FC1) can be used for marker length estimation. -+ // Ignore anything else (e.g. a stereo right image passed by mistake) instead of crashing -+ // later in util2d::getDepth(). -+ cv::Mat depthMap = depth; -+ if(!depthMap.empty() && depthMap.type()!=CV_16UC1 && depthMap.type()!=CV_32FC1) -+ { -+ UWARN("Marker detection: ignoring depth image with unsupported type=%d (expected CV_16UC1 or CV_32FC1).", depthMap.type()); -+ depthMap = cv::Mat(); -+ } -+ - float rgbToDepthFactorX = 1.0f; - float rgbToDepthFactorY = 1.0f; -- if(!depth.empty()) -+ if(!depthMap.empty()) - { -- rgbToDepthFactorX = float(depth.cols) / float(image.cols); -- rgbToDepthFactorY = float(depth.rows) / float(image.rows); -+ rgbToDepthFactorX = float(depthMap.cols) / float(image.cols); -+ rgbToDepthFactorY = float(depthMap.rows) / float(image.rows); - } - else if(markerLength_ == 0) - { -- if(depth.empty()) -- { -- UERROR("Depth image is empty, please set %s parameter to non-null.", Parameters::kMarkerLength().c_str()); -- return std::map(); -- } -+ UERROR("Depth image is empty, please set %s parameter to non-null.", Parameters::kMarkerLength().c_str()); -+ return std::map(); - } - - std::vector< int > ids; -@@ -632,8 +677,10 @@ std::map MarkerDetector::detect(const cv::Mat & image, - { - std::vector< int > cvIds; - std::vector< std::vector< cv::Point2f > > cvCorners, cvRejected; --#ifdef HAVE_OPENCV_ARUCO --#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2) -+#if ((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) || defined(HAVE_OPENCV_ARUCO) -+#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7) -+ arucoDetector_->detectMarkers(image, cvCorners, cvIds, cvRejected); -+#elif CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2) - cv::aruco::detectMarkers(image, dictionary_, cvCorners, cvIds, detectorParams_, cvRejected); - #else - cv::aruco::detectMarkers(image, *dictionary_, cvCorners, cvIds, *detectorParams_, cvRejected); -@@ -686,9 +733,15 @@ std::map MarkerDetector::detect(const cv::Mat & image, - - for(size_t cam=0; cam < cvCornersPerCam.size(); ++cam) - { -- std::vector< cv::Vec3d > rvecs, tvecs; - const CameraModel & model = models[cam]; -+ -+ std::vector< cv::Vec3d > rvecs, tvecs; -+#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7) -+ estimatePoseSingleMarkers(cvCornersPerCam[cam], 1.0f, model.K(), model.D(), rvecs, tvecs); -+#else - cv::aruco::estimatePoseSingleMarkers(cvCornersPerCam[cam], 1.0f, model.K(), model.D(), rvecs, tvecs); -+#endif -+ - float offsetX = cam*subRGBWidth; - for(size_t i=0; i MarkerDetector::detect(const cv::Mat & image, - { - float length = 0.0f; - std::map::const_iterator findIter = extraMarkerLengths.find(ids[i]); -- if(markerLengths_.empty() && !depth.empty() && (markerLength_ == 0 || (markerLength_<0 && findIter==extraMarkerLengths.end()))) -+ if(markerLengths_.empty() && !depthMap.empty() && (markerLength_ == 0 || (markerLength_<0 && findIter==extraMarkerLengths.end()))) - { -- float d = util2d::getDepth(depth, (corners[i][0].x + (corners[i][2].x-corners[i][0].x)/2.0f)*rgbToDepthFactorX, (corners[i][0].y + (corners[i][2].y-corners[i][0].y)/2.0f)*rgbToDepthFactorY, true, 0.02f, true); -- float d1 = util2d::getDepth(depth, corners[i][0].x*rgbToDepthFactorX, corners[i][0].y*rgbToDepthFactorY, true, 0.02f, true); -- float d2 = util2d::getDepth(depth, corners[i][1].x*rgbToDepthFactorX, corners[i][1].y*rgbToDepthFactorY, true, 0.02f, true); -- float d3 = util2d::getDepth(depth, corners[i][2].x*rgbToDepthFactorX, corners[i][2].y*rgbToDepthFactorY, true, 0.02f, true); -- float d4 = util2d::getDepth(depth, corners[i][3].x*rgbToDepthFactorX, corners[i][3].y*rgbToDepthFactorY, true, 0.02f, true); -+ float d = util2d::getDepth(depthMap, (corners[i][0].x + (corners[i][2].x-corners[i][0].x)/2.0f)*rgbToDepthFactorX, (corners[i][0].y + (corners[i][2].y-corners[i][0].y)/2.0f)*rgbToDepthFactorY, true, 0.02f, true); -+ float d1 = util2d::getDepth(depthMap, corners[i][0].x*rgbToDepthFactorX, corners[i][0].y*rgbToDepthFactorY, true, 0.02f, true); -+ float d2 = util2d::getDepth(depthMap, corners[i][1].x*rgbToDepthFactorX, corners[i][1].y*rgbToDepthFactorY, true, 0.02f, true); -+ float d3 = util2d::getDepth(depthMap, corners[i][2].x*rgbToDepthFactorX, corners[i][2].y*rgbToDepthFactorY, true, 0.02f, true); -+ float d4 = util2d::getDepth(depthMap, corners[i][3].x*rgbToDepthFactorX, corners[i][3].y*rgbToDepthFactorY, true, 0.02f, true); - // Accept measurement only if all 4 depth values are valid and - // they are at the same depth (camera should be perpendicular to marker for - // best depth estimation) -@@ -887,7 +940,7 @@ std::map MarkerDetector::detect(const cv::Mat & image, - - if(!ids.empty()) - { --#ifdef HAVE_OPENCV_ARUCO -+#if ((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) || defined(HAVE_OPENCV_ARUCO) - cv::aruco::drawDetectedMarkers(*imageWithDetections, corners, ids); - #else - UWARN("RTAB-Map is not built with \"aruco\" module from OpenCV. Cannot draw markers on image."); -diff --git a/corelib/src/Memory.cpp b/corelib/src/Memory.cpp -index 37afdbf..c88304c 100644 ---- a/corelib/src/Memory.cpp -+++ b/corelib/src/Memory.cpp -@@ -62,8 +62,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - #include -+#if CV_MAJOR_VERSION >=5 -+#include -+#endif - - namespace rtabmap { - -@@ -5373,7 +5375,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor - cv::Mat imageMono; - if(decimatedData.imageRaw().channels() == 3) - { -- cv::cvtColor(decimatedData.imageRaw(), imageMono, CV_BGR2GRAY); -+ cv::cvtColor(decimatedData.imageRaw(), imageMono, cv::COLOR_BGR2GRAY); - } - else - { -@@ -5681,7 +5683,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor - cv::Mat imageMono; - if(data.imageRaw().channels() == 3) - { -- cv::cvtColor(data.imageRaw(), imageMono, CV_BGR2GRAY); -+ cv::cvtColor(data.imageRaw(), imageMono, cv::COLOR_BGR2GRAY); - } - else - { -diff --git a/corelib/src/RegistrationVis.cpp b/corelib/src/RegistrationVis.cpp -index 738e72b..3e5cee3 100644 ---- a/corelib/src/RegistrationVis.cpp -+++ b/corelib/src/RegistrationVis.cpp -@@ -43,7 +43,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include -+#if CV_MAJOR_VERSION > 4 -+#include -+#endif - - #if defined(HAVE_OPENCV_XFEATURES2D) && (CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION==3 && CV_MINOR_VERSION >=4 && CV_SUBMINOR_VERSION >= 1)) - #include // For GMS matcher -@@ -2172,7 +2174,7 @@ Transform RegistrationVis::computeTransformationImpl( - if(!transform.isNull() && !pcaData.empty()) - { - cv::Mat pcaEigenVectors, pcaEigenValues; -- cv::PCA pca_analysis(pcaData, cv::Mat(), CV_PCA_DATA_AS_ROW); -+ cv::PCA pca_analysis(pcaData, cv::Mat(), cv::PCA::DATA_AS_ROW); - // We take the second eigen value - info.inliersDistribution = pca_analysis.eigenvalues.at(0, 1); - -diff --git a/corelib/src/SensorCaptureThread.cpp b/corelib/src/SensorCaptureThread.cpp -index 6414fb9..07858d5 100644 ---- a/corelib/src/SensorCaptureThread.cpp -+++ b/corelib/src/SensorCaptureThread.cpp -@@ -39,7 +39,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/core/IMUFilter.h" - #include "rtabmap/core/Features2d.h" - #include "rtabmap/core/clams/discrete_depth_distortion_model.h" --#include - #include - #include - #include -@@ -742,11 +741,11 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i - else if(data.imageRaw().type() == CV_8UC3) - { - cv::Mat channels[3]; -- cv::cvtColor(data.imageRaw(), image, CV_BGR2YCrCb); -+ cv::cvtColor(data.imageRaw(), image, cv::COLOR_BGR2YCrCb); - cv::split(image, channels); - cv::equalizeHist(channels[0], channels[0]); - cv::merge(channels, 3, image); -- cv::cvtColor(image, image, CV_YCrCb2BGR); -+ cv::cvtColor(image, image, cv::COLOR_YCrCb2BGR); - } - if(!data.depthRaw().empty()) - { -@@ -762,11 +761,11 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i - else if(data.rightRaw().type() == CV_8UC3) - { - cv::Mat channels[3]; -- cv::cvtColor(data.rightRaw(), right, CV_BGR2YCrCb); -+ cv::cvtColor(data.rightRaw(), right, cv::COLOR_BGR2YCrCb); - cv::split(right, channels); - cv::equalizeHist(channels[0], channels[0]); - cv::merge(channels, 3, right); -- cv::cvtColor(right, right, CV_YCrCb2BGR); -+ cv::cvtColor(right, right, cv::COLOR_YCrCb2BGR); - } - data.setStereoImage(image, right, data.stereoCameraModels()[0]); - } -@@ -781,11 +780,11 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i - else if(data.imageRaw().type() == CV_8UC3) - { - cv::Mat channels[3]; -- cv::cvtColor(data.imageRaw(), image, CV_BGR2YCrCb); -+ cv::cvtColor(data.imageRaw(), image, cv::COLOR_BGR2YCrCb); - cv::split(image, channels); - clahe->apply(channels[0], channels[0]); - cv::merge(channels, 3, image); -- cv::cvtColor(image, image, CV_YCrCb2BGR); -+ cv::cvtColor(image, image, cv::COLOR_YCrCb2BGR); - } - if(!data.depthRaw().empty()) - { -@@ -801,11 +800,11 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i - else if(data.rightRaw().type() == CV_8UC3) - { - cv::Mat channels[3]; -- cv::cvtColor(data.rightRaw(), right, CV_BGR2YCrCb); -+ cv::cvtColor(data.rightRaw(), right, cv::COLOR_BGR2YCrCb); - cv::split(right, channels); - clahe->apply(channels[0], channels[0]); - cv::merge(channels, 3, right); -- cv::cvtColor(right, right, CV_YCrCb2BGR); -+ cv::cvtColor(right, right, cv::COLOR_YCrCb2BGR); - } - data.setStereoImage(image, right, data.stereoCameraModels()[0]); - } -diff --git a/corelib/src/StereoCameraModel.cpp b/corelib/src/StereoCameraModel.cpp -index 421d3f4..8830c37 100644 ---- a/corelib/src/StereoCameraModel.cpp -+++ b/corelib/src/StereoCameraModel.cpp -@@ -33,7 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - --#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10))) -+#if (CV_MAJOR_VERSION > 2 and CV_MAJOR_VERSION < 5) or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10))) - #include - #endif - -@@ -179,12 +179,20 @@ void StereoCameraModel::updateStereoRectification() - { - cv::Vec4d D_left(left_.D_raw().at(0,0), left_.D_raw().at(0,1), left_.D_raw().at(0,4), left_.D_raw().at(0,5)); - cv::Vec4d D_right(right_.D_raw().at(0,0), right_.D_raw().at(0,1), right_.D_raw().at(0,4), right_.D_raw().at(0,5)); -- -+#if CV_MAJOR_VERSION < 5 - stereoRectifyFisheye( - left_.K_raw(), D_left, - right_.K_raw(), D_right, - left_.imageSize(), R_, T_, R1, R2, P1, P2, Q, - cv::CALIB_ZERO_DISPARITY, 0, left_.imageSize()); -+#else -+ double balance = 0.0, fov_scale = 1.0; -+ cv::fisheye::stereoRectify( -+ left_.K_raw(), D_left, -+ right_.K_raw(), D_right, -+ left_.imageSize(), R_, T_, R1, R2, P1, P2, Q, -+ cv::CALIB_ZERO_DISPARITY, left_.imageSize(), balance, fov_scale); -+#endif - - // Re-zoom to original focal distance - if(P1.at(0,0) < 0) -diff --git a/corelib/src/camera/CameraDepthAI.cpp b/corelib/src/camera/CameraDepthAI.cpp -index beaca87..326d5bd 100644 ---- a/corelib/src/camera/CameraDepthAI.cpp -+++ b/corelib/src/camera/CameraDepthAI.cpp -@@ -32,7 +32,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include -- -+#if CV_MAJOR_VERSION < 5 -+#include -+#else -+#include -+#endif - - namespace rtabmap { - -diff --git a/corelib/src/camera/CameraFreenect.cpp b/corelib/src/camera/CameraFreenect.cpp -index 9d48215..a402c7b 100644 ---- a/corelib/src/camera/CameraFreenect.cpp -+++ b/corelib/src/camera/CameraFreenect.cpp -@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - - #ifdef RTABMAP_FREENECT - #include -@@ -183,7 +182,7 @@ private: - - if(color_) - { -- cv::cvtColor(rgbIrBuffer_, rgbIrLastFrame_, CV_RGB2BGR); -+ cv::cvtColor(rgbIrBuffer_, rgbIrLastFrame_, cv::COLOR_RGB2BGR); - } - else // IrDepth - { -diff --git a/corelib/src/camera/CameraFreenect2.cpp b/corelib/src/camera/CameraFreenect2.cpp -index 85f7bdf..1514311 100644 ---- a/corelib/src/camera/CameraFreenect2.cpp -+++ b/corelib/src/camera/CameraFreenect2.cpp -@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - - #ifdef RTABMAP_FREENECT2 - #include -@@ -430,11 +429,11 @@ SensorData CameraFreenect2::captureImage(SensorCaptureInfo * info) - cv::Mat rgbMat; // rtabmap uses 3 channels RGB - #ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT - -- cv::cvtColor(rgbMatC4, rgbMat, CV_RGBA2BGR); -+ cv::cvtColor(rgbMatC4, rgbMat, cv::COLOR_RGBA2BGR); - - #else - -- cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR); -+ cv::cvtColor(rgbMatC4, rgbMat, cv::COLOR_BGRA2BGR); - - #endif - cv::flip(rgbMat, rgb, 1); -@@ -490,11 +489,11 @@ SensorData CameraFreenect2::captureImage(SensorCaptureInfo * info) - cv::Mat rgbMat; // rtabmap uses 3 channels RGB - #ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT - -- cv::cvtColor(rgbMatC4, rgbMat, CV_RGB2BGR); -+ cv::cvtColor(rgbMatC4, rgbMat, cv::COLOR_RGB2BGR); - - #else - -- cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR); -+ cv::cvtColor(rgbMatC4, rgbMat, cv::COLOR_BGRA2BGR); - - #endif - cv::flip(rgbMat, rgb, 1); -@@ -607,11 +606,11 @@ SensorData CameraFreenect2::captureImage(SensorCaptureInfo * info) - // rtabmap uses 3 channels RGB - #ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT - -- cv::cvtColor(rgbMatBGRA, rgb, CV_RGBA2BGR); -+ cv::cvtColor(rgbMatBGRA, rgb, cv::COLOR_RGBA2BGR); - - #else - -- cv::cvtColor(rgbMatBGRA, rgb, CV_BGRA2BGR); -+ cv::cvtColor(rgbMatBGRA, rgb, cv::COLOR_BGRA2BGR); - - #endif - cv::flip(rgb, rgb, 1); -@@ -629,11 +628,11 @@ SensorData CameraFreenect2::captureImage(SensorCaptureInfo * info) - // rtabmap uses 3 channels RGB - #ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT - -- cv::cvtColor(rgbMatBGRA, rgb, CV_RGBA2BGR); -+ cv::cvtColor(rgbMatBGRA, rgb, cv::COLOR_RGBA2BGR); - - #else - -- cv::cvtColor(rgbMatBGRA, rgb, CV_BGRA2BGR); -+ cv::cvtColor(rgbMatBGRA, rgb, cv::COLOR_BGRA2BGR); - - #endif - cv::flip(rgb, rgb, 1); -diff --git a/corelib/src/camera/CameraImages.cpp b/corelib/src/camera/CameraImages.cpp -index 9767412..824c9be 100644 ---- a/corelib/src/camera/CameraImages.cpp -+++ b/corelib/src/camera/CameraImages.cpp -@@ -34,7 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include -+#include - #include - - namespace rtabmap -@@ -933,7 +933,7 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info) - { - UWARN("Conversion from 4 channels to 3 channels (file=%s)", imageFilePath.c_str()); - cv::Mat out; -- cv::cvtColor(img, out, CV_BGRA2BGR); -+ cv::cvtColor(img, out, cv::COLOR_BGRA2BGR); - img = out; - } - else if(!img.empty() && _bayerMode >= 0 && _bayerMode <=3) -@@ -941,7 +941,7 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info) - cv::Mat debayeredImg; - try - { -- cv::cvtColor(img, debayeredImg, CV_BayerBG2BGR + _bayerMode); -+ cv::cvtColor(img, debayeredImg, cv::COLOR_BayerBG2BGR + _bayerMode); - img = debayeredImg; - } - catch(const cv::Exception & e) -diff --git a/corelib/src/camera/CameraK4A.cpp b/corelib/src/camera/CameraK4A.cpp -index ad5714d..caf659b 100644 ---- a/corelib/src/camera/CameraK4A.cpp -+++ b/corelib/src/camera/CameraK4A.cpp -@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - - #ifdef RTABMAP_K4A - #include -@@ -508,7 +507,7 @@ SensorData CameraK4A::captureImage(SensorCaptureInfo * info) - CV_8UC4, - (void*)k4a_image_get_buffer(rgb_image_)); - -- cv::cvtColor(bgra, bgrCV, CV_BGRA2BGR); -+ cv::cvtColor(bgra, bgrCV, cv::COLOR_BGRA2BGR); - } - bgrCV = model_.rectifyImage(bgrCV); - -diff --git a/corelib/src/camera/CameraK4W2.cpp b/corelib/src/camera/CameraK4W2.cpp -index e289029..9a96251 100644 ---- a/corelib/src/camera/CameraK4W2.cpp -+++ b/corelib/src/camera/CameraK4W2.cpp -@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - - #ifdef RTABMAP_K4W2 - #include -@@ -486,11 +485,11 @@ SensorData CameraK4W2::captureImage(SensorCaptureInfo * info) - { - cv::Mat tmp; - cv::resize(cv::Mat(nColorHeight, nColorWidth, CV_8UC4, pColorBuffer), tmp, cv::Size(), 0.5, 0.5, cv::INTER_AREA); -- cv::cvtColor(tmp, imageColor, CV_BGRA2BGR); -+ cv::cvtColor(tmp, imageColor, cv::COLOR_BGRA2BGR); - } - else - { -- cv::cvtColor(cv::Mat(nColorHeight, nColorWidth, CV_8UC4, pColorBuffer), imageColor, CV_BGRA2BGR); -+ cv::cvtColor(cv::Mat(nColorHeight, nColorWidth, CV_8UC4, pColorBuffer), imageColor, cv::COLOR_BGRA2BGR); - } - // loop over output pixels - for (int depthIndex = 0; depthIndex < (nDepthWidth*nDepthHeight); ++depthIndex) -diff --git a/corelib/src/camera/CameraOpenNI2.cpp b/corelib/src/camera/CameraOpenNI2.cpp -index 8be86b7..4d2ff1a 100644 ---- a/corelib/src/camera/CameraOpenNI2.cpp -+++ b/corelib/src/camera/CameraOpenNI2.cpp -@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - - #ifdef RTABMAP_OPENNI2 - #include -@@ -514,7 +513,7 @@ SensorData CameraOpenNI2::captureImage(SensorCaptureInfo * info) - cv::Mat tmp(h, w, CV_8UC3, (void *)colorFrame.getData()); - if(_type==kTypeColorDepth) - { -- cv::cvtColor(tmp, rgb, CV_RGB2BGR); -+ cv::cvtColor(tmp, rgb, cv::COLOR_RGB2BGR); - } - else // IR - { -diff --git a/corelib/src/camera/CameraOpenNICV.cpp b/corelib/src/camera/CameraOpenNICV.cpp -index 13536d6..1359561 100644 ---- a/corelib/src/camera/CameraOpenNICV.cpp -+++ b/corelib/src/camera/CameraOpenNICV.cpp -@@ -26,9 +26,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - #include - #include --#if CV_MAJOR_VERSION > 3 --#include --#endif -+#include - - namespace rtabmap - { -@@ -59,30 +57,34 @@ bool CameraOpenNICV::init(const std::string & calibrationFolder, const std::stri - } - - ULOGGER_DEBUG("Camera::init()"); -- _capture.open( _asus?CV_CAP_OPENNI_ASUS:CV_CAP_OPENNI ); -+#if CV_MAJOR_VERSION < 5 -+ _capture.open( _asus?cv::CAP_OPENNI_ASUS:cv::CAP_OPENNI ); -+#else -+ _capture.open( _asus?cv::CAP_OPENNI2_ASUS:cv::CAP_OPENNI2 ); -+#endif - if(_capture.isOpened()) - { -- _capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ ); -- _depthFocal = _capture.get( CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ); -+ _capture.set( cv::CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, cv::CAP_OPENNI_VGA_30HZ ); -+ _depthFocal = _capture.get( cv::CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ); - // Print some avalible device settings. - UINFO("Depth generator output mode:"); -- UINFO("FRAME_WIDTH %f", _capture.get( CV_CAP_PROP_FRAME_WIDTH )); -- UINFO("FRAME_HEIGHT %f", _capture.get( CV_CAP_PROP_FRAME_HEIGHT )); -- UINFO("FRAME_MAX_DEPTH %f mm", _capture.get( CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH )); -- UINFO("BASELINE %f mm", _capture.get( CV_CAP_PROP_OPENNI_BASELINE )); -- UINFO("FPS %f", _capture.get( CV_CAP_PROP_FPS )); -- UINFO("Focal %f", _capture.get( CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH )); -- UINFO("REGISTRATION %f", _capture.get( CV_CAP_PROP_OPENNI_REGISTRATION )); -- if(_capture.get( CV_CAP_PROP_OPENNI_REGISTRATION ) == 0.0) -+ UINFO("FRAME_WIDTH %f", _capture.get( cv::CAP_PROP_FRAME_WIDTH )); -+ UINFO("FRAME_HEIGHT %f", _capture.get( cv::CAP_PROP_FRAME_HEIGHT )); -+ UINFO("FRAME_MAX_DEPTH %f mm", _capture.get( cv::CAP_PROP_OPENNI_FRAME_MAX_DEPTH )); -+ UINFO("BASELINE %f mm", _capture.get( cv::CAP_PROP_OPENNI_BASELINE )); -+ UINFO("FPS %f", _capture.get( cv::CAP_PROP_FPS )); -+ UINFO("Focal %f", _capture.get( cv::CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH )); -+ UINFO("REGISTRATION %f", _capture.get( cv::CAP_PROP_OPENNI_REGISTRATION )); -+ if(_capture.get( cv::CAP_PROP_OPENNI_REGISTRATION ) == 0.0) - { - UERROR("Depth registration is not activated on this device!"); - } -- if( _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR_PRESENT ) ) -+ if( _capture.get( cv::CAP_OPENNI_IMAGE_GENERATOR_PRESENT ) ) - { - UINFO("Image generator output mode:"); -- UINFO("FRAME_WIDTH %f", _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_WIDTH )); -- UINFO("FRAME_HEIGHT %f", _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_HEIGHT )); -- UINFO("FPS %f", _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FPS )); -+ UINFO("FRAME_WIDTH %f", _capture.get( cv::CAP_OPENNI_IMAGE_GENERATOR+cv::CAP_PROP_FRAME_WIDTH )); -+ UINFO("FRAME_HEIGHT %f", _capture.get( cv::CAP_OPENNI_IMAGE_GENERATOR+cv::CAP_PROP_FRAME_HEIGHT )); -+ UINFO("FPS %f", _capture.get( cv::CAP_OPENNI_IMAGE_GENERATOR+cv::CAP_PROP_FPS )); - } - else - { -@@ -112,8 +114,8 @@ SensorData CameraOpenNICV::captureImage(SensorCaptureInfo * info) - { - _capture.grab(); - cv::Mat depth, rgb; -- _capture.retrieve(depth, CV_CAP_OPENNI_DEPTH_MAP ); -- _capture.retrieve(rgb, CV_CAP_OPENNI_BGR_IMAGE ); -+ _capture.retrieve(depth, cv::CAP_OPENNI_DEPTH_MAP ); -+ _capture.retrieve(rgb, cv::CAP_OPENNI_BGR_IMAGE ); - - depth = depth.clone(); - rgb = rgb.clone(); -diff --git a/corelib/src/camera/CameraOpenni.cpp b/corelib/src/camera/CameraOpenni.cpp -index 9fb8dc7..68cba16 100644 ---- a/corelib/src/camera/CameraOpenni.cpp -+++ b/corelib/src/camera/CameraOpenni.cpp -@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - - #ifdef RTABMAP_OPENNI - #include -@@ -94,7 +93,7 @@ void CameraOpenni::image_cb ( - - cv::Mat rgbFrame(rgb->getHeight(), rgb->getWidth(), CV_8UC3); - rgb->fillRGB(rgb->getWidth(), rgb->getHeight(), rgbFrame.data); -- cv::cvtColor(rgbFrame, rgb_, CV_RGB2BGR); -+ cv::cvtColor(rgbFrame, rgb_, cv::COLOR_RGB2BGR); - - depth_ = cv::Mat(rgb->getHeight(), rgb->getWidth(), CV_16UC1); - depth->fillDepthImageRaw(rgb->getWidth(), rgb->getHeight(), (unsigned short*)depth_.data); -diff --git a/corelib/src/camera/CameraRealSense.cpp b/corelib/src/camera/CameraRealSense.cpp -index 3f545bb..0136238 100644 ---- a/corelib/src/camera/CameraRealSense.cpp -+++ b/corelib/src/camera/CameraRealSense.cpp -@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - - #ifdef RTABMAP_REALSENSE - #include -@@ -938,7 +937,7 @@ SensorData CameraRealSense::captureImage(SensorCaptureInfo * info) - } - else - { -- cv::cvtColor(rgb, bgr, CV_RGB2BGR); -+ cv::cvtColor(rgb, bgr, cv::COLOR_RGB2BGR); - } - - bool rectified = false; -diff --git a/corelib/src/camera/CameraRealSense2.cpp b/corelib/src/camera/CameraRealSense2.cpp -index fb15b0c..aad8e2c 100644 ---- a/corelib/src/camera/CameraRealSense2.cpp -+++ b/corelib/src/camera/CameraRealSense2.cpp -@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - - #ifdef RTABMAP_REALSENSE2 - #include -@@ -1421,7 +1420,7 @@ SensorData CameraRealSense2::captureImage(SensorCaptureInfo * info) - cv::Mat bgr; - if(rgb.channels() == 3) - { -- cv::cvtColor(rgb, bgr, CV_RGB2BGR); -+ cv::cvtColor(rgb, bgr, cv::COLOR_RGB2BGR); - } - else - { -diff --git a/corelib/src/camera/CameraStereoDC1394.cpp b/corelib/src/camera/CameraStereoDC1394.cpp -index 691516b..2c21108 100644 ---- a/corelib/src/camera/CameraStereoDC1394.cpp -+++ b/corelib/src/camera/CameraStereoDC1394.cpp -@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - - #ifdef RTABMAP_DC1394 - #include -@@ -295,8 +294,8 @@ public: - - //DC1394_COLOR_CODING_RAW16: - //DC1394_COLOR_FILTER_BGGR -- cv::cvtColor(cv::Mat(frame->size[1], frame->size[0], CV_8UC1, capture_buffer), left, CV_BayerRG2BGR); -- cv::cvtColor(cv::Mat(frame->size[1], frame->size[0], CV_8UC1, capture_buffer+image.total()), right, CV_BayerRG2GRAY); -+ cv::cvtColor(cv::Mat(frame->size[1], frame->size[0], CV_8UC1, capture_buffer), left, cv::COLOR_BayerRG2BGR); -+ cv::cvtColor(cv::Mat(frame->size[1], frame->size[0], CV_8UC1, capture_buffer+image.total()), right, cv::COLOR_BayerRG2GRAY); - - dc1394_capture_enqueue(camera_, frame); - -diff --git a/corelib/src/camera/CameraStereoImages.cpp b/corelib/src/camera/CameraStereoImages.cpp -index c50a3b8..e0dd643 100644 ---- a/corelib/src/camera/CameraStereoImages.cpp -+++ b/corelib/src/camera/CameraStereoImages.cpp -@@ -27,7 +27,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - #include - #include --#include - - namespace rtabmap - { -@@ -184,7 +183,7 @@ SensorData CameraStereoImages::captureImage(SensorCaptureInfo * info) - if(rightImage.type() != CV_8UC1 && rightGrayScale_) - { - cv::Mat tmp; -- cv::cvtColor(rightImage, tmp, CV_BGR2GRAY); -+ cv::cvtColor(rightImage, tmp, cv::COLOR_BGR2GRAY); - rightImage = tmp; - } - if(this->isImagesRectified() && stereoModel_.isValidForRectification()) -diff --git a/corelib/src/camera/CameraStereoTara.cpp b/corelib/src/camera/CameraStereoTara.cpp -index e4ea3cd..f4ec60a 100644 ---- a/corelib/src/camera/CameraStereoTara.cpp -+++ b/corelib/src/camera/CameraStereoTara.cpp -@@ -34,9 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#if CV_MAJOR_VERSION > 3 --#include --#endif -+#include - - namespace rtabmap - { -@@ -81,18 +79,18 @@ bool CameraStereoTara::init(const std::string & calibrationFolder, const std::st - - capture_.open(usbDevice_); - -- capture_.set(CV_CAP_PROP_FOURCC, CV_FOURCC('Y', '1', '6', ' ')); -- capture_.set(CV_CAP_PROP_FPS, 60); -- capture_.set(CV_CAP_PROP_FRAME_WIDTH, 752); -- capture_.set(CV_CAP_PROP_FRAME_HEIGHT, 480); -- capture_.set(CV_CAP_PROP_CONVERT_RGB,false); -+ capture_.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('Y', '1', '6', ' ')); -+ capture_.set(cv::CAP_PROP_FPS, 60); -+ capture_.set(cv::CAP_PROP_FRAME_WIDTH, 752); -+ capture_.set(cv::CAP_PROP_FRAME_HEIGHT, 480); -+ capture_.set(cv::CAP_PROP_CONVERT_RGB,false); - - ULOGGER_DEBUG("CameraStereoTara: Usb device initialization on device %d", usbDevice_); - - - if (cameraName_.empty()) - { -- unsigned int guid = (unsigned int)capture_.get(CV_CAP_PROP_GUID); -+ unsigned int guid = (unsigned int)capture_.get(cv::CAP_PROP_GUID); - if (guid != 0 && guid != 0xffffffff) - { - cameraName_ = uFormat("%08x", guid); -diff --git a/corelib/src/camera/CameraStereoVideo.cpp b/corelib/src/camera/CameraStereoVideo.cpp -index f31f40b..5de23a6 100644 ---- a/corelib/src/camera/CameraStereoVideo.cpp -+++ b/corelib/src/camera/CameraStereoVideo.cpp -@@ -28,13 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include --#if CV_MAJOR_VERSION > 3 --#include --#if CV_MAJOR_VERSION > 4 --#include --#endif --#endif -+#include - - namespace rtabmap - { -@@ -172,7 +166,7 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s - - if (cameraName_.empty()) - { -- unsigned int guid = (unsigned int)capture_.get(CV_CAP_PROP_GUID); -+ unsigned int guid = (unsigned int)capture_.get(cv::CAP_PROP_GUID); - if (guid != 0 && guid != 0xffffffff) - { - cameraName_ = uFormat("%08x", guid); -@@ -214,17 +208,17 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s - if(capture_.isOpened()) - { - bool resolutionSet = false; -- resolutionSet = capture_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2)); -- resolutionSet = resolutionSet && capture_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.left().imageHeight()); -+ resolutionSet = capture_.set(cv::CAP_PROP_FRAME_WIDTH, stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2)); -+ resolutionSet = resolutionSet && capture_.set(cv::CAP_PROP_FRAME_HEIGHT, stereoModel_.left().imageHeight()); - if(capture2_.isOpened()) - { -- resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.right().imageWidth()); -- resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.right().imageHeight()); -+ resolutionSet = resolutionSet && capture2_.set(cv::CAP_PROP_FRAME_WIDTH, stereoModel_.right().imageWidth()); -+ resolutionSet = resolutionSet && capture2_.set(cv::CAP_PROP_FRAME_HEIGHT, stereoModel_.right().imageHeight()); - } - - // Check if the resolution was set successfully -- int actualWidth = int(capture_.get(CV_CAP_PROP_FRAME_WIDTH)); -- int actualHeight = int(capture_.get(CV_CAP_PROP_FRAME_HEIGHT)); -+ int actualWidth = int(capture_.get(cv::CAP_PROP_FRAME_WIDTH)); -+ int actualHeight = int(capture_.get(cv::CAP_PROP_FRAME_HEIGHT)); - if(!resolutionSet || - actualWidth != stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2) || - actualHeight != stereoModel_.left().imageHeight()) -@@ -244,17 +238,17 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s - if(capture_.isOpened()) - { - bool resolutionSet = false; -- resolutionSet = capture_.set(CV_CAP_PROP_FRAME_WIDTH, _width*(capture2_.isOpened()?1:2)); -- resolutionSet = resolutionSet && capture_.set(CV_CAP_PROP_FRAME_HEIGHT, _height); -+ resolutionSet = capture_.set(cv::CAP_PROP_FRAME_WIDTH, _width*(capture2_.isOpened()?1:2)); -+ resolutionSet = resolutionSet && capture_.set(cv::CAP_PROP_FRAME_HEIGHT, _height); - if(capture2_.isOpened()) - { -- resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_WIDTH, _width); -- resolutionSet = resolutionSet && capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, _height); -+ resolutionSet = resolutionSet && capture2_.set(cv::CAP_PROP_FRAME_WIDTH, _width); -+ resolutionSet = resolutionSet && capture2_.set(cv::CAP_PROP_FRAME_HEIGHT, _height); - } - - // Check if the resolution was set successfully -- int actualWidth = int(capture_.get(CV_CAP_PROP_FRAME_WIDTH)); -- int actualHeight = int(capture_.get(CV_CAP_PROP_FRAME_HEIGHT)); -+ int actualWidth = int(capture_.get(cv::CAP_PROP_FRAME_WIDTH)); -+ int actualHeight = int(capture_.get(cv::CAP_PROP_FRAME_HEIGHT)); - if(!resolutionSet || - actualWidth != _width*(capture2_.isOpened()?1:2) || - actualHeight != _height) -@@ -273,10 +267,10 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s - if (this->getFrameRate() > 0) - { - bool fpsSupported = false; -- fpsSupported = capture_.set(CV_CAP_PROP_FPS, this->getFrameRate()); -+ fpsSupported = capture_.set(cv::CAP_PROP_FPS, this->getFrameRate()); - if (capture2_.isOpened()) - { -- fpsSupported = fpsSupported && capture2_.set(CV_CAP_PROP_FPS, this->getFrameRate()); -+ fpsSupported = fpsSupported && capture2_.set(cv::CAP_PROP_FPS, this->getFrameRate()); - } - if(fpsSupported) - { -@@ -310,14 +304,14 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s - std::string fourccUpperCase = uToUpperCase(_fourcc); - int fourcc = cv::VideoWriter::fourcc(fourccUpperCase.at(0), fourccUpperCase.at(1), fourccUpperCase.at(2), fourccUpperCase.at(3)); - bool fourccSupported = false; -- fourccSupported = capture_.set(CV_CAP_PROP_FOURCC, fourcc); -+ fourccSupported = capture_.set(cv::CAP_PROP_FOURCC, fourcc); - if (capture2_.isOpened()) - { -- fourccSupported = fourccSupported && capture2_.set(CV_CAP_PROP_FOURCC, fourcc); -+ fourccSupported = fourccSupported && capture2_.set(cv::CAP_PROP_FOURCC, fourcc); - } - - // Check if the FOURCC was set successfully -- int actualFourcc = int(capture_.get(CV_CAP_PROP_FOURCC)); -+ int actualFourcc = int(capture_.get(cv::CAP_PROP_FOURCC)); - - if(!fourccSupported || actualFourcc != fourcc) - { -@@ -386,7 +380,7 @@ SensorData CameraStereoVideo::captureImage(SensorCaptureInfo * info) - if(rightImage.type() != CV_8UC1 && rightGrayScale_) - { - cv::Mat tmp; -- cv::cvtColor(rightImage, tmp, CV_BGR2GRAY); -+ cv::cvtColor(rightImage, tmp, cv::COLOR_BGR2GRAY); - rightImage = tmp; - rightCvt = true; - } -diff --git a/corelib/src/camera/CameraStereoZedOC.cpp b/corelib/src/camera/CameraStereoZedOC.cpp -index 014976a..e3ba6d4 100644 ---- a/corelib/src/camera/CameraStereoZedOC.cpp -+++ b/corelib/src/camera/CameraStereoZedOC.cpp -@@ -38,6 +38,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include "SimpleIni.h" - -+#if CV_MAJOR_VERSION >= 5 -+#include -+#endif -+ - /////////////////////////////////////////////////////////////////////////// - // - // Copyright (c) 2018, STEREOLABS. -diff --git a/corelib/src/camera/CameraVideo.cpp b/corelib/src/camera/CameraVideo.cpp -index 9a0a70d..1776bca 100644 ---- a/corelib/src/camera/CameraVideo.cpp -+++ b/corelib/src/camera/CameraVideo.cpp -@@ -28,12 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#if CV_MAJOR_VERSION > 3 --#include --#if CV_MAJOR_VERSION > 4 --#include --#endif --#endif -+#include - - namespace rtabmap - { -@@ -105,7 +100,7 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string - { - if (_guid.empty()) - { -- unsigned int guid = (unsigned int)_capture.get(CV_CAP_PROP_GUID); -+ unsigned int guid = (unsigned int)_capture.get(cv::CAP_PROP_GUID); - if (guid != 0 && guid != 0xffffffff) - { - _guid = uFormat("%08x", guid); -@@ -143,12 +138,12 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string - } - - bool resolutionSet = false; -- resolutionSet = _capture.set(CV_CAP_PROP_FRAME_WIDTH, _model.imageWidth()); -- resolutionSet = resolutionSet && _capture.set(CV_CAP_PROP_FRAME_HEIGHT, _model.imageHeight()); -+ resolutionSet = _capture.set(cv::CAP_PROP_FRAME_WIDTH, _model.imageWidth()); -+ resolutionSet = resolutionSet && _capture.set(cv::CAP_PROP_FRAME_HEIGHT, _model.imageHeight()); - - // Check if the resolution was set successfully -- int actualWidth = int(_capture.get(CV_CAP_PROP_FRAME_WIDTH)); -- int actualHeight = int(_capture.get(CV_CAP_PROP_FRAME_HEIGHT)); -+ int actualWidth = int(_capture.get(cv::CAP_PROP_FRAME_WIDTH)); -+ int actualHeight = int(_capture.get(cv::CAP_PROP_FRAME_HEIGHT)); - if(!resolutionSet || - actualWidth != _model.imageWidth() || - actualHeight != _model.imageHeight()) -@@ -165,12 +160,12 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string - else if(_width > 0 && _height > 0) - { - int resolutionSet = false; -- resolutionSet = _capture.set(CV_CAP_PROP_FRAME_WIDTH, _width); -- resolutionSet = resolutionSet && _capture.set(CV_CAP_PROP_FRAME_HEIGHT, _height); -+ resolutionSet = _capture.set(cv::CAP_PROP_FRAME_WIDTH, _width); -+ resolutionSet = resolutionSet && _capture.set(cv::CAP_PROP_FRAME_HEIGHT, _height); - - // Check if the resolution was set successfully -- int actualWidth = int(_capture.get(CV_CAP_PROP_FRAME_WIDTH)); -- int actualHeight = int(_capture.get(CV_CAP_PROP_FRAME_HEIGHT)); -+ int actualWidth = int(_capture.get(cv::CAP_PROP_FRAME_WIDTH)); -+ int actualHeight = int(_capture.get(cv::CAP_PROP_FRAME_HEIGHT)); - if(!resolutionSet || actualWidth != _width || actualHeight != _height) - { - UWARN("Desired resolution (%dx%d) cannot be set to camera driver, " -@@ -182,7 +177,7 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string - } - - // Set FPS -- if (this->getFrameRate() > 0 && _capture.set(CV_CAP_PROP_FPS, this->getFrameRate())) -+ if (this->getFrameRate() > 0 && _capture.set(cv::CAP_PROP_FPS, this->getFrameRate())) - { - // Check if the FPS was set successfully - double actualFPS = _capture.get(cv::CAP_PROP_FPS); -@@ -213,10 +208,10 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string - std::string fourccUpperCase = uToUpperCase(_fourcc); - int fourcc = cv::VideoWriter::fourcc(fourccUpperCase.at(0), fourccUpperCase.at(1), fourccUpperCase.at(2), fourccUpperCase.at(3)); - -- bool fourccSupported = _capture.set(CV_CAP_PROP_FOURCC, fourcc); -+ bool fourccSupported = _capture.set(cv::CAP_PROP_FOURCC, fourcc); - - // Check if the FOURCC was set successfully -- int actualFourcc = int(_capture.get(CV_CAP_PROP_FOURCC)); -+ int actualFourcc = int(_capture.get(cv::CAP_PROP_FOURCC)); - - if(!fourccSupported || actualFourcc != fourcc) - { -diff --git a/corelib/src/odometry/OdometryDVO.cpp b/corelib/src/odometry/OdometryDVO.cpp -index 2f7190d..a1e425d 100644 ---- a/corelib/src/odometry/OdometryDVO.cpp -+++ b/corelib/src/odometry/OdometryDVO.cpp -@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/ULogger.h" - #include "rtabmap/utilite/UTimer.h" - #include "rtabmap/utilite/UStl.h" --#include - - #ifdef RTABMAP_DVO - #include -@@ -124,7 +123,7 @@ Transform OdometryDVO::computeTransform( - { - if(data.imageRaw().type() == CV_8UC3) - { -- cv::cvtColor(data.imageRaw(), grey, CV_BGR2GRAY); -+ cv::cvtColor(data.imageRaw(), grey, cv::COLOR_BGR2GRAY); - } - else - { -diff --git a/corelib/src/odometry/OdometryF2M.cpp b/corelib/src/odometry/OdometryF2M.cpp -index 58d0e3a..63b096d 100644 ---- a/corelib/src/odometry/OdometryF2M.cpp -+++ b/corelib/src/odometry/OdometryF2M.cpp -@@ -42,7 +42,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/UTimer.h" - #include "rtabmap/utilite/UMath.h" - #include "rtabmap/utilite/UConversion.h" -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - -diff --git a/corelib/src/odometry/OdometryFovis.cpp b/corelib/src/odometry/OdometryFovis.cpp -index 673639a..c1f5a99 100644 ---- a/corelib/src/odometry/OdometryFovis.cpp -+++ b/corelib/src/odometry/OdometryFovis.cpp -@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/ULogger.h" - #include "rtabmap/utilite/UTimer.h" - #include "rtabmap/utilite/UStl.h" --#include - - #ifdef RTABMAP_FOVIS - #include -@@ -137,7 +136,7 @@ Transform OdometryFovis::computeTransform( - cv::Mat gray; - if(data.imageRaw().type() == CV_8UC3) - { -- cv::cvtColor(data.imageRaw(), gray, CV_BGR2GRAY); -+ cv::cvtColor(data.imageRaw(), gray, cv::COLOR_BGR2GRAY); - } - else if(data.imageRaw().type() == CV_8UC1) - { -@@ -302,7 +301,7 @@ Transform OdometryFovis::computeTransform( - } - if(data.rightRaw().type() == CV_8UC3) - { -- cv::cvtColor(data.rightRaw(), right, CV_BGR2GRAY); -+ cv::cvtColor(data.rightRaw(), right, cv::COLOR_BGR2GRAY); - } - else if(data.rightRaw().type() == CV_8UC1) - { -diff --git a/corelib/src/odometry/OdometryMSCKF.cpp b/corelib/src/odometry/OdometryMSCKF.cpp -index ac62c25..709f9d1 100644 ---- a/corelib/src/odometry/OdometryMSCKF.cpp -+++ b/corelib/src/odometry/OdometryMSCKF.cpp -@@ -32,7 +32,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/UTimer.h" - #include "rtabmap/utilite/UStl.h" - #include "rtabmap/utilite/UThread.h" --#include - - #ifdef RTABMAP_MSCKF_VIO - #include -@@ -867,7 +866,7 @@ Transform OdometryMSCKF::computeTransform( - - if(data.imageRaw().type() == CV_8UC3) - { -- cv::cvtColor(data.imageRaw(), cam0.image, CV_BGR2GRAY); -+ cv::cvtColor(data.imageRaw(), cam0.image, cv::COLOR_BGR2GRAY); - } - else - { -@@ -875,7 +874,7 @@ Transform OdometryMSCKF::computeTransform( - } - if(data.rightRaw().type() == CV_8UC3) - { -- cv::cvtColor(data.rightRaw(), cam1.image, CV_BGR2GRAY); -+ cv::cvtColor(data.rightRaw(), cam1.image, cv::COLOR_BGR2GRAY); - } - else - { -diff --git a/corelib/src/odometry/OdometryMono.cpp b/corelib/src/odometry/OdometryMono.cpp -index b942aa8..e29e2e2 100644 ---- a/corelib/src/odometry/OdometryMono.cpp -+++ b/corelib/src/odometry/OdometryMono.cpp -@@ -43,7 +43,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/UStl.h" - #include "rtabmap/utilite/UMath.h" - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - -diff --git a/corelib/src/odometry/OdometryORBSLAM2.cpp b/corelib/src/odometry/OdometryORBSLAM2.cpp -index 1ae10bc..616678c 100644 ---- a/corelib/src/odometry/OdometryORBSLAM2.cpp -+++ b/corelib/src/odometry/OdometryORBSLAM2.cpp -@@ -33,7 +33,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/UStl.h" - #include "rtabmap/utilite/UDirectory.h" - #include --#include - #include - - #if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 2 -@@ -426,7 +425,7 @@ public: - } - else - { -- cvtColor(mImGray,mImGray,CV_BGR2GRAY); -+ cvtColor(mImGray,mImGray,cv::COLOR_BGR2GRAY); - } - } - else if(mImGray.channels()==4) -@@ -437,7 +436,7 @@ public: - } - else - { -- cvtColor(mImGray,mImGray,CV_BGRA2GRAY); -+ cvtColor(mImGray,mImGray,cv::COLOR_BGRA2GRAY); - } - } - if(imGrayRight.channels()==3) -@@ -448,7 +447,7 @@ public: - } - else - { -- cvtColor(imGrayRight,imGrayRight,CV_BGR2GRAY); -+ cvtColor(imGrayRight,imGrayRight,cv::COLOR_BGR2GRAY); - } - } - else if(imGrayRight.channels()==4) -@@ -459,7 +458,7 @@ public: - } - else - { -- cvtColor(imGrayRight,imGrayRight,CV_BGRA2GRAY); -+ cvtColor(imGrayRight,imGrayRight,cv::COLOR_BGRA2GRAY); - } - } - -@@ -480,14 +479,14 @@ public: - if(mbRGB) - cvtColor(mImGray,mImGray,CV_RGB2GRAY); - else -- cvtColor(mImGray,mImGray,CV_BGR2GRAY); -+ cvtColor(mImGray,mImGray,cv::COLOR_BGR2GRAY); - } - else if(mImGray.channels()==4) - { - if(mbRGB) - cvtColor(mImGray,mImGray,CV_RGBA2GRAY); - else -- cvtColor(mImGray,mImGray,CV_BGRA2GRAY); -+ cvtColor(mImGray,mImGray,cv::COLOR_BGRA2GRAY); - } - - UASSERT(imDepth.type()==CV_32F); -diff --git a/corelib/src/odometry/OdometryORBSLAM3.cpp b/corelib/src/odometry/OdometryORBSLAM3.cpp -index f0e5d64..77e7d45 100644 ---- a/corelib/src/odometry/OdometryORBSLAM3.cpp -+++ b/corelib/src/odometry/OdometryORBSLAM3.cpp -@@ -34,7 +34,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/UDirectory.h" - #include "rtabmap/utilite/UFile.h" - #include --#include - #include - - #if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 3 -@@ -469,12 +468,12 @@ Transform OdometryORBSLAM3::computeTransform( - cv::Mat leftMono = data.imageRaw(); - if(data.imageRaw().channels() == 3) { - leftMono = cv::Mat(); -- cv::cvtColor(data.imageRaw(), leftMono, CV_BGR2GRAY); -+ cv::cvtColor(data.imageRaw(), leftMono, cv::COLOR_BGR2GRAY); - } - cv::Mat rightMono = data.rightRaw(); - if(data.rightRaw().channels() == 3) { - rightMono = cv::Mat(); -- cv::cvtColor(data.imageRaw(), rightMono, CV_BGR2GRAY); -+ cv::cvtColor(data.imageRaw(), rightMono, cv::COLOR_BGR2GRAY); - } - UDEBUG("Adding Stereo Frame %f", data.stamp()); - Tcw = orbslam_->TrackStereo(leftMono, rightMono, data.stamp(), orbslamImus_); -diff --git a/corelib/src/odometry/OdometryOkvis.cpp b/corelib/src/odometry/OdometryOkvis.cpp -index 10497b9..7c97e27 100644 ---- a/corelib/src/odometry/OdometryOkvis.cpp -+++ b/corelib/src/odometry/OdometryOkvis.cpp -@@ -34,7 +34,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/UThread.h" - #include "rtabmap/utilite/UFile.h" - #include "rtabmap/utilite/UDirectory.h" --#include - - #ifdef RTABMAP_OKVIS - #include -@@ -427,7 +426,7 @@ Transform OdometryOkvis::computeTransform( - cv::Mat gray; - if(images[i].type() == CV_8UC3) - { -- cv::cvtColor(images[i], gray, CV_BGR2GRAY); -+ cv::cvtColor(images[i], gray, cv::COLOR_BGR2GRAY); - } - else if(images[i].type() == CV_8UC1) - { -diff --git a/corelib/src/odometry/OdometryOpenVINS.cpp b/corelib/src/odometry/OdometryOpenVINS.cpp -index e953968..4c9dcc4 100644 ---- a/corelib/src/odometry/OdometryOpenVINS.cpp -+++ b/corelib/src/odometry/OdometryOpenVINS.cpp -@@ -32,7 +32,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/ULogger.h" - #include "rtabmap/utilite/UTimer.h" - #include --#include - - #ifdef RTABMAP_OPENVINS - #include "core/VioManager.h" -@@ -419,7 +418,7 @@ Transform OdometryOpenVINS::computeTransform( - - cv::Mat image; - if(data.imageRaw().type() == CV_8UC3) -- cv::cvtColor(data.imageRaw(), image, CV_BGR2GRAY); -+ cv::cvtColor(data.imageRaw(), image, cv::COLOR_BGR2GRAY); - else if(data.imageRaw().type() == CV_8UC1) - image = data.imageRaw().clone(); - else -@@ -450,7 +449,7 @@ Transform OdometryOpenVINS::computeTransform( - if(!data.rightRaw().empty()) - { - if(data.rightRaw().type() == CV_8UC3) -- cv::cvtColor(data.rightRaw(), image, CV_BGR2GRAY); -+ cv::cvtColor(data.rightRaw(), image, cv::COLOR_BGR2GRAY); - else if(data.rightRaw().type() == CV_8UC1) - image = data.rightRaw().clone(); - else -diff --git a/corelib/src/odometry/OdometryVINSFusion.cpp b/corelib/src/odometry/OdometryVINSFusion.cpp -index 9c63360..9677940 100644 ---- a/corelib/src/odometry/OdometryVINSFusion.cpp -+++ b/corelib/src/odometry/OdometryVINSFusion.cpp -@@ -33,7 +33,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/UStl.h" - #include "rtabmap/utilite/UThread.h" - #include "rtabmap/utilite/UDirectory.h" --#include - - #ifdef RTABMAP_VINS_FUSION - #include -@@ -444,7 +443,7 @@ Transform OdometryVINSFusion::computeTransform( - cv::Mat right; - if(data.imageRaw().type() == CV_8UC3) - { -- cv::cvtColor(data.imageRaw(), left, CV_BGR2GRAY); -+ cv::cvtColor(data.imageRaw(), left, cv::COLOR_BGR2GRAY); - } - else if(data.imageRaw().type() == CV_8UC1) - { -@@ -456,7 +455,7 @@ Transform OdometryVINSFusion::computeTransform( - } - if(data.rightRaw().type() == CV_8UC3) - { -- cv::cvtColor(data.rightRaw(), right, CV_BGR2GRAY); -+ cv::cvtColor(data.rightRaw(), right, cv::COLOR_BGR2GRAY); - } - else if(data.rightRaw().type() == CV_8UC1) - { -diff --git a/corelib/src/odometry/OdometryViso2.cpp b/corelib/src/odometry/OdometryViso2.cpp -index 808e763..dc6192b 100644 ---- a/corelib/src/odometry/OdometryViso2.cpp -+++ b/corelib/src/odometry/OdometryViso2.cpp -@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/ULogger.h" - #include "rtabmap/utilite/UTimer.h" - #include "rtabmap/utilite/UStl.h" --#include - - #ifdef RTABMAP_VISO2 - #include -@@ -131,7 +130,7 @@ Transform OdometryViso2::computeTransform( - cv::Mat leftGray; - if(data.imageRaw().type() == CV_8UC3) - { -- cv::cvtColor(data.imageRaw(), leftGray, CV_BGR2GRAY); -+ cv::cvtColor(data.imageRaw(), leftGray, cv::COLOR_BGR2GRAY); - } - else if(data.imageRaw().type() == CV_8UC1) - { -@@ -144,7 +143,7 @@ Transform OdometryViso2::computeTransform( - cv::Mat rightGray; - if(data.rightRaw().type() == CV_8UC3) - { -- cv::cvtColor(data.rightRaw(), rightGray, CV_BGR2GRAY); -+ cv::cvtColor(data.rightRaw(), rightGray, cv::COLOR_BGR2GRAY); - } - else if(data.rightRaw().type() == CV_8UC1) - { -diff --git a/corelib/src/opencv/ORBextractor.cc b/corelib/src/opencv/ORBextractor.cc -index 2d3cd7c..542e169 100644 ---- a/corelib/src/opencv/ORBextractor.cc -+++ b/corelib/src/opencv/ORBextractor.cc -@@ -64,7 +64,11 @@ - - #include - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - #include -diff --git a/corelib/src/opencv/ORBextractor.h b/corelib/src/opencv/ORBextractor.h -index 861ca05..82ede5b 100644 ---- a/corelib/src/opencv/ORBextractor.h -+++ b/corelib/src/opencv/ORBextractor.h -@@ -31,8 +31,6 @@ - - #include - #include --#include -- - - namespace rtabmap - { -diff --git a/corelib/src/opencv/Orb.cpp b/corelib/src/opencv/Orb.cpp -index f56874e..c5034a7 100644 ---- a/corelib/src/opencv/Orb.cpp -+++ b/corelib/src/opencv/Orb.cpp -@@ -40,7 +40,6 @@ - - #include "opencv2/features2d/features2d.hpp" - #include "opencv2/imgproc/imgproc.hpp" --#include "opencv2/imgproc/imgproc_c.h" - #include - #include - -@@ -252,7 +251,7 @@ static void computeOrbDescriptor(const KeyPoint& kpt, - } - } - else -- CV_Error( CV_StsBadSize, "Wrong WTA_K. It can be only 2, 3 or 4." ); -+ CV_Error( cv::Error::StsBadSize, "Wrong WTA_K. It can be only 2, 3 or 4." ); - - #undef GET_VALUE - } -@@ -752,7 +751,7 @@ void CV_ORB::operator()( InputArray _image, InputArray _mask, std::vectornlevels; - -diff --git a/corelib/src/opencv/five-point.h b/corelib/src/opencv/five-point.h -index 1a5b778..f1aa8c7 100644 ---- a/corelib/src/opencv/five-point.h -+++ b/corelib/src/opencv/five-point.h -@@ -8,6 +8,10 @@ - #ifndef CORELIB_SRC_OPENCV_FIVE_POINT_H_ - #define CORELIB_SRC_OPENCV_FIVE_POINT_H_ - -+#if CV_MAJOR_VERSION > 4 -+#include -+#endif -+ - namespace cv3 - { - -diff --git a/corelib/src/opencv/solvepnp.cpp b/corelib/src/opencv/solvepnp.cpp -index f5b3a07..ecd2be9 100644 ---- a/corelib/src/opencv/solvepnp.cpp -+++ b/corelib/src/opencv/solvepnp.cpp -@@ -53,7 +53,7 @@ class PnPRansacCallback : public PointSetRegistrator::Callback - - public: - -- PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=CV_ITERATIVE, -+ PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=cv::SOLVEPNP_ITERATIVE, - bool _useExtrinsicGuess=false, Mat _rvec=Mat(), Mat _tvec=Mat() ) - : cameraMatrix(_cameraMatrix), distCoeffs(_distCoeffs), flags(_flags), useExtrinsicGuess(_useExtrinsicGuess), - rvec(_rvec), tvec(_tvec) {} -@@ -142,12 +142,12 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints, - Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat(); - - int model_points = 6; -- int ransac_kernel_method = CV_EPNP; -+ int ransac_kernel_method = cv::SOLVEPNP_EPNP; - - if( npoints == 4 ) - { - model_points = 4; -- ransac_kernel_method = CV_P3P; -+ ransac_kernel_method = cv::SOLVEPNP_P3P; - } - - Ptr cb; // pointer to callback -@@ -178,7 +178,7 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints, - opoints_inliers.resize(npoints1); - ipoints_inliers.resize(npoints1); - result = solvePnP(opoints_inliers, ipoints_inliers, cameraMatrix, -- distCoeffs, rvec, tvec, useExtrinsicGuess, flags == CV_P3P ? CV_EPNP : flags) ? 1 : -1; -+ distCoeffs, rvec, tvec, useExtrinsicGuess, flags == cv::SOLVEPNP_P3P ? cv::SOLVEPNP_EPNP : flags) ? 1 : -1; - } - - if( result <= 0 || _local_model.rows <= 0) -@@ -213,7 +213,7 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints, - int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters ) - { - if( modelPoints <= 0 ) -- CV_Error( 0, "the number of model points should be positive" ); -+ CV_Error( cv::Error::Code::StsBadArg, "the number of model points should be positive" ); - - p = MAX(p, 0.); - p = MIN(p, 1.); -diff --git a/corelib/src/opencv/solvepnp.h b/corelib/src/opencv/solvepnp.h -index e88b570..382f9db 100644 ---- a/corelib/src/opencv/solvepnp.h -+++ b/corelib/src/opencv/solvepnp.h -@@ -45,9 +45,10 @@ - #define RTABMAP_CORELIB_SRC_OPENCV_SOLVEPNP_H_ - - #include -+#if CV_MAJOR_VERSION >= 5 -+#include -+#else - #include --#if CV_MAJOR_VERSION >= 3 --#include - #endif - - namespace cv3 { -@@ -95,7 +96,7 @@ bool solvePnPRansac( cv::InputArray objectPoints, cv::InputArray imagePoints, - cv::OutputArray rvec, cv::OutputArray tvec, - bool useExtrinsicGuess = false, int iterationsCount = 100, - float reprojectionError = 8.0, double confidence = 0.99, -- cv::OutputArray inliers = cv::noArray(), int flags = CV_ITERATIVE ); -+ cv::OutputArray inliers = cv::noArray(), int flags = cv::SOLVEPNP_ITERATIVE ); - - int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters ); - -diff --git a/corelib/src/optimizer/OptimizerCeres.cpp b/corelib/src/optimizer/OptimizerCeres.cpp -index 046d401..d2d64c3 100644 ---- a/corelib/src/optimizer/OptimizerCeres.cpp -+++ b/corelib/src/optimizer/OptimizerCeres.cpp -@@ -26,6 +26,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - #include "rtabmap/core/Graph.h" - -+#if CV_MAJOR_VERSION < 5 -+#include -+#else -+#include -+#endif -+ - #include - #include - #include -diff --git a/corelib/src/stereo/StereoBM.cpp b/corelib/src/stereo/StereoBM.cpp -index 1b390c6..57f6b7d 100644 ---- a/corelib/src/stereo/StereoBM.cpp -+++ b/corelib/src/stereo/StereoBM.cpp -@@ -27,9 +27,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - #include - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#include -+#endif - #include --#include - - namespace rtabmap { - -@@ -88,7 +92,7 @@ cv::Mat StereoBM::computeDisparity( - cv::Mat leftMono; - if(leftImage.channels() == 3) - { -- cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY); -+ cv::cvtColor(leftImage, leftMono, cv::COLOR_BGR2GRAY); - } - else - { -@@ -98,7 +102,7 @@ cv::Mat StereoBM::computeDisparity( - cv::Mat rightMono; - if(rightImage.channels() == 3) - { -- cv::cvtColor(rightImage, rightMono, CV_BGR2GRAY); -+ cv::cvtColor(rightImage, rightMono, cv::COLOR_BGR2GRAY); - } - else - { -diff --git a/corelib/src/stereo/StereoSGBM.cpp b/corelib/src/stereo/StereoSGBM.cpp -index 6763aeb..d8e651a 100644 ---- a/corelib/src/stereo/StereoSGBM.cpp -+++ b/corelib/src/stereo/StereoSGBM.cpp -@@ -27,9 +27,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - #include - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#include -+#endif - #include --#include - - namespace rtabmap { - -@@ -77,7 +81,7 @@ cv::Mat StereoSGBM::computeDisparity( - cv::Mat leftMono; - if(leftImage.channels() == 3) - { -- cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY); -+ cv::cvtColor(leftImage, leftMono, cv::COLOR_BGR2GRAY); - } - else - { -@@ -87,7 +91,7 @@ cv::Mat StereoSGBM::computeDisparity( - cv::Mat rightMono; - if(rightImage.channels() == 3) - { -- cv::cvtColor(rightImage, rightMono, CV_BGR2GRAY); -+ cv::cvtColor(rightImage, rightMono, cv::COLOR_BGR2GRAY); - } - else - { -diff --git a/corelib/src/util2d.cpp b/corelib/src/util2d.cpp -index 0251d0f..0c9318f 100644 ---- a/corelib/src/util2d.cpp -+++ b/corelib/src/util2d.cpp -@@ -34,11 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - #include - #include - #include --#include - #include - #include - -@@ -46,6 +44,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #endif - -+#if CV_MAJOR_VERSION < 5 -+#include -+#else -+#include -+#endif -+ - namespace rtabmap - { - -@@ -747,7 +751,7 @@ cv::Mat disparityFromStereoImages( - cv::Mat leftMono; - if(leftImage.channels() == 3) - { -- cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY); -+ cv::cvtColor(leftImage, leftMono, cv::COLOR_BGR2GRAY); - } - else - { -@@ -2042,8 +2046,8 @@ cv::Mat brightnessAndContrastAuto(const cv::Mat &src, const cv::Mat & mask, floa - //to calculate grayscale histogram - cv::Mat gray; - if (src.type() == CV_8UC1) gray = src; -- else if (src.type() == CV_8UC3) cvtColor(src, gray, CV_BGR2GRAY); -- else if (src.type() == CV_8UC4) cvtColor(src, gray, CV_BGRA2GRAY); -+ else if (src.type() == CV_8UC3) cvtColor(src, gray, cv::COLOR_BGR2GRAY); -+ else if (src.type() == CV_8UC4) cvtColor(src, gray, cv::COLOR_BGRA2GRAY); - if (clipLowHistPercent == 0 && clipHighHistPercent == 0) - { - // keep full available range -diff --git a/corelib/src/util3d.cpp b/corelib/src/util3d.cpp -index facb0d6..dfad02a 100644 ---- a/corelib/src/util3d.cpp -+++ b/corelib/src/util3d.cpp -@@ -41,7 +41,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - - namespace rtabmap - { -@@ -892,7 +891,7 @@ pcl::PointCloud::Ptr cloudFromStereoImages( - cv::Mat leftMono; - if(leftColor.channels() == 3) - { -- cv::cvtColor(leftColor, leftMono, CV_BGR2GRAY); -+ cv::cvtColor(leftColor, leftMono, cv::COLOR_BGR2GRAY); - } - else - { -@@ -902,7 +901,7 @@ pcl::PointCloud::Ptr cloudFromStereoImages( - cv::Mat rightMono; - if(rightColor.channels() == 3) - { -- cv::cvtColor(rightColor, rightMono, CV_BGR2GRAY); -+ cv::cvtColor(rightColor, rightMono, cv::COLOR_BGR2GRAY); - } - else - { -@@ -1038,7 +1037,7 @@ std::vector::Ptr> cloudsFromSensorData( - cv::Mat leftMono; - if(sensorData.imageRaw().channels() == 3) - { -- cv::cvtColor(sensorData.imageRaw(), leftMono, CV_BGR2GRAY); -+ cv::cvtColor(sensorData.imageRaw(), leftMono, cv::COLOR_BGR2GRAY); - } - else - { -@@ -1048,7 +1047,7 @@ std::vector::Ptr> cloudsFromSensorData( - cv::Mat rightMono; - if(sensorData.rightRaw().channels() == 3) - { -- cv::cvtColor(sensorData.rightRaw(), rightMono, CV_BGR2GRAY); -+ cv::cvtColor(sensorData.rightRaw(), rightMono, cv::COLOR_BGR2GRAY); - } - else - { -diff --git a/corelib/src/util3d_correspondences.cpp b/corelib/src/util3d_correspondences.cpp -index 5a81869..41cc1e6 100644 ---- a/corelib/src/util3d_correspondences.cpp -+++ b/corelib/src/util3d_correspondences.cpp -@@ -30,7 +30,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - #include - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - -diff --git a/corelib/src/util3d_surface.cpp b/corelib/src/util3d_surface.cpp -index bccae36..3625426 100644 ---- a/corelib/src/util3d_surface.cpp -+++ b/corelib/src/util3d_surface.cpp -@@ -39,8 +39,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/UConversion.h" - #include "rtabmap/utilite/UMath.h" - #include "rtabmap/utilite/UTimer.h" --#include --#include - #include - #include - #include -@@ -1745,7 +1743,7 @@ cv::Mat mergeTextures( - if(resizedImage.type() == CV_8UC1) - { - cv::Mat resizedImageColor; -- cv::cvtColor(resizedImage, resizedImageColor, CV_GRAY2BGR); -+ cv::cvtColor(resizedImage, resizedImageColor, cv::COLOR_GRAY2BGR); - resizedImage = resizedImageColor; - } - UASSERT(resizedImage.type() == globalTextures.type()); -@@ -2609,7 +2607,7 @@ bool multiBandTexturing( - if(imageRoi.channels() == 1) - { - cv::Mat imageRoiColor; -- cv::cvtColor(imageRoi, imageRoiColor, CV_GRAY2BGR); -+ cv::cvtColor(imageRoi, imageRoiColor, cv::COLOR_GRAY2BGR); - imageRoi = imageRoiColor; - } - -@@ -3218,7 +3216,7 @@ float computeNormalsComplexity( - } - if(oi>1) - { -- cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), CV_PCA_DATA_AS_ROW); -+ cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), cv::PCA::DATA_AS_ROW); - - if(pcaEigenVectors) - { -@@ -3279,7 +3277,7 @@ float computeNormalsComplexity( - } - if(oi>1) - { -- cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), CV_PCA_DATA_AS_ROW); -+ cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), cv::PCA::DATA_AS_ROW); - - if(pcaEigenVectors) - { -@@ -3335,7 +3333,7 @@ float computeNormalsComplexity( - } - if(oi>1) - { -- cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), CV_PCA_DATA_AS_ROW); -+ cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), cv::PCA::DATA_AS_ROW); - - if(pcaEigenVectors) - { -@@ -3391,7 +3389,7 @@ float computeNormalsComplexity( - } - if(oi>1) - { -- cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), CV_PCA_DATA_AS_ROW); -+ cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), cv::PCA::DATA_AS_ROW); - - if(pcaEigenVectors) - { -@@ -3447,7 +3445,7 @@ float computeNormalsComplexity( - } - if(oi>1) - { -- cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), CV_PCA_DATA_AS_ROW); -+ cv::PCA pca_analysis(cv::Mat(data_normals, cv::Range(0, oi*2)), cv::Mat(), cv::PCA::DATA_AS_ROW); - - if(pcaEigenVectors) - { -diff --git a/guilib/include/rtabmap/gui/DatabaseViewer.h b/guilib/include/rtabmap/gui/DatabaseViewer.h -index 07f9494..bcd6735 100644 ---- a/guilib/include/rtabmap/gui/DatabaseViewer.h -+++ b/guilib/include/rtabmap/gui/DatabaseViewer.h -@@ -36,7 +36,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include - #include -diff --git a/guilib/include/rtabmap/gui/ImageView.h b/guilib/include/rtabmap/gui/ImageView.h -index 8e8df85..95e4ff8 100644 ---- a/guilib/include/rtabmap/gui/ImageView.h -+++ b/guilib/include/rtabmap/gui/ImageView.h -@@ -34,7 +34,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include -+#include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include - #include "rtabmap/utilite/UCv2Qt.h" - #include -diff --git a/guilib/include/rtabmap/gui/KeypointItem.h b/guilib/include/rtabmap/gui/KeypointItem.h -index 7f4f9f6..30db5c3 100644 ---- a/guilib/include/rtabmap/gui/KeypointItem.h -+++ b/guilib/include/rtabmap/gui/KeypointItem.h -@@ -34,7 +34,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include -+#include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - - namespace rtabmap { - -diff --git a/guilib/src/CalibrationDialog.cpp b/guilib/src/CalibrationDialog.cpp -index f6b27fe..3fd4530 100644 ---- a/guilib/src/CalibrationDialog.cpp -+++ b/guilib/src/CalibrationDialog.cpp -@@ -28,15 +28,17 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/gui/CalibrationDialog.h" - #include "ui_calibrationDialog.h" - -+#include - #include - #include --#include -+#if CV_MAJOR_VERSION >= 5 -+#include -+#include -+#else - #include --#if CV_MAJOR_VERSION >= 3 --#include - #endif - #include --#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10))) -+#if (CV_MAJOR_VERSION > 2 and CV_MAJOR_VERSION < 5) or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10))) - #include - #endif - -@@ -276,18 +278,23 @@ void CalibrationDialog::generateBoard() - if(ui_->comboBox_board_type->currentIndex() >= 1 ) - { - try { -+ const int marginInPixels = squareSizeInPixels/4; -+ cv::Size size( -+ squareSizeInPixels*ui_->spinBox_boardWidth->value() + 2*marginInPixels, -+ squareSizeInPixels*ui_->spinBox_boardHeight->value() + 2*marginInPixels); -+ UINFO("Creating board image of %dx%d pixels (%dx%d squares)", -+ size.width, size.height, -+ ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value()); - #if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 7) - charucoBoard_->generateImage( -- cv::Size(squareSizeInPixels*ui_->spinBox_boardWidth->value(), -- squareSizeInPixels*ui_->spinBox_boardHeight->value()), -+ size, - image, -- squareSizeInPixels/4, 1); -+ marginInPixels, 1); - #else - charucoBoard_->draw( -- cv::Size(squareSizeInPixels*ui_->spinBox_boardWidth->value(), -- squareSizeInPixels*ui_->spinBox_boardHeight->value()), -+ size, - image, -- squareSizeInPixels/4, 1); -+ marginInPixels, 1); - #endif - - int arucoDict = ui_->comboBox_marker_dictionary->currentIndex(); -@@ -297,7 +304,7 @@ void CalibrationDialog::generateBoard() - } - catch(const cv::Exception & e) - { -- UERROR("%f", e.what()); -+ UERROR("%s", e.what()); - QMessageBox::critical(this, tr("Generating Board"), - tr("Cannot generate the board. Make sure the dictionary " - "selected is big enough for the board size. Error:\"%1\"").arg(e.what())); -@@ -737,7 +744,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat & - cv::Size boardSize(ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value()); - if(!viewGray.empty()) - { -- int flags = CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE; -+ int flags = cv::CALIB_CB_ADAPTIVE_THRESH | cv::CALIB_CB_NORMALIZE_IMAGE; - - if(!viewGray.empty()) - { -@@ -748,7 +755,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat & - if( scale == 1 ) - timg = viewGray; - else -- cv::resize(viewGray, timg, cv::Size(), scale, scale, CV_INTER_CUBIC); -+ cv::resize(viewGray, timg, cv::Size(), scale, scale, cv::INTER_CUBIC); - - #ifdef HAVE_CHARUCO - if(ui_->comboBox_board_type->currentIndex() >= 1 ) -@@ -833,7 +840,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat & - float ratio = ui_->comboBox_board_type->currentIndex() >= 1 ?6.0f:2.0f; - float radius = minSquareDistance==-1.0f?5.0f:(minSquareDistance/ratio); - cv::cornerSubPix( viewGray, pointBuf[id], cv::Size(radius, radius), cv::Size(-1,-1), -- cv::TermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1 )); -+ cv::TermCriteria( cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30, 0.1 )); - - // Filter points that drifted to far (caused by reflection or bad subpixel gradient) - float threshold = ui_->doubleSpinBox_subpixel_error->value(); -@@ -1388,6 +1395,13 @@ void CalibrationDialog::calibrate() - UINFO("Calibrating camera %d (samples=%d)", id, (int)imagePoints_[id].size()); - logStream << "Calibrating camera " << id << " (samples=" << imagePoints_[id].size() << ")" << ENDL; - -+ // Work on local copies: the fisheye auto-prune below removes ill-conditioned views, -+ // and we must NOT mutate the persistent buffers, otherwise clicking Calibrate again -+ // would run on a smaller (already-pruned) sample set and give different results. -+ std::vector > objectPoints = objectPoints_[id]; -+ std::vector > imagePoints = imagePoints_[id]; -+ std::vector imageIds = imageIds_[id]; -+ - //calibrate - std::vector rvecs, tvecs; - std::vector reprojErrs; -@@ -1401,26 +1415,78 @@ void CalibrationDialog::calibrate() - - if(fishEye) - { -- try -- { -- rms = cv::fisheye::calibrate( -- objectPoints_[id], -- imagePoints_[id], -- imageSize_[id], -- K, -- D, -- rvecs, -- tvecs, -- cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC | -- cv::fisheye::CALIB_CHECK_COND | -- cv::fisheye::CALIB_FIX_SKEW); -- } -- catch(const cv::Exception & e) -+ // cv::fisheye::calibrate() with CALIB_CHECK_COND throws as soon as a single -+ // view is ill-conditioned (e.g. too few / poorly spread ChArUco corners), -+ // aborting the whole calibration. Auto-prune the offending view (its index is -+ // reported in the exception message) and retry until it succeeds, keeping the -+ // CHECK_COND safety without discarding every good view. -+ const int minFisheyeViews = COUNT_MIN/2; -+ bool calibrated = false; -+ while(!calibrated) - { -- UERROR("Error: %s (try restarting the calibration)", e.what()); -- QMessageBox::warning(this, tr("Calibration failed!"), tr("Error: %1 (try restarting the calibration)").arg(e.what())); -- processingData_ = false; -- return; -+ try -+ { -+ rms = cv::fisheye::calibrate( -+ objectPoints, -+ imagePoints, -+ imageSize_[id], -+ K, -+ D, -+ rvecs, -+ tvecs, -+ cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC | -+ cv::fisheye::CALIB_CHECK_COND | -+ cv::fisheye::CALIB_FIX_SKEW); -+ calibrated = true; -+ } -+ catch(const cv::Exception & e) -+ { -+ // Parse the ill-conditioned view index, e.g. -+ // "CALIB_CHECK_COND - Ill-conditioned matrix for input array 43" -+ int badIndex = -1; -+ const QString token = "input array "; -+ QString msg = e.what(); -+ int tokenPos = msg.indexOf(token); -+ if(tokenPos >= 0) -+ { -+ bool ok = false; -+ int v = msg.mid(tokenPos + token.length()).section(' ', 0, 0).toInt(&ok); -+ if(ok) -+ { -+ badIndex = v; -+ } -+ } -+ -+ if(badIndex >= 0 && badIndex < (int)objectPoints.size() && -+ (int)objectPoints.size() > minFisheyeViews) -+ { -+ int removedImageId = badIndex < (int)imageIds.size() ? imageIds[badIndex] : -1; -+ UWARN("Fisheye calibration: view %d (image %d) is ill-conditioned, " -+ "removing it and retrying (%d views left).", -+ badIndex, removedImageId, (int)objectPoints.size()-1); -+ logStream << "Fisheye calibration: removed ill-conditioned view " << badIndex -+ << " (image " << removedImageId << "), " -+ << (int)objectPoints.size()-1 << " views left" << ENDL; -+ -+ // Prune the local copies only (never the persistent buffers). Keep them -+ // aligned: the per-view reprojection loop below indexes them together -+ // with rvecs/tvecs. -+ objectPoints.erase(objectPoints.begin()+badIndex); -+ imagePoints.erase(imagePoints.begin()+badIndex); -+ if(badIndex < (int)imageIds.size()) -+ { -+ imageIds.erase(imageIds.begin()+badIndex); -+ } -+ // loop and retry with the pruned set -+ } -+ else -+ { -+ UERROR("Error: %s (try restarting the calibration)", e.what()); -+ QMessageBox::warning(this, tr("Calibration failed!"), tr("Error: %1 (try restarting the calibration)").arg(e.what())); -+ processingData_ = false; -+ return; -+ } -+ } - } - } - else -@@ -1429,8 +1495,8 @@ void CalibrationDialog::calibrate() - cv::Mat stdDevsMatInt, stdDevsMatExt; - cv::Mat perViewErrorsMat; - rms = cv::calibrateCamera( -- objectPoints_[id], -- imagePoints_[id], -+ objectPoints, -+ imagePoints, - imageSize_[id], - K, - D, -@@ -1440,14 +1506,14 @@ void CalibrationDialog::calibrate() - stdDevsMatExt, - perViewErrorsMat, - ui_->comboBox_calib_model->currentIndex()==2?cv::CALIB_RATIONAL_MODEL:0); -- if((int)imageIds_[id].size() == perViewErrorsMat.rows) -+ if((int)imageIds.size() == perViewErrorsMat.rows) - { - UINFO("Per view errors:"); - logStream << "Per view errors:" << ENDL; - for(int i=0; i(i,0)); -- logStream << "Image " << imageIds_[id][i] << ": " << perViewErrorsMat.at(i,0) << ENDL; -+ UINFO("Image %d: %f", imageIds[i], perViewErrorsMat.at(i,0)); -+ logStream << "Image " << imageIds[i] << ": " << perViewErrorsMat.at(i,0) << ENDL; - } - } - } -@@ -1459,23 +1525,23 @@ void CalibrationDialog::calibrate() - std::vector imagePoints2; - int i, totalPoints = 0; - double totalErr = 0, err; -- reprojErrs.resize(objectPoints_[id].size()); -+ reprojErrs.resize(objectPoints.size()); - -- for( i = 0; i < (int)objectPoints_[id].size(); ++i ) -+ for( i = 0; i < (int)objectPoints.size(); ++i ) - { - #if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10))) - if(fishEye) - { -- cv::fisheye::projectPoints( cv::Mat(objectPoints_[id][i]), imagePoints2, rvecs[i], tvecs[i], K, D); -+ cv::fisheye::projectPoints( cv::Mat(objectPoints[i]), imagePoints2, rvecs[i], tvecs[i], K, D); - } - else - #endif - { -- cv::projectPoints( cv::Mat(objectPoints_[id][i]), rvecs[i], tvecs[i], K, D, imagePoints2); -+ cv::projectPoints( cv::Mat(objectPoints[i]), rvecs[i], tvecs[i], K, D, imagePoints2); - } -- err = cv::norm(cv::Mat(imagePoints_[id][i]), cv::Mat(imagePoints2), CV_L2); -+ err = cv::norm(cv::Mat(imagePoints[i]), cv::Mat(imagePoints2), cv::NORM_L2); - -- int n = (int)objectPoints_[id][i].size(); -+ int n = (int)objectPoints[i].size(); - reprojErrs[i] = (float) std::sqrt(err*err/n); - totalErr += err*err; - totalPoints += n; -@@ -1576,9 +1642,14 @@ void CalibrationDialog::calibrate() - cv::Mat P = stereoModel_.right().P().clone(); - P.at(0,3) = -P.at(0,0)*ui_->doubleSpinBox_stereoBaseline->value(); - double scale = ui_->doubleSpinBox_stereoBaseline->value() / stereoModel_.baseline(); -- UWARN("Scale %f (setting square size from %f to %f)", scale, ui_->doubleSpinBox_squareSize->value(), ui_->doubleSpinBox_squareSize->value()*scale); -- logStream << "Baseline rescaled from " << stereoModel_.baseline() << " to " << ui_->doubleSpinBox_stereoBaseline->value() << " scale=" << scale << ENDL; -- ui_->doubleSpinBox_squareSize->setValue(ui_->doubleSpinBox_squareSize->value()*scale); -+ UWARN("Scale %f applied to stereo baseline (computed %f m -> expected %f m). " -+ "If the mismatch is caused by the measured square size, it would be %f m instead of %f m.", -+ scale, stereoModel_.baseline(), ui_->doubleSpinBox_stereoBaseline->value(), -+ ui_->doubleSpinBox_squareSize->value()*scale, ui_->doubleSpinBox_squareSize->value()); -+ logStream << "Baseline rescaled from " << stereoModel_.baseline() << " to " << ui_->doubleSpinBox_stereoBaseline->value() -+ << " scale=" << scale << " (implied square size " << ui_->doubleSpinBox_squareSize->value()*scale -+ << " m instead of " << ui_->doubleSpinBox_squareSize->value() << " m)" << ENDL; -+ UASSERT(!stereoModel_.T().empty()); - stereoModel_ = StereoCameraModel( - stereoModel_.name(), - stereoModel_.left().imageSize(),stereoModel_.left().K_raw(), stereoModel_.left().D_raw(), stereoModel_.left().R(), stereoModel_.left().P(), -@@ -1708,26 +1779,58 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left, - cv::Vec4d D_right(right.D_raw().at(0,0), right.D_raw().at(0,1), right.D_raw().at(0,4), right.D_raw().at(0,5)); - - UASSERT(stereoImagePoints_[0].size() == stereoImagePoints_[1].size()); -+ UASSERT(stereoObjectPoints_.size() == stereoImagePoints_[0].size()); -+ // cv::fisheye::stereoCalibrate() reads the number of points from the first view and -+ // lays out its Jacobian assuming EVERY view has that same count (fisheye.cpp -+ // "reshape(1, n_points*2)"). ChArUco detects a variable number of corners per view, -+ // so we make the counts uniform by evenly subsampling every view down to the common -+ // minimum count (kept spatially spread, not just the first N). -+ size_t minPoints = stereoImagePoints_[0][0].size(); -+ for(unsigned int i =0; i > objectPoints(stereoObjectPoints_.size()); - std::vector > leftPoints(stereoImagePoints_[0].size()); - std::vector > rightPoints(stereoImagePoints_[1].size()); -+ bool subsampled = false; - for(unsigned int i =0; i1 ? (size_t)((k*(n-1))/(minPoints-1)) : 0; -+ objectPoints[i][k].x = stereoObjectPoints_[i][j].x; -+ objectPoints[i][k].y = stereoObjectPoints_[i][j].y; -+ objectPoints[i][k].z = stereoObjectPoints_[i][j].z; -+ leftPoints[i][k].x = stereoImagePoints_[0][i][j].x; -+ leftPoints[i][k].y = stereoImagePoints_[0][i][j].y; -+ rightPoints[i][k].x = stereoImagePoints_[1][i][j].x; -+ rightPoints[i][k].y = stereoImagePoints_[1][i][j].y; - } - } -+ if(subsampled) -+ { -+ UWARN("Fisheye stereo calibration requires the same number of points in every " -+ "view; sub-sampled all %d views to the common minimum of %d points.", -+ (int)stereoImagePoints_[0].size(), (int)minPoints); -+ if(logStream) (*logStream) << "Fisheye stereo: sub-sampled all views to " << (int)minPoints << " points" << ENDL; -+ } - - try - { - rms = cv::fisheye::stereoCalibrate( -- stereoObjectPoints_, -+ objectPoints, - leftPoints, - rightPoints, - left.K_raw(), D_left, right.K_raw(), D_right, -@@ -1739,30 +1842,41 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left, - catch(const cv::Exception & e) - { - UERROR("Error: %s (try restarting the calibration)", e.what()); -+ QMessageBox::warning(const_cast(this), tr("Calibration failed!"), tr("Error: %1 (try restarting the calibration)").arg(e.what())); - return output; - } - - std::cout << "R = " << R << std::endl; - std::cout << "T = " << Tvec << std::endl; - -+ // cv::fisheye::stereoCalibrate() returns the translation as a Vec3d (Tvec) and does -+ // not fill the cv::Mat T; populate it here so the returned model always carries a -+ // valid 3x1 extrinsic translation (used e.g. by the baseline rescaling below). -+ T = cv::Mat(3, 1, CV_64FC1); -+ T.at(0,0) = Tvec[0]; -+ T.at(1,0) = Tvec[1]; -+ T.at(2,0) = Tvec[2]; -+ - if(imageSize_[0] == imageSize_[1] && !ignoreStereoRectification) - { - UINFO("Compute stereo rectification"); - - cv::Mat R1, R2, P1, P2, Q; -+#if CV_MAJOR_VERSION < 5 - stereoRectifyFisheye( - left.K_raw(), D_left, - right.K_raw(), D_right, - imageSize, R, Tvec, R1, R2, P1, P2, Q, - cv::CALIB_ZERO_DISPARITY, 0, imageSize); -- -- // Very hard to get good results with this one: -- /*double balance = 0.0, fov_scale = 1.0; -+#else -+ // Very hard to get good results with this one, however we cannot use the previous one anymore in opencv5 -+ double balance = 0.0, fov_scale = 1.0; - cv::fisheye::stereoRectify( - left.K_raw(), D_left, - right.K_raw(), D_right, - imageSize, R, Tvec, R1, R2, P1, P2, Q, -- cv::CALIB_ZERO_DISPARITY, imageSize, balance, fov_scale);*/ -+ cv::CALIB_ZERO_DISPARITY, imageSize, balance, fov_scale); -+#endif - - std::cout << "R1 = " << R1 << std::endl; - std::cout << "R2 = " << R2 << std::endl; -@@ -1791,11 +1905,6 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left, - std::cout << "P1n = " << P1 << std::endl; - std::cout << "P2n = " << P2 << std::endl; - -- -- cv::Mat T(3,1,CV_64FC1); -- T.at (0,0) = Tvec[0]; -- T.at (1,0) = Tvec[1]; -- T.at (2,0) = Tvec[2]; - output = StereoCameraModel( - cameraName_.toStdString(), - imageSize_[0], left.K_raw(), left.D_raw(), R1, P1, -@@ -1915,8 +2024,8 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left, - { - int npt = (int)stereoImagePoints_[0][i].size(); - -- cv::Mat imgpt0 = cv::Mat(stereoImagePoints_[0][i]); -- cv::Mat imgpt1 = cv::Mat(stereoImagePoints_[1][i]); -+ std::vector imgpt0 = stereoImagePoints_[0][i]; -+ std::vector imgpt1 = stereoImagePoints_[1][i]; - cv::undistortPoints(imgpt0, imgpt0, left.K_raw(), left.D_raw(), R1, P1); - cv::undistortPoints(imgpt1, imgpt1, right.K_raw(), right.D_raw(), R2, P2); - computeCorrespondEpilines(imgpt0, 1, F, lines[0]); -@@ -1925,10 +2034,10 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left, - double sampleErr = 0.0; - for(int j = 0; j < npt; j++ ) - { -- double errij = fabs(stereoImagePoints_[0][i][j].x*lines[1][j][0] + -- stereoImagePoints_[0][i][j].y*lines[1][j][1] + lines[1][j][2]) + -- fabs(stereoImagePoints_[1][i][j].x*lines[0][j][0] + -- stereoImagePoints_[1][i][j].y*lines[0][j][1] + lines[0][j][2]); -+ double errij = fabs(imgpt0[j].x*lines[1][j][0] + -+ imgpt0[j].y*lines[1][j][1] + lines[1][j][2]) + -+ fabs(imgpt1[j].x*lines[0][j][0] + -+ imgpt1[j].y*lines[0][j][1] + lines[0][j][2]); - sampleErr += errij; - } - UINFO("Stereo image %d: %f", stereoImageIds_[i], sampleErr/npt); -diff --git a/guilib/src/CameraViewer.cpp b/guilib/src/CameraViewer.cpp -index 6588d51..3d7bbab 100644 ---- a/guilib/src/CameraViewer.cpp -+++ b/guilib/src/CameraViewer.cpp -@@ -85,7 +85,7 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) : - showScanCheckbox_->setChecked(true); - - markerCheckbox_ = new QCheckBox("Detect markers", this); --#if defined(HAVE_OPENCV_ARUCO) || defined(RTABMAP_APRILTAG) -+#if ((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) || defined(HAVE_OPENCV_ARUCO) || defined(RTABMAP_APRILTAG) - markerCheckbox_->setEnabled(true); - markerDetector_ = new MarkerDetector(parameters); - #else -@@ -175,7 +175,8 @@ void CameraViewer::showImage(const rtabmap::SensorData & data) - if(!models.empty() && models[0].isValidForProjection()) - { - cv::Mat imageWithDetections; -- detections = markerDetector_->detect(left, models, depthOrRight, _landmarksSize, &imageWithDetections); -+ cv::Mat depth = (depthOrRight.type()==CV_16UC1 || depthOrRight.type()==CV_32FC1) ? depthOrRight : cv::Mat(); -+ detections = markerDetector_->detect(left, models, depth, _landmarksSize, &imageWithDetections); - imageView_->setImage(uCvMat2QImage(imageWithDetections)); - for(std::map::iterator iter=detections.begin(); iter!=detections.end(); ++iter) - { -diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp -index 8951266..a133cb3 100644 ---- a/guilib/src/DatabaseViewer.cpp -+++ b/guilib/src/DatabaseViewer.cpp -@@ -43,8 +43,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include --#include - #include - #include - #include -@@ -5956,7 +5954,7 @@ void DatabaseViewer::updateStereo(const SensorData * data) - cv::Mat leftMono; - if(data->imageRaw().channels() == 3) - { -- cv::cvtColor(data->imageRaw(), leftMono, CV_BGR2GRAY); -+ cv::cvtColor(data->imageRaw(), leftMono, cv::COLOR_BGR2GRAY); - } - else - { -@@ -5965,7 +5963,7 @@ void DatabaseViewer::updateStereo(const SensorData * data) - cv::Mat rightMono; - if(data->rightRaw().channels() == 3) - { -- cv::cvtColor(data->rightRaw(), rightMono, CV_BGR2GRAY); -+ cv::cvtColor(data->rightRaw(), rightMono, cv::COLOR_BGR2GRAY); - } - else - { -diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp -index 8daf26b..363d9cf 100644 ---- a/guilib/src/MainWindow.cpp -+++ b/guilib/src/MainWindow.cpp -@@ -91,6 +91,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - -+#if CV_MAJOR_VERSION >= 5 -+#include -+#endif -+ - //RGB-D stuff - #include "rtabmap/core/CameraRGBD.h" - #include "rtabmap/core/Odometry.h" -@@ -123,10 +127,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #endif - --#ifdef HAVE_OPENCV_ARUCO --#include --#endif -- - #define LOG_FILE_NAME "LogRtabmap.txt" - #define SHARE_SHOW_LOG_FILE "share/rtabmap/showlogs.m" - #define SHARE_GET_PRECISION_RECALL_FILE "share/rtabmap/getPrecisionRecall.m" -diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp -index 2ccdd09..f42667d 100644 ---- a/guilib/src/PreferencesDialog.cpp -+++ b/guilib/src/PreferencesDialog.cpp -@@ -475,10 +475,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : - _ui->checkBox_showOdomFrustums->setChecked(false); - #endif - --#if !defined(HAVE_OPENCV_ARUCO) && !defined(RTABMAP_APRILTAG) -+#if !((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) && !defined(HAVE_OPENCV_ARUCO) && !defined(RTABMAP_APRILTAG) - _ui->label_markerDetection->setText(_ui->label_markerDetection->text()+" This option works only if OpenCV has been built with \"aruco\" module and/or RTAB-Map has been built with AprilTag library support."); - #endif --#ifndef HAVE_OPENCV_ARUCO -+#if !(((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) || defined(HAVE_OPENCV_ARUCO)) - _ui->MarkerStrategy->setItemData(0, 0, Qt::UserRole - 1); - #endif - #ifndef RTABMAP_APRILTAG -diff --git a/guilib/src/ui/calibrationDialog.ui b/guilib/src/ui/calibrationDialog.ui -index d429252..96a5d27 100644 ---- a/guilib/src/ui/calibrationDialog.ui -+++ b/guilib/src/ui/calibrationDialog.ui -@@ -345,10 +345,10 @@ - - - -- -+ Number of inner squares on the board - - -- Square Size -+ Board Size - - - -@@ -385,10 +385,10 @@ - - - -- Number of inner squares on the board -+ - - -- Board Size -+ Square Size - - - -diff --git a/tools/Camera/main.cpp b/tools/Camera/main.cpp -index e337030..3bf320c 100644 ---- a/tools/Camera/main.cpp -+++ b/tools/Camera/main.cpp -@@ -32,7 +32,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/UDirectory.h" - #include "rtabmap/utilite/UConversion.h" - #include --#include - #include - - void showUsage() -@@ -178,7 +177,7 @@ int main(int argc, char * argv[]) - - cv::Mat rgb; - rgb = camera->takeImage().imageRaw(); -- cv::namedWindow("Video", CV_WINDOW_AUTOSIZE); // create window -+ cv::namedWindow("Video", cv::WINDOW_AUTOSIZE); // create window - while(!rgb.empty()) - { - cv::imshow("Video", rgb); // show frame -diff --git a/tools/CameraRGBD/main.cpp b/tools/CameraRGBD/main.cpp -index b8342e6..ff40f3c 100644 ---- a/tools/CameraRGBD/main.cpp -+++ b/tools/CameraRGBD/main.cpp -@@ -40,10 +40,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include "rtabmap/utilite/UEventsManager.h" - #include - #include --#include --#if CV_MAJOR_VERSION >= 3 --#include --#endif - #include - #include - #include -@@ -454,7 +450,7 @@ int main(int argc, char * argv[]) - { - if(right.channels() == 3) - { -- cv::cvtColor(right, right, CV_BGR2GRAY); -+ cv::cvtColor(right, right, cv::COLOR_BGR2GRAY); - } - pcl::PointCloud::Ptr cloud = rtabmap::util3d::cloudFromStereoImages( - rgb, right, -diff --git a/tools/EpipolarGeometry/main.cpp b/tools/EpipolarGeometry/main.cpp -index aa309fa..22e6016 100644 ---- a/tools/EpipolarGeometry/main.cpp -+++ b/tools/EpipolarGeometry/main.cpp -@@ -26,7 +26,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - - #include --#include - #include - #include - #include -@@ -36,7 +35,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include -+#if CV_MAJOR_VERSION < 5 - #include -+#else -+#include -+#endif - #include "rtabmap/core/Features2d.h" - #include "rtabmap/core/EpipolarGeometry.h" - #include "rtabmap/core/VWDictionary.h" -diff --git a/tools/StereoEval/main.cpp b/tools/StereoEval/main.cpp -index bd3313f..9c15e34 100644 ---- a/tools/StereoEval/main.cpp -+++ b/tools/StereoEval/main.cpp -@@ -37,7 +37,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - #include - #include - #include --#include - #include - #include - -@@ -222,7 +221,7 @@ int main(int argc, char * argv[]) - cv::Mat leftMono; - if(left.channels() == 3) - { -- cv::cvtColor(left, leftMono, CV_BGR2GRAY); -+ cv::cvtColor(left, leftMono, cv::COLOR_BGR2GRAY); - } - else - { -@@ -231,7 +230,7 @@ int main(int argc, char * argv[]) - cv::Mat rightMono; - if(right.channels() == 3) - { -- cv::cvtColor(right, rightMono, CV_BGR2GRAY); -+ cv::cvtColor(right, rightMono, cv::COLOR_BGR2GRAY); - } - else - { -@@ -266,7 +265,7 @@ int main(int argc, char * argv[]) - cv::cornerSubPix(leftMono, leftCorners, - cv::Size( subPixWinSize, subPixWinSize ), - cv::Size( -1, -1 ), -- cv::TermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, subPixIterations, subPixEps ) ); -+ cv::TermCriteria( cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, subPixIterations, subPixEps ) ); - UDEBUG("cv::cornerSubPix() end"); - } - diff --git a/distros/lyrical/pkg_additional_info.yaml b/distros/lyrical/pkg_additional_info.yaml index 1894379de..f6a43de96 100644 --- a/distros/lyrical/pkg_additional_info.yaml +++ b/distros/lyrical/pkg_additional_info.yaml @@ -101,6 +101,9 @@ roboplan_toppra: generate_dummy_package_with_run_deps: dep_name: roboplan-toppra-python max_pin: 'x.x' +rtabmap: + # its tests (corelib/test) don't build with MSVC (as in jazzy, same 0.23.13) + additional_cmake_args: -DBUILD_TESTING=OFF rviz_ogre_vendor: additional_cmake_args: "-DRVIZ_OGRE_VENDOR_MANGLE_NAME_OF_LIBRARIES_USED_BY_RVIZ=ON" toppra: @@ -122,176 +125,3 @@ urdfdom_headers: zenoh_cpp_vendor: additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK -DUSE_SYSTEM_ZENOH=ON" # Remove build_number fields below on new full rebuild -# Rebuild with qt6-main 6.11: b27 of these was built against qt6-main 6.12 on at -# least one platform, which can't be installed together with pyqt6 6.11. -easynav: - build_number: 29 -easynav_bonxai_maps_manager: - build_number: 29 -easynav_common: - build_number: 29 -easynav_controller: - build_number: 29 -easynav_core: - build_number: 29 -easynav_costmap_common: - build_number: 29 -easynav_costmap_localizer: - build_number: 29 -easynav_costmap_maps_manager: - build_number: 29 -easynav_costmap_planner: - build_number: 29 -easynav_diagnostic_recovery: - build_number: 29 -easynav_fusion_localizer: - build_number: 29 -easynav_interfaces: - build_number: 29 -easynav_localizer: - build_number: 29 -easynav_maps_manager: - build_number: 29 -easynav_mhamcl_localizer: - build_number: 29 -easynav_mpc_controller: - build_number: 29 -easynav_mppi_controller: - build_number: 29 -easynav_navmap_localizer: - build_number: 29 -easynav_navmap_maps_manager: - build_number: 29 -easynav_navmap_planner: - build_number: 29 -easynav_octomap_maps_manager: - build_number: 29 -easynav_planner: - build_number: 29 -easynav_playground_kobuki: - build_number: 29 -easynav_playground_kobuki_description: - build_number: 29 -easynav_playground_kobuki_worlds: - build_number: 29 -easynav_playground_omni: - build_number: 29 -easynav_playground_omni_description: - build_number: 29 -easynav_playground_omni_worlds: - build_number: 29 -easynav_playground_summit: - build_number: 29 -easynav_playground_summit_description: - build_number: 29 -easynav_playground_summit_worlds: - build_number: 29 -easynav_playground_tiago: - build_number: 29 -easynav_playground_tiago_description: - build_number: 29 -easynav_playground_tiago_worlds: - build_number: 29 -easynav_recovery: - build_number: 29 -easynav_regulated_pp_controller: - build_number: 29 -easynav_routes_maps_manager: - build_number: 29 -easynav_sensors: - build_number: 29 -easynav_serest_controller: - build_number: 29 -easynav_simple_common: - build_number: 29 -easynav_simple_controller: - build_number: 29 -easynav_simple_localizer: - build_number: 29 -easynav_simple_maps_manager: - build_number: 29 -easynav_simple_planner: - build_number: 29 -easynav_simple_recovery: - build_number: 29 -easynav_support_py: - build_number: 29 -easynav_system: - build_number: 29 -easynav_tools: - build_number: 29 -easynav_vff_controller: - build_number: 29 -grid_map_rviz_plugin: - build_number: 29 -gz_gui_vendor: - build_number: 28 -gz_sim_vendor: - build_number: 28 -livox_ros_driver2: - build_number: 29 -navmap_core: - build_number: 29 -navmap_examples: - build_number: 29 -navmap_ros: - build_number: 29 -navmap_ros_interfaces: - build_number: 29 -navmap_rviz_plugin: - build_number: 29 -navmap_tools: - build_number: 29 -plansys2_tools: - build_number: 29 -ros2cli: - # Rebuild with the shell completions under the names bash/zsh/fish load (patch). - build_number: 28 -ros_image_to_qimage: - build_number: 29 -rosidl_cli: - # Rebuild with the shell completions installed under the names bash/zsh/fish load (patch). - build_number: 28 -rplidar_ros: - build_number: 29 -rqt_image_overlay: - build_number: 29 -rqt_image_overlay_layer: - build_number: 29 -rqt_mocap4r2_control: - build_number: 29 -rqt_plot: - build_number: 28 -rqt_py_common: - build_number: 28 -rviz2: - build_number: 28 -rviz_common: - build_number: 28 -rviz_default_plugins: - build_number: 28 -rviz_imu_plugin: - build_number: 28 -rviz_rendering: - build_number: 28 -rviz_rendering_tests: - build_number: 28 -rviz_satellite: - build_number: 28 -rviz_visual_testing_framework: - build_number: 28 -rviz_visual_tools: - build_number: 28 -slam_toolbox: - build_number: 28 -spatio_temporal_voxel_layer: - build_number: 29 -tf_transformations: - build_number: 28 -turtlesim: - build_number: 28 -visp: - # the published build depends on visp 3.6 (OpenCV 4 / protobuf < 7); rebuild for 3.7.0 - build_number: 29 -yaets: - build_number: 29 diff --git a/distros/lyrical/rosdistro_snapshot.yaml b/distros/lyrical/rosdistro_snapshot.yaml index 965e6449b..5523de657 100644 --- a/distros/lyrical/rosdistro_snapshot.yaml +++ b/distros/lyrical/rosdistro_snapshot.yaml @@ -1,4 +1,4 @@ -# Snapshot generated by vinca-snapshot on 2026-09-28T04:32:17Z UTC for distro lyrical +# Snapshot generated by vinca-snapshot on 2026-10-12T23:30:53Z UTC for distro lyrical at rosdistro lyrical/2026-10-05 acado_vendor: dependencies: - ament_cmake @@ -2561,9 +2561,9 @@ cloudini_lib: - ament_cmake - ament_cmake_gtest repository: https://github.com/facontidavide/cloudini - tag: release/lyrical/cloudini_lib/1.3.0-1 + tag: release/lyrical/cloudini_lib/1.4.0-1 url: https://github.com/facontidavide/cloudini-release.git - version: 1.3.0 + version: 1.4.0 cloudini_ros: dependencies: - ament_cmake @@ -2579,9 +2579,9 @@ cloudini_ros: - rosbag2_cpp - sensor_msgs repository: https://github.com/facontidavide/cloudini - tag: release/lyrical/cloudini_ros/1.3.0-1 + tag: release/lyrical/cloudini_ros/1.4.0-1 url: https://github.com/facontidavide/cloudini-release.git - version: 1.3.0 + version: 1.4.0 cm_topic_hardware_component: dependencies: - ament_cmake @@ -5951,6 +5951,12 @@ ecl_utilities: tag: release/lyrical/ecl_utilities/1.2.1-6 url: https://github.com/ros2-gbp/ecl_core-release.git version: 1.2.1 +ehukai: + dependencies: [] + repository: https://github.com/HonuRobotics/ehukai + tag: release/lyrical/ehukai/0.0.3-1 + url: https://github.com/ros2-gbp/ehukai-release.git + version: 0.0.3 eigen3_cmake_module: dependencies: - ament_cmake @@ -7004,9 +7010,9 @@ foxglove_bridge: - std_srvs - test_msgs repository: https://github.com/foxglove/foxglove-sdk - tag: release/lyrical/foxglove_bridge/3.5.0-2 + tag: release/lyrical/foxglove_bridge/3.6.0-1 url: https://github.com/ros2-gbp/foxglove_bridge-release.git - version: 3.5.0 + version: 3.6.0 foxglove_compressed_video_transport: dependencies: - ament_cmake @@ -7040,9 +7046,9 @@ foxglove_msgs: - rosidl_default_generators - rosidl_default_runtime repository: https://github.com/foxglove/foxglove-sdk - tag: release/lyrical/foxglove_msgs/3.5.0-2 + tag: release/lyrical/foxglove_msgs/3.6.0-1 url: https://github.com/ros2-gbp/foxglove_bridge-release.git - version: 3.5.0 + version: 3.6.0 foxglove_sdk_vendor: dependencies: - ament_cmake @@ -7875,9 +7881,9 @@ gz_physics_vendor: - gz_utils_vendor - sdformat_vendor repository: https://github.com/gazebo-release/gz_physics_vendor - tag: release/lyrical/gz_physics_vendor/0.4.7-1 + tag: release/lyrical/gz_physics_vendor/0.4.8-1 url: https://github.com/ros2-gbp/gz_physics_vendor-release.git - version: 0.4.7 + version: 0.4.8 gz_plugin_vendor: dependencies: - ament_cmake_copyright @@ -10154,6 +10160,21 @@ live555_vendor: tag: release/lyrical/live555_vendor/0.20251106.0-3 url: https://github.com/ros2-gbp/live555_vendor-release.git version: 0.20251106.0 +localization_msgs_tools: + dependencies: + - ament_cmake + - ament_cmake_auto + - geometry_msgs + - nav_msgs + - rclcpp + - rclcpp_components + - sensor_msgs + - tf2_eigen + - tf2_ros + repository: https://github.com/oKermorgant/localization_msgs_tools + tag: release/lyrical/localization_msgs_tools/1.0.2-1 + url: https://github.com/ros2-gbp/localization_msgs_tools-release.git + version: 1.0.2 log_view: dependencies: - ament_cmake @@ -10321,6 +10342,9 @@ map_msgs: mapviz: dependencies: - ament_cmake + - ament_cmake_gtest + - ament_lint_auto + - ament_lint_common - geometry_msgs - image_transport - mapviz_interfaces @@ -10329,6 +10353,7 @@ mapviz: - rclcpp - rqt_gui - rqt_gui_cpp + - std_msgs - std_srvs - swri_math_util - swri_transform_util @@ -10336,23 +10361,28 @@ mapviz: - tf2_geometry_msgs - tf2_ros repository: https://github.com/swri-robotics/mapviz - tag: release/lyrical/mapviz/4.1.0-1 + tag: release/lyrical/mapviz/4.1.2-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 4.1.0 + version: 4.1.2 mapviz_interfaces: dependencies: - ament_cmake + - ament_lint_auto + - ament_lint_common - marti_common_msgs - rosidl_default_generators - rosidl_default_runtime repository: https://github.com/swri-robotics/mapviz - tag: release/lyrical/mapviz_interfaces/4.1.0-1 + tag: release/lyrical/mapviz_interfaces/4.1.2-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 4.1.0 + version: 4.1.2 mapviz_plugins: dependencies: - ament_cmake + - ament_cmake_gtest - ament_index_cpp + - ament_lint_auto + - ament_lint_common - cv_bridge - geometry_msgs - gps_msgs @@ -10368,6 +10398,7 @@ mapviz_plugins: - pluginlib - rclcpp - rclcpp_action + - ros_environment - sensor_msgs - std_msgs - stereo_msgs @@ -10380,9 +10411,9 @@ mapviz_plugins: - urdf - visualization_msgs repository: https://github.com/swri-robotics/mapviz - tag: release/lyrical/mapviz_plugins/4.1.0-1 + tag: release/lyrical/mapviz_plugins/4.1.2-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 4.1.0 + version: 4.1.2 marine_acoustic_msgs: dependencies: - ament_cmake @@ -10884,9 +10915,9 @@ microstrain_inertial_description: - ament_cmake - xacro repository: https://github.com/LORD-MicroStrain/microstrain_inertial - tag: release/lyrical/microstrain_inertial_description/4.8.0-3 + tag: release/lyrical/microstrain_inertial_description/4.10.0-2 url: https://github.com/ros2-gbp/microstrain_inertial-release.git - version: 4.8.0 + version: 4.10.0 microstrain_inertial_driver: dependencies: - ament_cmake @@ -10912,9 +10943,9 @@ microstrain_inertial_driver: - tf2_geometry_msgs - tf2_ros repository: https://github.com/LORD-MicroStrain/microstrain_inertial - tag: release/lyrical/microstrain_inertial_driver/4.8.0-3 + tag: release/lyrical/microstrain_inertial_driver/4.10.0-2 url: https://github.com/ros2-gbp/microstrain_inertial-release.git - version: 4.8.0 + version: 4.10.0 microstrain_inertial_examples: dependencies: - ament_cmake @@ -10924,18 +10955,18 @@ microstrain_inertial_examples: - sensor_msgs - tf2_ros repository: https://github.com/LORD-MicroStrain/microstrain_inertial - tag: release/lyrical/microstrain_inertial_examples/4.8.0-3 + tag: release/lyrical/microstrain_inertial_examples/4.10.0-2 url: https://github.com/ros2-gbp/microstrain_inertial-release.git - version: 4.8.0 + version: 4.10.0 microstrain_inertial_msgs: dependencies: - geometry_msgs - rosidl_default_generators - std_msgs repository: https://github.com/LORD-MicroStrain/microstrain_inertial - tag: release/lyrical/microstrain_inertial_msgs/4.8.0-3 + tag: release/lyrical/microstrain_inertial_msgs/4.10.0-2 url: https://github.com/ros2-gbp/microstrain_inertial-release.git - version: 4.8.0 + version: 4.10.0 microstrain_inertial_rqt: dependencies: - geometry_msgs @@ -10946,9 +10977,9 @@ microstrain_inertial_rqt: - rqt_gui_py - std_msgs repository: https://github.com/LORD-MicroStrain/microstrain_inertial - tag: release/lyrical/microstrain_inertial_rqt/4.8.0-3 + tag: release/lyrical/microstrain_inertial_rqt/4.10.0-2 url: https://github.com/ros2-gbp/microstrain_inertial-release.git - version: 4.8.0 + version: 4.10.0 mimick_vendor: dependencies: - ament_cmake @@ -11080,9 +11111,9 @@ mola_georeferencing: - mp2p_icp - mrpt_maps repository: https://github.com/MOLAorg/mola_state_estimation - tag: release/lyrical/mola_georeferencing/3.0.0-1 + tag: release/lyrical/mola_georeferencing/3.0.2-1 url: https://github.com/ros2-gbp/mola_state_estimation-release.git - version: 3.0.0 + version: 3.0.2 mola_gnss_to_markers: dependencies: - ament_cmake @@ -11104,9 +11135,9 @@ mola_gtsam_factors: - mola_common - mrpt_poses repository: https://github.com/MOLAorg/mola_state_estimation - tag: release/lyrical/mola_gtsam_factors/3.0.0-1 + tag: release/lyrical/mola_gtsam_factors/3.0.2-1 url: https://github.com/ros2-gbp/mola_state_estimation-release.git - version: 3.0.0 + version: 3.0.2 mola_imu_preintegration: dependencies: - mola_common @@ -11175,12 +11206,12 @@ mola_input_ouster: dependencies: - mola_kernel - mola_yaml - - mrpt_libmaps - - mrpt_libobs + - mrpt_maps + - mrpt_obs repository: https://github.com/MOLAorg/mola_input_ouster - tag: release/lyrical/mola_input_ouster/0.1.0-1 + tag: release/lyrical/mola_input_ouster/0.2.0-1 url: https://github.com/ros2-gbp/mola_input_ouster-release.git - version: 0.1.0 + version: 0.2.0 mola_input_paris_luco_dataset: dependencies: - mola_common @@ -11370,14 +11401,13 @@ mola_sm_loop_closure: - mola_test_datasets - mola_yaml - mp2p_icp - - mrpt_libgui - - mrpt_libmaps - - mrpt_libtclap + - mrpt_maps + - mrpt_viz - ros_environment repository: https://github.com/MOLAorg/mola_sm_loop_closure - tag: release/lyrical/mola_sm_loop_closure/1.2.2-1 + tag: release/lyrical/mola_sm_loop_closure/1.3.0-1 url: https://github.com/ros2-gbp/mola_sm_loop_closure-release.git - version: 1.2.2 + version: 1.3.0 mola_state_estimation: dependencies: - ament_cmake @@ -11387,9 +11417,9 @@ mola_state_estimation: - mola_state_estimation_simple - mola_state_estimation_smoother repository: https://github.com/MOLAorg/mola_state_estimation - tag: release/lyrical/mola_state_estimation/3.0.0-1 + tag: release/lyrical/mola_state_estimation/3.0.2-1 url: https://github.com/ros2-gbp/mola_state_estimation-release.git - version: 3.0.0 + version: 3.0.2 mola_state_estimation_simple: dependencies: - mola_common @@ -11398,9 +11428,9 @@ mola_state_estimation_simple: - mola_yaml - mrpt_obs repository: https://github.com/MOLAorg/mola_state_estimation - tag: release/lyrical/mola_state_estimation_simple/3.0.0-1 + tag: release/lyrical/mola_state_estimation_simple/3.0.2-1 url: https://github.com/ros2-gbp/mola_state_estimation-release.git - version: 3.0.0 + version: 3.0.2 mola_state_estimation_smoother: dependencies: - ament_cmake @@ -11425,9 +11455,9 @@ mola_state_estimation_smoother: - sensor_msgs - tf2_ros repository: https://github.com/MOLAorg/mola_state_estimation - tag: release/lyrical/mola_state_estimation_smoother/3.0.0-1 + tag: release/lyrical/mola_state_estimation_smoother/3.0.2-1 url: https://github.com/ros2-gbp/mola_state_estimation-release.git - version: 3.0.0 + version: 3.0.2 mola_test_datasets: dependencies: - ament_cmake @@ -12534,9 +12564,9 @@ mrpt_apps_cli: - mrpt_common - mrpt_libapps_cli repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_apps_cli/3.3.0-1 + tag: release/lyrical/mrpt_apps_cli/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_apps_gui: dependencies: - mrpt_common @@ -12545,63 +12575,63 @@ mrpt_apps_gui: - mrpt_libapps_gui - mrpt_nav repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_apps_gui/3.3.0-1 + tag: release/lyrical/mrpt_apps_gui/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_bayes: dependencies: - mrpt_common - mrpt_config - mrpt_math repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_bayes/3.3.0-1 + tag: release/lyrical/mrpt_bayes/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_common: dependencies: [] repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_common/3.3.0-1 + tag: release/lyrical/mrpt_common/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_comms: dependencies: - mrpt_common - mrpt_io - mrpt_poses repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_comms/3.3.0-1 + tag: release/lyrical/mrpt_comms/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_config: dependencies: - mrpt_common - mrpt_expr repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_config/3.3.0-1 + tag: release/lyrical/mrpt_config/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_containers: dependencies: - mrpt_common - mrpt_core - mrpt_typemeta repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_containers/3.3.0-1 + tag: release/lyrical/mrpt_containers/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_core: dependencies: - mrpt_common repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_core/3.3.0-1 + tag: release/lyrical/mrpt_core/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_data: dependencies: [] repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_data/3.3.0-1 + tag: release/lyrical/mrpt_data/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_examples_cpp: dependencies: - mrpt_common @@ -12614,17 +12644,17 @@ mrpt_examples_cpp: - mrpt_libapps_gui - mrpt_nav repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_examples_cpp/3.3.0-1 + tag: release/lyrical/mrpt_examples_cpp/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_expr: dependencies: - mrpt_common - mrpt_system repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_expr/3.3.0-1 + tag: release/lyrical/mrpt_expr/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_generic_sensor: dependencies: - ament_cmake @@ -12640,9 +12670,9 @@ mrpt_generic_sensor: - tf2_geometry_msgs - tf2_ros repository: https://github.com/mrpt-ros-pkg/mrpt_sensors - tag: release/lyrical/mrpt_generic_sensor/0.3.0-1 + tag: release/lyrical/mrpt_generic_sensor/0.4.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git - version: 0.3.0 + version: 0.4.0 mrpt_graphs: dependencies: - mrpt_common @@ -12650,33 +12680,33 @@ mrpt_graphs: - mrpt_poses - mrpt_viz repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_graphs/3.3.0-1 + tag: release/lyrical/mrpt_graphs/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_graphslam: dependencies: - mrpt_gui - mrpt_slam repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_graphslam/3.3.0-1 + tag: release/lyrical/mrpt_graphslam/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_gui: dependencies: - mrpt_opengl repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_gui/3.3.0-1 + tag: release/lyrical/mrpt_gui/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_hwdrivers: dependencies: - mrpt_comms - mrpt_maps - mrpt_viz repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_hwdrivers/3.3.0-1 + tag: release/lyrical/mrpt_hwdrivers/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_img: dependencies: - mrpt_common @@ -12684,40 +12714,40 @@ mrpt_img: - mrpt_io - mrpt_math repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_img/3.3.0-1 + tag: release/lyrical/mrpt_img/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_imgui: dependencies: - mrpt_opengl repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_imgui/3.3.0-1 + tag: release/lyrical/mrpt_imgui/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_imgui_vendor: dependencies: - mrpt_common repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_imgui_vendor/3.3.0-1 + tag: release/lyrical/mrpt_imgui_vendor/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_io: dependencies: - mrpt_common - mrpt_serialization - mrpt_system repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_io/3.3.0-1 + tag: release/lyrical/mrpt_io/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_kinematics: dependencies: - mrpt_common - mrpt_viz repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_kinematics/3.3.0-1 + tag: release/lyrical/mrpt_kinematics/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_libapps: dependencies: - mrpt_libgui @@ -12735,17 +12765,17 @@ mrpt_libapps_cli: - mrpt_slam - mrpt_topography repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_libapps_cli/3.3.0-1 + tag: release/lyrical/mrpt_libapps_cli/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_libapps_gui: dependencies: - mrpt_gui - mrpt_libapps_cli repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_libapps_gui/3.3.0-1 + tag: release/lyrical/mrpt_libapps_gui/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_libbase: dependencies: - nanoflann_vendor @@ -12857,27 +12887,28 @@ mrpt_map_server: - ament_cmake_xmllint - ament_lint_auto - mp2p_icp - - mrpt_libmaps - - mrpt_libobs - mrpt_libros_bridge + - mrpt_maps - mrpt_msgs - mrpt_nav_interfaces + - mrpt_obs + - mrpt_topography - rclcpp_components - tf2 - tf2_geometry_msgs - tf2_ros repository: https://github.com/mrpt-ros-pkg/mrpt_navigation - tag: release/lyrical/mrpt_map_server/2.5.0-1 + tag: release/lyrical/mrpt_map_server/2.6.1-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git - version: 2.5.0 + version: 2.6.1 mrpt_maps: dependencies: - mrpt_graphs - mrpt_obs repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_maps/3.3.0-1 + tag: release/lyrical/mrpt_maps/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_math: dependencies: - mrpt_common @@ -12887,9 +12918,9 @@ mrpt_math: - mrpt_system - nanoflann_vendor repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_math/3.3.0-1 + tag: release/lyrical/mrpt_math/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_msgs: dependencies: - ament_cmake @@ -12915,25 +12946,26 @@ mrpt_msgs_bridge: - ament_cmake_xmllint - ament_lint_auto - geometry_msgs - - mrpt_libobs + - mrpt_graphs - mrpt_libros_bridge - mrpt_msgs + - mrpt_obs - rclcpp - ros_environment - tf2 repository: https://github.com/mrpt-ros-pkg/mrpt_navigation - tag: release/lyrical/mrpt_msgs_bridge/2.5.0-1 + tag: release/lyrical/mrpt_msgs_bridge/2.6.1-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git - version: 2.5.0 + version: 2.6.1 mrpt_nav: dependencies: - mrpt_kinematics - mrpt_maps - mrpt_viz repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_nav/3.3.0-1 + tag: release/lyrical/mrpt_nav/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_nav_interfaces: dependencies: - action_msgs @@ -12944,9 +12976,9 @@ mrpt_nav_interfaces: - rosidl_default_generators - rosidl_default_runtime repository: https://github.com/mrpt-ros-pkg/mrpt_navigation - tag: release/lyrical/mrpt_nav_interfaces/2.5.0-1 + tag: release/lyrical/mrpt_nav_interfaces/2.6.1-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git - version: 2.5.0 + version: 2.6.1 mrpt_navigation: dependencies: - ament_cmake @@ -12962,38 +12994,55 @@ mrpt_navigation: - mrpt_tps_astar_planner - mrpt_tutorials repository: https://github.com/mrpt-ros-pkg/mrpt_navigation - tag: release/lyrical/mrpt_navigation/2.5.0-1 + tag: release/lyrical/mrpt_navigation/2.6.1-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git - version: 2.5.0 + version: 2.6.1 mrpt_obs: dependencies: - mrpt_common - mrpt_tfest - mrpt_viz repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_obs/3.3.0-1 + tag: release/lyrical/mrpt_obs/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_opengl: dependencies: - mrpt_img - mrpt_poses - mrpt_viz repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_opengl/3.3.0-1 + tag: release/lyrical/mrpt_opengl/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_path_planning: dependencies: - - mrpt_libgui - - mrpt_libmaps - - mrpt_libnav - - mrpt_libtclap + - mrpt_path_planning_apps + - mrpt_path_planning_core + repository: https://github.com/MRPT/mrpt_path_planning + tag: release/lyrical/mrpt_path_planning/2.0.0-1 + url: https://github.com/ros2-gbp/mrpt_path_planning-release.git + version: 2.0.0 +mrpt_path_planning_apps: + dependencies: + - mrpt_gui + - mrpt_nav + - mrpt_path_planning_core - mvsim repository: https://github.com/MRPT/mrpt_path_planning - tag: release/lyrical/mrpt_path_planning/1.0.1-1 + tag: release/lyrical/mrpt_path_planning_apps/2.0.0-1 url: https://github.com/ros2-gbp/mrpt_path_planning-release.git - version: 1.0.1 + version: 2.0.0 +mrpt_path_planning_core: + dependencies: + - mrpt_containers + - mrpt_graphs + - mrpt_maps + - mrpt_nav + repository: https://github.com/MRPT/mrpt_path_planning + tag: release/lyrical/mrpt_path_planning_core/2.0.0-1 + url: https://github.com/ros2-gbp/mrpt_path_planning-release.git + version: 2.0.0 mrpt_pf_localization: dependencies: - ament_cmake @@ -13003,12 +13052,13 @@ mrpt_pf_localization: - ament_lint_auto - mola_relocalization - mp2p_icp - - mrpt_libgui + - mrpt_gui - mrpt_libros_bridge - - mrpt_libslam - mrpt_msgs - mrpt_msgs_bridge + - mrpt_slam - mrpt_tutorials + - mrpt_viz - nav_msgs - pose_cov_ops - rclcpp @@ -13018,9 +13068,9 @@ mrpt_pf_localization: - tf2 - tf2_geometry_msgs repository: https://github.com/mrpt-ros-pkg/mrpt_navigation - tag: release/lyrical/mrpt_pf_localization/2.5.0-1 + tag: release/lyrical/mrpt_pf_localization/2.6.1-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git - version: 2.5.0 + version: 2.6.1 mrpt_pointcloud_pipeline: dependencies: - ament_cmake @@ -13028,10 +13078,10 @@ mrpt_pointcloud_pipeline: - ament_cmake_xmllint - ament_lint_auto - mp2p_icp - - mrpt_libgui - - mrpt_libmaps - - mrpt_libobs + - mrpt_gui - mrpt_libros_bridge + - mrpt_maps + - mrpt_obs - nav_msgs - rclcpp - rclcpp_components @@ -13039,25 +13089,25 @@ mrpt_pointcloud_pipeline: - tf2 - tf2_geometry_msgs repository: https://github.com/mrpt-ros-pkg/mrpt_navigation - tag: release/lyrical/mrpt_pointcloud_pipeline/2.5.0-1 + tag: release/lyrical/mrpt_pointcloud_pipeline/2.6.1-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git - version: 2.5.0 + version: 2.6.1 mrpt_poses: dependencies: - mrpt_bayes - mrpt_common - mrpt_io repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_poses/3.3.0-1 + tag: release/lyrical/mrpt_poses/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_random: dependencies: - mrpt_common repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_random/3.3.0-1 + tag: release/lyrical/mrpt_random/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_reactivenav2d: dependencies: - ament_cmake @@ -13065,8 +13115,9 @@ mrpt_reactivenav2d: - ament_cmake_xmllint - ament_lint_auto - geometry_msgs - - mrpt_libnav + - mrpt_kinematics - mrpt_libros_bridge + - mrpt_nav - mrpt_nav_interfaces - nav_msgs - rclcpp @@ -13079,24 +13130,24 @@ mrpt_reactivenav2d: - tf2_ros - visualization_msgs repository: https://github.com/mrpt-ros-pkg/mrpt_navigation - tag: release/lyrical/mrpt_reactivenav2d/2.5.0-1 + tag: release/lyrical/mrpt_reactivenav2d/2.6.1-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git - version: 2.5.0 + version: 2.6.1 mrpt_rtti: dependencies: - mrpt_common - mrpt_core - mrpt_typemeta repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_rtti/3.3.0-1 + tag: release/lyrical/mrpt_rtti/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_sensor_bumblebee_stereo: dependencies: - ament_cmake - ament_cmake_xmllint - ament_lint_auto - - mrpt_libhwdrivers + - mrpt_hwdrivers - mrpt_libros_bridge - mrpt_msgs - mrpt_sensorlib @@ -13104,15 +13155,15 @@ mrpt_sensor_bumblebee_stereo: - ros_environment - tf2_ros repository: https://github.com/mrpt-ros-pkg/mrpt_sensors - tag: release/lyrical/mrpt_sensor_bumblebee_stereo/0.3.0-1 + tag: release/lyrical/mrpt_sensor_bumblebee_stereo/0.4.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git - version: 0.3.0 + version: 0.4.0 mrpt_sensor_gnss_nmea: dependencies: - ament_cmake - ament_cmake_xmllint - ament_lint_auto - - mrpt_libhwdrivers + - mrpt_hwdrivers - mrpt_libros_bridge - mrpt_msgs - mrpt_sensorlib @@ -13121,15 +13172,15 @@ mrpt_sensor_gnss_nmea: - ros_environment - tf2_ros repository: https://github.com/mrpt-ros-pkg/mrpt_sensors - tag: release/lyrical/mrpt_sensor_gnss_nmea/0.3.0-1 + tag: release/lyrical/mrpt_sensor_gnss_nmea/0.4.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git - version: 0.3.0 + version: 0.4.0 mrpt_sensor_gnss_novatel: dependencies: - ament_cmake - ament_cmake_xmllint - ament_lint_auto - - mrpt_libhwdrivers + - mrpt_hwdrivers - mrpt_libros_bridge - mrpt_msgs - mrpt_sensorlib @@ -13138,15 +13189,15 @@ mrpt_sensor_gnss_novatel: - ros_environment - tf2_ros repository: https://github.com/mrpt-ros-pkg/mrpt_sensors - tag: release/lyrical/mrpt_sensor_gnss_novatel/0.3.0-1 + tag: release/lyrical/mrpt_sensor_gnss_novatel/0.4.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git - version: 0.3.0 + version: 0.4.0 mrpt_sensor_imu_taobotics: dependencies: - ament_cmake - ament_cmake_xmllint - ament_lint_auto - - mrpt_libhwdrivers + - mrpt_hwdrivers - mrpt_libros_bridge - mrpt_msgs - mrpt_sensorlib @@ -13154,16 +13205,16 @@ mrpt_sensor_imu_taobotics: - ros_environment - tf2_ros repository: https://github.com/mrpt-ros-pkg/mrpt_sensors - tag: release/lyrical/mrpt_sensor_imu_taobotics/0.3.0-1 + tag: release/lyrical/mrpt_sensor_imu_taobotics/0.4.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git - version: 0.3.0 + version: 0.4.0 mrpt_sensorlib: dependencies: - ament_cmake - ament_cmake_xmllint - ament_lint_auto - diagnostic_updater - - mrpt_libhwdrivers + - mrpt_hwdrivers - mrpt_libros_bridge - mrpt_msgs - rclcpp_components @@ -13171,9 +13222,9 @@ mrpt_sensorlib: - tf2_geometry_msgs - tf2_ros repository: https://github.com/mrpt-ros-pkg/mrpt_sensors - tag: release/lyrical/mrpt_sensorlib/0.3.0-1 + tag: release/lyrical/mrpt_sensorlib/0.4.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git - version: 0.3.0 + version: 0.4.0 mrpt_sensors: dependencies: - ament_cmake @@ -13186,62 +13237,69 @@ mrpt_sensors: - mrpt_sensor_imu_taobotics - mrpt_sensorlib repository: https://github.com/mrpt-ros-pkg/mrpt_sensors - tag: release/lyrical/mrpt_sensors/0.3.0-1 + tag: release/lyrical/mrpt_sensors/0.4.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git - version: 0.3.0 + version: 0.4.0 mrpt_serialization: dependencies: - mrpt_common - mrpt_rtti repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_serialization/3.3.0-1 + tag: release/lyrical/mrpt_serialization/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_slam: dependencies: - mrpt_maps - mrpt_topography repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_slam/3.3.0-1 + tag: release/lyrical/mrpt_slam/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_system: dependencies: - mrpt_common - mrpt_containers repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_system/3.3.0-1 + tag: release/lyrical/mrpt_system/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_tfest: dependencies: - mrpt_common - mrpt_poses repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_tfest/3.3.0-1 + tag: release/lyrical/mrpt_tfest/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_topography: dependencies: - mrpt_common - mrpt_math repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_topography/3.3.0-1 + tag: release/lyrical/mrpt_topography/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_tps_astar_planner: dependencies: - ament_cmake - ament_cmake_lint_cmake - ament_cmake_xmllint - ament_lint_auto - - mrpt_libgui - - mrpt_libmaps - - mrpt_libnav + - mrpt_containers + - mrpt_gui + - mrpt_kinematics - mrpt_libros_bridge + - mrpt_maps + - mrpt_math - mrpt_msgs + - mrpt_nav - mrpt_nav_interfaces - - mrpt_path_planning + - mrpt_opengl + - mrpt_path_planning_apps + - mrpt_path_planning_core + - mrpt_system + - mrpt_viz - nav_msgs - rclcpp - rclcpp_components @@ -13251,9 +13309,33 @@ mrpt_tps_astar_planner: - tf2_ros - visualization_msgs repository: https://github.com/mrpt-ros-pkg/mrpt_navigation - tag: release/lyrical/mrpt_tps_astar_planner/2.5.0-1 + tag: release/lyrical/mrpt_tps_astar_planner/2.6.1-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git - version: 2.5.0 + version: 2.6.1 +mrpt_trajectory_follower: + dependencies: + - ament_cmake + - ament_cmake_lint_cmake + - ament_cmake_xmllint + - ament_lint_auto + - geometry_msgs + - mrpt_containers + - mrpt_libros_bridge + - mrpt_maps + - mrpt_math + - mrpt_path_planning_core + - mrpt_system + - nav_msgs + - rclcpp + - sensor_msgs + - std_msgs + - tf2 + - tf2_geometry_msgs + - tf2_ros + repository: https://github.com/mrpt-ros-pkg/mrpt_navigation + tag: release/lyrical/mrpt_trajectory_follower/2.6.1-1 + url: https://github.com/ros2-gbp/mrpt_navigation-release.git + version: 2.6.1 mrpt_tutorials: dependencies: - ament_cmake @@ -13263,25 +13345,25 @@ mrpt_tutorials: - mvsim - teleop_twist_keyboard repository: https://github.com/mrpt-ros-pkg/mrpt_navigation - tag: release/lyrical/mrpt_tutorials/2.5.0-1 + tag: release/lyrical/mrpt_tutorials/2.6.1-1 url: https://github.com/ros2-gbp/mrpt_navigation-release.git - version: 2.5.0 + version: 2.6.1 mrpt_typemeta: dependencies: - mrpt_common repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_typemeta/3.3.0-1 + tag: release/lyrical/mrpt_typemeta/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrpt_viz: dependencies: - mrpt_common - mrpt_img - mrpt_poses repository: https://github.com/MRPT/mrpt - tag: release/lyrical/mrpt_viz/3.3.0-1 + tag: release/lyrical/mrpt_viz/3.3.1-1 url: https://github.com/ros2-gbp/mrpt3-release.git - version: 3.3.0 + version: 3.3.1 mrt_cmake_modules: dependencies: - ament_cmake_core @@ -13397,6 +13479,9 @@ mujoco_vendor: multires_image: dependencies: - ament_cmake + - ament_cmake_gtest + - ament_lint_auto + - ament_lint_common - gps_msgs - mapviz - mapviz_interfaces @@ -13408,9 +13493,9 @@ multires_image: - swri_transform_util - tf2 repository: https://github.com/swri-robotics/mapviz - tag: release/lyrical/multires_image/4.1.0-1 + tag: release/lyrical/multires_image/4.1.2-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 4.1.0 + version: 4.1.2 mvsim: dependencies: - ament_cmake @@ -14926,9 +15011,9 @@ novatel_oem6_msgs: - rosidl_default_runtime - std_msgs repository: https://github.com/mrpt-ros-pkg/mrpt_sensors - tag: release/lyrical/novatel_oem6_msgs/0.3.0-1 + tag: release/lyrical/novatel_oem6_msgs/0.4.0-1 url: https://github.com/ros2-gbp/mrpt_sensors-release.git - version: 0.3.0 + version: 0.4.0 ntpd_driver: dependencies: - ament_cmake @@ -15065,9 +15150,9 @@ odom_to_tf_ros2: - tf2_geometry_msgs - tf2_ros repository: https://github.com/gstavrinos/odom_to_tf_ros2 - tag: release/lyrical/odom_to_tf_ros2/1.0.8-3 + tag: release/lyrical/odom_to_tf_ros2/1.1.1-1 url: https://github.com/ros2-gbp/odom_to_tf_ros2-release.git - version: 1.0.8 + version: 1.1.1 odri_master_board_sdk: dependencies: [] tag: release/lyrical/odri_master_board_sdk/1.0.7-4 @@ -16897,9 +16982,9 @@ pointcloud_to_laserscan: - tf2_ros - tf2_sensor_msgs repository: https://github.com/ros-perception/pointcloud_to_laserscan - tag: release/lyrical/pointcloud_to_laserscan/2.1.0-3 + tag: release/lyrical/pointcloud_to_laserscan/2.1.1-1 url: https://github.com/ros2-gbp/pointcloud_to_laserscan-release.git - version: 2.1.0 + version: 2.1.1 polygon_demos: dependencies: - ament_cmake @@ -16991,8 +17076,8 @@ pose_cov_ops: - ament_lint_common - cv_bridge - geometry_msgs - - mrpt_libposes - mrpt_libros_bridge + - mrpt_poses - nav_msgs - rclcpp - ros_environment @@ -17001,9 +17086,9 @@ pose_cov_ops: - stereo_msgs - tf2 repository: https://github.com/mrpt-ros-pkg/pose_cov_ops - tag: release/lyrical/pose_cov_ops/0.4.0-3 + tag: release/lyrical/pose_cov_ops/0.5.0-1 url: https://github.com/ros2-gbp/pose_cov_ops-release.git - version: 0.4.0 + version: 0.5.0 posedetection_msgs: dependencies: - ament_cmake @@ -18211,6 +18296,8 @@ rko_lio: - ament_cmake - geometry_msgs - nav_msgs + - point_cloud_interfaces + - point_cloud_transport - rclcpp - rclcpp_components - rclpy @@ -18225,9 +18312,9 @@ rko_lio: - tf2_ros - tf2_ros_py repository: https://github.com/PRBonn/rko_lio - tag: release/lyrical/rko_lio/0.4.1-1 + tag: release/lyrical/rko_lio/0.4.2-1 url: https://github.com/ros2-gbp/rko_lio-release.git - version: 0.4.1 + version: 0.4.2 rmf_api_msgs: dependencies: - ament_cmake @@ -22808,12 +22895,13 @@ rtabmap: - libg2o - qt_gui_cpp repository: https://github.com/introlab/rtabmap - tag: release/lyrical/rtabmap/0.23.7-1 + tag: release/lyrical/rtabmap/0.23.13-1 url: https://github.com/ros2-gbp/rtabmap-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_conversions: dependencies: - ament_cmake + - ament_cmake_gtest - cv_bridge - geometry_msgs - image_geometry @@ -22831,25 +22919,39 @@ rtabmap_conversions: - tf2_geometry_msgs - tf2_ros repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_conversions/0.23.7-1 + tag: release/lyrical/rtabmap_conversions/0.23.13-1 + url: https://github.com/introlab/rtabmap_ros-release.git + version: 0.23.13 +rtabmap_costmap_plugins: + dependencies: + - ament_cmake_ros + - nav2_costmap_2d + - pluginlib + - rclcpp + - ros_environment + - visualization_msgs + repository: https://github.com/introlab/rtabmap_ros + tag: release/lyrical/rtabmap_costmap_plugins/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_demos: dependencies: - ament_cmake + - nav2_bringup - rtabmap_odom - rtabmap_rviz_plugins - rtabmap_slam - rtabmap_util - rtabmap_viz repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_demos/0.23.7-1 + tag: release/lyrical/rtabmap_demos/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_examples: dependencies: - ament_cmake - imu_filter_madgwick + - realsense2_camera - rtabmap_odom - rtabmap_rviz_plugins - rtabmap_slam @@ -22857,9 +22959,9 @@ rtabmap_examples: - rtabmap_viz - tf2_ros repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_examples/0.23.7-1 + tag: release/lyrical/rtabmap_examples/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_launch: dependencies: - ament_cmake @@ -22870,9 +22972,9 @@ rtabmap_launch: - rtabmap_util - rtabmap_viz repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_launch/0.23.7-1 + tag: release/lyrical/rtabmap_launch/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_msgs: dependencies: - ament_cmake @@ -22885,11 +22987,12 @@ rtabmap_msgs: - std_msgs - std_srvs repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_msgs/0.23.7-1 + tag: release/lyrical/rtabmap_msgs/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_odom: dependencies: + - ament_cmake_gtest - ament_cmake_ros - cv_bridge - image_geometry @@ -22902,28 +23005,31 @@ rtabmap_odom: - rclcpp - rclcpp_components - ros_environment + - rosbag2_cpp + - rosbag2_storage_mcap - rtabmap_conversions - rtabmap_msgs - rtabmap_sync - rtabmap_util - sensor_msgs repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_odom/0.23.7-1 + tag: release/lyrical/rtabmap_odom/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_python: dependencies: - ament_copyright - ament_flake8 - ament_pep257 repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_python/0.23.7-1 + tag: release/lyrical/rtabmap_python/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_ros: dependencies: - ament_cmake - rtabmap_conversions + - rtabmap_costmap_plugins - rtabmap_demos - rtabmap_examples - rtabmap_launch @@ -22936,9 +23042,9 @@ rtabmap_ros: - rtabmap_util - rtabmap_viz repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_ros/0.23.7-1 + tag: release/lyrical/rtabmap_ros/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_rviz_plugins: dependencies: - ament_cmake_ros @@ -22955,21 +23061,24 @@ rtabmap_rviz_plugins: - std_msgs - tf2 repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_rviz_plugins/0.23.7-1 + tag: release/lyrical/rtabmap_rviz_plugins/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_slam: dependencies: + - ament_cmake_gtest - ament_cmake_ros - apriltag_msgs - aruco_msgs - aruco_opencv_msgs - cv_bridge - geometry_msgs + - nav2_msgs - nav_msgs - rclcpp - rclcpp_components - ros_environment + - rtabmap_conversions - rtabmap_msgs - rtabmap_sync - rtabmap_util @@ -22980,11 +23089,12 @@ rtabmap_slam: - tf2_ros - visualization_msgs repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_slam/0.23.7-1 + tag: release/lyrical/rtabmap_slam/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_sync: dependencies: + - ament_cmake_gtest - ament_cmake_ros - cv_bridge - diagnostic_updater @@ -22998,12 +23108,13 @@ rtabmap_sync: - rtabmap_msgs - sensor_msgs repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_sync/0.23.7-1 + tag: release/lyrical/rtabmap_sync/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_util: dependencies: - ament_cmake + - ament_cmake_gtest - cv_bridge - image_geometry - image_transport @@ -23026,9 +23137,9 @@ rtabmap_util: - tf2_geometry_msgs - tf2_ros repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_util/0.23.7-1 + tag: release/lyrical/rtabmap_util/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtabmap_viz: dependencies: - ament_cmake_ros @@ -23043,9 +23154,9 @@ rtabmap_viz: - std_srvs - tf2 repository: https://github.com/introlab/rtabmap_ros - tag: release/lyrical/rtabmap_viz/0.23.7-1 + tag: release/lyrical/rtabmap_viz/0.23.13-1 url: https://github.com/introlab/rtabmap_ros-release.git - version: 0.23.7 + version: 0.23.13 rtcm_msgs: dependencies: - ament_cmake @@ -24892,6 +25003,8 @@ tile_map: dependencies: - ament_cmake - ament_cmake_gtest + - ament_lint_auto + - ament_lint_common - mapviz - pluginlib - rclcpp @@ -24899,9 +25012,9 @@ tile_map: - swri_transform_util - tf2 repository: https://github.com/swri-robotics/mapviz - tag: release/lyrical/tile_map/4.1.0-1 + tag: release/lyrical/tile_map/4.1.2-1 url: https://github.com/ros2-gbp/mapviz-release.git - version: 4.1.0 + version: 4.1.2 tinyspline_vendor: dependencies: - ament_cmake diff --git a/distros/lyrical/vinca.yaml b/distros/lyrical/vinca.yaml index bc0d4e9a5..3ba1a49d6 100644 --- a/distros/lyrical/vinca.yaml +++ b/distros/lyrical/vinca.yaml @@ -3,11 +3,11 @@ ros_distro: lyrical patch_dir: patch rosdistro_snapshot: rosdistro_snapshot.yaml rosdistro_additional_recipes: rosdistro_additional_recipes.yaml -build_number: 27 +build_number: 30 mutex_package: # new build without run_constraints (same version as the published ones) build_number: 28 name: ros2-distro-mutex - version: 0.21.0 + version: 0.22.0 upper_bound: x.x diff --git a/shared/tests/ros2-rcutils.yaml b/shared/tests/ros2-rcutils.yaml index 4903914a6..89c253d9b 100644 --- a/shared/tests/ros2-rcutils.yaml +++ b/shared/tests/ros2-rcutils.yaml @@ -1,4 +1,10 @@ tests: - - python: - imports: + - package_contents: + lib: - rcutils + # rcutils 7 (lyrical, rolling) no longer installs its Python module + - if: ros_distro in ["humble", "jazzy"] + then: + - python: + imports: + - rcutils From e1c6e4290bb02812e6a4c73a47e948d6a38aa354 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Sun, 18 Oct 2026 12:04:39 +1000 Subject: [PATCH 03/14] lyrical: foxglove_bridge on Windows with /permissive With C++20 (pulled in by lyrical's dependencies) MSVC enables /permissive-, which rejects the Foxglove SDK 0.28's explicit specializations of ParameterView::get after their first use (C2908/C3856 in parameter.hpp); humble/jazzy build it as C++17. Co-Authored-By: Claude Opus 5.5 --- distros/lyrical/patch/ros2-foxglove-bridge.win.patch | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/distros/lyrical/patch/ros2-foxglove-bridge.win.patch b/distros/lyrical/patch/ros2-foxglove-bridge.win.patch index feaf5dfb9..4b57b8765 100644 --- a/distros/lyrical/patch/ros2-foxglove-bridge.win.patch +++ b/distros/lyrical/patch/ros2-foxglove-bridge.win.patch @@ -1,12 +1,14 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -62,7 +62,7 @@ endif() +@@ -62,7 +62,9 @@ endif() macro(enable_strict_compiler_warnings target) if (MSVC) - target_compile_options(${target} PRIVATE /WX /W4) -+ target_compile_options(${target} PRIVATE /W4) ++ # /permissive: with C++20 (pulled in by the dependencies) MSVC enables /permissive-, which rejects ++ # the Foxglove SDK's explicit specializations after their first use (C2908 in parameter.hpp) ++ target_compile_options(${target} PRIVATE /W4 /permissive) elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang") target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal -Wmost -Wunused-exception-parameter) else() From f639234aa81bcbcd78f3c12d6d370a542fabcad4 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Sun, 18 Oct 2026 21:25:55 +1000 Subject: [PATCH 04/14] lyrical: Rust message crates match the rosidl_buffer sequence layout [skip ci] From Lyrical on, rosidl_runtime_c's primitive and string sequences carry two trailing rosidl_buffer flags (ros2/rosidl#942), 32 instead of 24 bytes. rosidl_runtime_rs 0.7 has the matching layout (ros2-rust/rosidl_runtime_rs#22), and rclrs 0.8 uses it, but rosidl_generator_rs 0.5.0 still pins the generated crates to 0.6, so every primitive-sequence field is misread: a Marker or JointState round trip segfaults (RoboStack/ros-lyrical#17, ros2-rust/ros2_rust#659). Pin 0.7. The generated code needs no other change. Checked locally: the generated std_msgs crate pins 0.7, and with 0.7 the visualization_msgs/Marker and sensor_msgs/JointState round trips are correct (rmw Marker 480 bytes, as in C), while 0.6 segfaults. Also point gz_ros2_control's plugin path hook at bin/ on Windows, where the plugin DLL is installed (RoboStack/robostack#104). Evict the generator, every package that generates interfaces (each ships its generated Rust crate) and gz_ros2_control from the PR build cache. Co-Authored-By: Claude Opus 5.5 --- distros/lyrical/ci.yaml | 179 +++++++++++++++++- .../patch/ros2-gz-ros2-control.win.patch | 14 +- .../patch/ros2-rosidl-generator-rs.patch | 14 ++ 3 files changed, 204 insertions(+), 3 deletions(-) create mode 100644 distros/lyrical/patch/ros2-rosidl-generator-rs.patch diff --git a/distros/lyrical/ci.yaml b/distros/lyrical/ci.yaml index 63d3a18eb..a3aeffaad 100644 --- a/distros/lyrical/ci.yaml +++ b/distros/lyrical/ci.yaml @@ -23,4 +23,181 @@ full_rebuild: false # # Remember that dependents are not rebuilt automatically: evict them as well if # they must pick up the change. -evict_cache: [] +evict_cache: # TEMPORARY (#60): reset to [] before merging + # gz_ros2_control: its Windows environment hook points at bin/ (RoboStack/robostack#104) + - gz_ros2_control + # the generator's rosidl_runtime_rs 0.7 pin (rosidl_buffer sequence layout, + # RoboStack/ros-lyrical#17), and every package that generates interfaces, + # since each ships its generated Rust crate + - rosidl_generator_rs + - ackermann-msgs + - action-msgs + - actuator-msgs + - apriltag-msgs + - automatika-embodied-agents + - automatika-ros-sugar + - autoware-adapi-v1-msgs + - autoware-adapi-version-msgs + - autoware-auto-msgs + - autoware-common-msgs + - autoware-control-msgs + - autoware-internal-debug-msgs + - autoware-internal-localization-msgs + - autoware-internal-metric-msgs + - autoware-internal-msgs + - autoware-internal-perception-msgs + - autoware-internal-planning-msgs + - autoware-localization-msgs + - autoware-map-msgs + - autoware-motion-velocity-planner + - autoware-perception-msgs + - autoware-planning-msgs + - autoware-sensing-msgs + - autoware-system-msgs + - autoware-v2x-msgs + - autoware-vehicle-msgs + - bond + - builtin-interfaces + - can-msgs + - cartographer-ros-msgs + - cascade-lifecycle-msgs + - cm-executors + - composition-interfaces + - control-msgs + - controller-manager-msgs + - data-tamer-msgs + - diagnostic-msgs + - dwb-msgs + - easynav-interfaces + - easynav-routes-maps-manager + - event-camera-msgs + - example-interfaces + - ffmpeg-image-transport-msgs + - foxglove-msgs + - geographic-msgs + - geometric-shapes + - geometry-msgs + - gps-msgs + - graph-msgs + - grid-map-msgs + - irobot-create-msgs + - libstatistics-collector + - lifecycle-msgs + - livox-ros-driver2 + - logging-demo + - map-msgs + - marine-acoustic-msgs + - marker-msgs + - mavros-msgs + - microstrain-inertial-driver + - microstrain-inertial-msgs + - mocap4r2-control-msgs + - mocap4r2-marker-viz-srvs + - mocap4r2-msgs + - mocap4r2-robot-gt-msgs + - motion-capture-tracking-interfaces + - moveit-msgs + - moveit-task-constructor-msgs + - mujoco-ros2-control-msgs + - nav-2d-msgs + - nav-msgs + - nav2-msgs + - navmap-ros-interfaces + - nmea-msgs + - object-recognition-msgs + - octomap-msgs + - ouster-ros + - ouster-sensor-msgs + - pal-statistics-msgs + - pcl-msgs + - pendulum-msgs + - plansys2-msgs + - plotjuggler-msgs + - point-cloud-interfaces + - polygon-msgs + - py-trees-ros-interfaces + - radar-msgs + - rcl-interfaces + - rclcpp + - rclpy-message-converter + - rclpy-message-converter-msgs + - realsense2-camera-msgs + - resource-retriever-interfaces + - rmf-building-map-msgs + - rmf-dispenser-msgs + - rmf-door-msgs + - rmf-fleet-msgs + - rmf-ingestor-msgs + - rmf-lift-msgs + - rmf-obstacle-msgs + - rmf-reservation-msgs + - rmf-site-map-msgs + - rmf-task-msgs + - rmf-traffic-msgs + - rmf-visualization-msgs + - rmf-visualization-schedule + - rmw-dds-common + - robot-localization + - ros-core + - ros-gz-interfaces + - ros2-medkit-msgs + - ros2-socketcan-msgs + - ros2cli-test-interfaces + - rosapi-msgs + - rosbag2-interfaces + - rosbag2-performance-benchmarking-msgs + - rosbag2-test-msgdefs + - rosbridge-msgs + - rosbridge-test-msgs + - rosgraph-monitor-msgs + - rosgraph-msgs + - rosidl-default-generators + - rqt-moveit + - rqt-py-common + - rqt-robot-monitor + - rslidar-msg + - rtcm-msgs + - rviz-2d-overlay-msgs + - sbg-driver + - sensor-msgs + - septentrio-gnss-driver + - service-msgs + - shape-msgs + - sick-safetyscanners2-interfaces + - sick-scan-xd + - simulation-interfaces + - slam-toolbox + - slg-msgs + - spatio-temporal-voxel-layer + - statistics-msgs + - std-msgs + - std-srvs + - stereo-msgs + - system-modes-msgs + - teleop-tools-msgs + - test-msgs + - tf2-msgs + - theora-image-transport + - topic-tools + - topic-tools-interfaces + - trajectory-msgs + - turtlebot3-msgs + - turtlesim-msgs + - twist-mux-msgs + - type-description-interfaces + - ublox-msgs + - ublox-ubx-interfaces + - ublox-ubx-msgs + - udp-msgs + - unique-identifier-msgs + - ur-dashboard-msgs + - ur-msgs + - urg-node + - urg-node-msgs + - usb-cam + - velodyne-msgs + - vision-msgs + - visualization-msgs + - webots-ros2-msgs + - yasmin-msgs + - zed-msgs diff --git a/distros/lyrical/patch/ros2-gz-ros2-control.win.patch b/distros/lyrical/patch/ros2-gz-ros2-control.win.patch index b50eddae1..5cb862423 100644 --- a/distros/lyrical/patch/ros2-gz-ros2-control.win.patch +++ b/distros/lyrical/patch/ros2-gz-ros2-control.win.patch @@ -1,8 +1,18 @@ +diff --git a/hooks/gz_ros2_control.dsv.in b/hooks/gz_ros2_control.dsv.in +index afbcf3a..45a35f1 100644 +--- a/hooks/gz_ros2_control.dsv.in ++++ b/hooks/gz_ros2_control.dsv.in +@@ -1 +1 @@ +-prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;@CMAKE_INSTALL_PREFIX@/lib ++prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;@CMAKE_INSTALL_PREFIX@/bin diff --git a/src/gz_system.cpp b/src/gz_system.cpp -index 5c9952b9..d5554d2c 100644 +index 5ac9614..3e6fbf0 100644 --- a/src/gz_system.cpp +++ b/src/gz_system.cpp -@@ -51,3 +51,7 @@ +@@ -67,6 +67,10 @@ struct InterfaceData + hardware_interface::CommandInterface::SharedPtr command; + }; + +#ifdef ERROR +#undef ERROR +#endif diff --git a/distros/lyrical/patch/ros2-rosidl-generator-rs.patch b/distros/lyrical/patch/ros2-rosidl-generator-rs.patch new file mode 100644 index 000000000..d899e9c9d --- /dev/null +++ b/distros/lyrical/patch/ros2-rosidl-generator-rs.patch @@ -0,0 +1,14 @@ +diff --git a/resource/Cargo.toml.em b/resource/Cargo.toml.em +index 02298a3..139e11b 100644 +--- a/resource/Cargo.toml.em ++++ b/resource/Cargo.toml.em +@@ -4,7 +4,8 @@ version = "@(package_version)" + edition = "2021" + + [dependencies] +-rosidl_runtime_rs = "0.6" ++# 0.7: matches the rosidl_buffer primitive sequence layout from Lyrical on (ros2-rust/ros2_rust#659) ++rosidl_runtime_rs = "0.7" + serde = { version = "1", optional = true, features = ["derive"] } + serde-big-array = { version = "0.5.1", optional = true } + From 17bf8a110f1b465186491e30aa7a91f7f45d75f8 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Thu, 22 Oct 2026 20:41:56 +1000 Subject: [PATCH 05/14] Update mutex_package configuration in vinca.yaml Removed build number and upper bound for mutex_package. --- distros/lyrical/vinca.yaml | 4 ---- 1 file changed, 4 deletions(-) diff --git a/distros/lyrical/vinca.yaml b/distros/lyrical/vinca.yaml index 3ba1a49d6..15070a041 100644 --- a/distros/lyrical/vinca.yaml +++ b/distros/lyrical/vinca.yaml @@ -6,8 +6,4 @@ rosdistro_additional_recipes: rosdistro_additional_recipes.yaml build_number: 30 mutex_package: - # new build without run_constraints (same version as the published ones) - build_number: 28 - name: ros2-distro-mutex version: 0.22.0 - upper_bound: x.x From 66b8e5200e5a9df8877125f6f7d789d171cc7be0 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 23 Oct 2026 11:37:13 +1000 Subject: [PATCH 06/14] Clear evict_cache in ci.yaml Reset evict_cache to an empty list. --- distros/lyrical/ci.yaml | 179 +--------------------------------------- 1 file changed, 1 insertion(+), 178 deletions(-) diff --git a/distros/lyrical/ci.yaml b/distros/lyrical/ci.yaml index a3aeffaad..63d3a18eb 100644 --- a/distros/lyrical/ci.yaml +++ b/distros/lyrical/ci.yaml @@ -23,181 +23,4 @@ full_rebuild: false # # Remember that dependents are not rebuilt automatically: evict them as well if # they must pick up the change. -evict_cache: # TEMPORARY (#60): reset to [] before merging - # gz_ros2_control: its Windows environment hook points at bin/ (RoboStack/robostack#104) - - gz_ros2_control - # the generator's rosidl_runtime_rs 0.7 pin (rosidl_buffer sequence layout, - # RoboStack/ros-lyrical#17), and every package that generates interfaces, - # since each ships its generated Rust crate - - rosidl_generator_rs - - ackermann-msgs - - action-msgs - - actuator-msgs - - apriltag-msgs - - automatika-embodied-agents - - automatika-ros-sugar - - autoware-adapi-v1-msgs - - autoware-adapi-version-msgs - - autoware-auto-msgs - - autoware-common-msgs - - autoware-control-msgs - - autoware-internal-debug-msgs - - autoware-internal-localization-msgs - - autoware-internal-metric-msgs - - autoware-internal-msgs - - autoware-internal-perception-msgs - - autoware-internal-planning-msgs - - autoware-localization-msgs - - autoware-map-msgs - - autoware-motion-velocity-planner - - autoware-perception-msgs - - autoware-planning-msgs - - autoware-sensing-msgs - - autoware-system-msgs - - autoware-v2x-msgs - - autoware-vehicle-msgs - - bond - - builtin-interfaces - - can-msgs - - cartographer-ros-msgs - - cascade-lifecycle-msgs - - cm-executors - - composition-interfaces - - control-msgs - - controller-manager-msgs - - data-tamer-msgs - - diagnostic-msgs - - dwb-msgs - - easynav-interfaces - - easynav-routes-maps-manager - - event-camera-msgs - - example-interfaces - - ffmpeg-image-transport-msgs - - foxglove-msgs - - geographic-msgs - - geometric-shapes - - geometry-msgs - - gps-msgs - - graph-msgs - - grid-map-msgs - - irobot-create-msgs - - libstatistics-collector - - lifecycle-msgs - - livox-ros-driver2 - - logging-demo - - map-msgs - - marine-acoustic-msgs - - marker-msgs - - mavros-msgs - - microstrain-inertial-driver - - microstrain-inertial-msgs - - mocap4r2-control-msgs - - mocap4r2-marker-viz-srvs - - mocap4r2-msgs - - mocap4r2-robot-gt-msgs - - motion-capture-tracking-interfaces - - moveit-msgs - - moveit-task-constructor-msgs - - mujoco-ros2-control-msgs - - nav-2d-msgs - - nav-msgs - - nav2-msgs - - navmap-ros-interfaces - - nmea-msgs - - object-recognition-msgs - - octomap-msgs - - ouster-ros - - ouster-sensor-msgs - - pal-statistics-msgs - - pcl-msgs - - pendulum-msgs - - plansys2-msgs - - plotjuggler-msgs - - point-cloud-interfaces - - polygon-msgs - - py-trees-ros-interfaces - - radar-msgs - - rcl-interfaces - - rclcpp - - rclpy-message-converter - - rclpy-message-converter-msgs - - realsense2-camera-msgs - - resource-retriever-interfaces - - rmf-building-map-msgs - - rmf-dispenser-msgs - - rmf-door-msgs - - rmf-fleet-msgs - - rmf-ingestor-msgs - - rmf-lift-msgs - - rmf-obstacle-msgs - - rmf-reservation-msgs - - rmf-site-map-msgs - - rmf-task-msgs - - rmf-traffic-msgs - - rmf-visualization-msgs - - rmf-visualization-schedule - - rmw-dds-common - - robot-localization - - ros-core - - ros-gz-interfaces - - ros2-medkit-msgs - - ros2-socketcan-msgs - - ros2cli-test-interfaces - - rosapi-msgs - - rosbag2-interfaces - - rosbag2-performance-benchmarking-msgs - - rosbag2-test-msgdefs - - rosbridge-msgs - - rosbridge-test-msgs - - rosgraph-monitor-msgs - - rosgraph-msgs - - rosidl-default-generators - - rqt-moveit - - rqt-py-common - - rqt-robot-monitor - - rslidar-msg - - rtcm-msgs - - rviz-2d-overlay-msgs - - sbg-driver - - sensor-msgs - - septentrio-gnss-driver - - service-msgs - - shape-msgs - - sick-safetyscanners2-interfaces - - sick-scan-xd - - simulation-interfaces - - slam-toolbox - - slg-msgs - - spatio-temporal-voxel-layer - - statistics-msgs - - std-msgs - - std-srvs - - stereo-msgs - - system-modes-msgs - - teleop-tools-msgs - - test-msgs - - tf2-msgs - - theora-image-transport - - topic-tools - - topic-tools-interfaces - - trajectory-msgs - - turtlebot3-msgs - - turtlesim-msgs - - twist-mux-msgs - - type-description-interfaces - - ublox-msgs - - ublox-ubx-interfaces - - ublox-ubx-msgs - - udp-msgs - - unique-identifier-msgs - - ur-dashboard-msgs - - ur-msgs - - urg-node - - urg-node-msgs - - usb-cam - - velodyne-msgs - - vision-msgs - - visualization-msgs - - webots-ros2-msgs - - yasmin-msgs - - zed-msgs +evict_cache: [] From 82a4529667922114c5207443e2d46e8436a3ab68 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 23 Oct 2026 11:42:24 +1000 Subject: [PATCH 07/14] humble and rolling keep Qt5 for the Qt5 rosdep keys This PR maps the Qt5 rosdep keys to Qt6 for every distribution. humble's own override comes with its sync (#62), rolling moves to Qt6 with #99: until then both get the override jazzy has (distros//robostack.yaml, layered over the shared mapping with conda_index). Their generated recipes (humble linux-64, win-64, osx-arm64; rolling linux-64, win-64) are identical to main's, except for the new rcutils package test, which doesn't change any build hash. Co-Authored-By: Claude Opus 5.5 --- distros/humble/robostack.yaml | 69 ++++++++++++++++++++++++++++++++++ distros/humble/vinca.yaml | 2 + distros/rolling/robostack.yaml | 68 +++++++++++++++++++++++++++++++++ distros/rolling/vinca.yaml | 2 + 4 files changed, 141 insertions(+) create mode 100644 distros/humble/robostack.yaml create mode 100644 distros/rolling/robostack.yaml diff --git a/distros/humble/robostack.yaml b/distros/humble/robostack.yaml new file mode 100644 index 000000000..76ff56655 --- /dev/null +++ b/distros/humble/robostack.yaml @@ -0,0 +1,69 @@ +# Qt5 for the Qt5 rosdep keys: this distribution's rviz and GUI packages still build +# against Qt5 (the shared mapping, for lyrical and newer, is Qt6). Packages already +# ported to Qt6/PyQt6 swap qt-main in patch/dependencies.yaml. +libqt5-core: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-gui: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-opengl: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-opengl-dev: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-svg: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-svg-dev: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-websockets-dev: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-widgets: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5x11extras5-dev: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +qt5-image-formats-plugins: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +qt5-qmake: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +qtbase5-dev: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +python-qt5-bindings: + robostack: [pyqt, pyqt-builder] +python3-qt5-bindings: + robostack: [pyqt, pyqt-builder] +python3-qt5-bindings-gl: + robostack: [pyqt, pyqt-builder] diff --git a/distros/humble/vinca.yaml b/distros/humble/vinca.yaml index c7b0309e3..7c8b642a4 100644 --- a/distros/humble/vinca.yaml +++ b/distros/humble/vinca.yaml @@ -3,6 +3,8 @@ ros_distro: humble patch_dir: patch rosdistro_snapshot: rosdistro_snapshot.yaml rosdistro_additional_recipes: rosdistro_additional_recipes.yaml +# Qt5 for the Qt5 rosdep keys (see robostack.yaml); layered over shared/robostack.yaml +conda_index: [robostack.yaml] build_number: 20 diff --git a/distros/rolling/robostack.yaml b/distros/rolling/robostack.yaml new file mode 100644 index 000000000..e1d60cc81 --- /dev/null +++ b/distros/rolling/robostack.yaml @@ -0,0 +1,68 @@ +# Qt5 for the Qt5 rosdep keys, as on main, until the rolling sync (#99) moves rolling +# to the shared Qt6 mapping; #99 removes this file. +libqt5-core: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-gui: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-opengl: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-opengl-dev: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-svg: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-svg-dev: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-websockets-dev: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5-widgets: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +libqt5x11extras5-dev: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +qt5-image-formats-plugins: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +qt5-qmake: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +qtbase5-dev: + robostack: + linux: [qt-main, libopengl-devel, libgl-devel] + osx: [qt-main] + win64: [qt-main] +python-qt5-bindings: + robostack: [pyqt, pyqt-builder] +python3-qt5-bindings: + robostack: [pyqt, pyqt-builder] +python3-qt5-bindings-gl: + robostack: [pyqt, pyqt-builder] diff --git a/distros/rolling/vinca.yaml b/distros/rolling/vinca.yaml index bc43347ce..5d82cbf58 100644 --- a/distros/rolling/vinca.yaml +++ b/distros/rolling/vinca.yaml @@ -3,6 +3,8 @@ ros_distro: rolling patch_dir: patch rosdistro_snapshot: rosdistro_snapshot.yaml rosdistro_additional_recipes: rosdistro_additional_recipes.yaml +# Qt5 for the Qt5 rosdep keys (see robostack.yaml) until #99; layered over shared/robostack.yaml +conda_index: [robostack.yaml] build_number: 29 From b9af8690d8e465731bb0ea2abbae4c8ac89f1f88 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 23 Oct 2026 15:48:44 +1000 Subject: [PATCH 08/14] rosbag2_performance_benchmarking_msgs: no own short-paths flag vinca's Windows build scripts pass -DCMAKE_INTERMEDIATE_DIR_STRATEGY=SHORT for every package since RoboStack/vinca#178 (pinned with #139, which has to be merged before this PR). Co-Authored-By: Claude Opus 5.5 --- shared/pkg_additional_info.yaml | 6 ------ 1 file changed, 6 deletions(-) diff --git a/shared/pkg_additional_info.yaml b/shared/pkg_additional_info.yaml index ab2f88e02..ead8e2ff7 100644 --- a/shared/pkg_additional_info.yaml +++ b/shared/pkg_additional_info.yaml @@ -130,12 +130,6 @@ pybind11_vendor: additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR" robot_state_publisher: additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON" -rosbag2_performance_benchmarking_msgs: - additional_cmake_args: - # MSVC can't open object files whose path exceeds 260 characters (error C1083 with ''): - # name the intermediate directories and object files by short hashes (CMake >= 4.2) - if: win - then: "-DCMAKE_INTERMEDIATE_DIR_STRATEGY=SHORT" rosx_introspection: additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON" sbg_driver: From 1790e6707fbabbe795f4df2300f466b5d2820d14 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 23 Oct 2026 16:10:35 +1000 Subject: [PATCH 09/14] Build branches: a newer run cancels the older one A new push to a build branch (after a merge to main) brings the latest recipes and workflow; the older run's plan is out of date. The new run skips what the old one uploaded already, so only the packages its cancelled jobs had built but not uploaded are built again. Re-run failed jobs only in the newest run: re-running an older one would cancel the newer run. Co-Authored-By: Claude Opus 5.5 --- README.md | 1 + tools/robostack.py | 10 +++++----- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 94deaec6e..b0a64a2e1 100644 --- a/README.md +++ b/README.md @@ -120,6 +120,7 @@ label doesn't start one by itself. Nothing has to be reset before merging. - **After a merge** (`main.yaml`): for every changed distribution and platform, the job regenerates the recipes and the staged build workflow, and pushes them to `buildbranch__`. - Each build branch carries its workflow as `.github/workflows/build.yaml`, which runs `.scripts/build_*.sh` in `distros//work`. - Those workflows build the packages and upload them to the distribution's channel on the servers `upload_to` in `distro.yaml` lists (prefix.dev and/or anaconda.org, the same channel name on each; packages already there are skipped). `read_from` says where the builds look up what's already published. + - A new push to a build branch cancels its run in progress: the new run skips what the old one uploaded. Re-run failed jobs only in a build branch's newest run, since re-running an older one cancels the newer run. - **Repository variables:** - `ROBOSTACK_UPLOAD_CHANNEL`: upload only to this prefix.dev channel instead (for example a test channel), or `none` to build without uploading. Use the canonical reference: `/` for a channel that isn't the namespace's primary one (e.g. `tobias-fischer/robostack-distro-test`). - Upload credentials: diff --git a/tools/robostack.py b/tools/robostack.py index 27f4fa887..edbb1c996 100644 --- a/tools/robostack.py +++ b/tools/robostack.py @@ -443,12 +443,12 @@ def generate_gha(distro: str, args: list[str]) -> int: lines = wf.read_text().splitlines() # all build branches share .github/workflows/build.yaml, which GitHub lists as one # workflow: run-name tells the runs apart - # one run per distribution and platform at a time: an older run can't upload - # alongside a newer one; a newer pending run replaces older pending ones (not - # cancel-in-progress: re-running a failed job of an older run would cancel the - # newer run) + # one run per distribution and platform at a time: a newer run (the latest main's + # recipes and workflow) cancels the older one, and skips what that one uploaded + # already. Re-run failed jobs only in the newest run: re-running an older one + # would cancel the newer run. lines = [f"name: build\nrun-name: {distro} {ns.platform}\n" - f"concurrency:\n group: build-{distro}-{ns.platform}\n cancel-in-progress: false" + f"concurrency:\n group: build-{distro}-{ns.platform}\n cancel-in-progress: true" if l.startswith("name: ") else l for l in lines] # vinca-gha passes secrets.ANACONDA_API_TOKEN to the build jobs, for the anaconda.org # upload (prefix.dev uses trusted publishing, id-token: write): each distribution From 11ea43c173aa8f1f5e163289dfb48d1b09e11f23 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 23 Oct 2026 16:11:43 +1000 Subject: [PATCH 10/14] Build times from the jazzy full rebuild (linux-64, linux-aarch64, osx-arm64) Per-recipe build times of the jazzy build-branch runs 39770179894, 39770118028 and 39770103102, from their job logs, so that this sync's lyrical rebuild is already packed by time (osx-64 and win-64 weren't finished yet). The weekly update-build-timings PR adds the times the build jobs record from now on. Co-Authored-By: Claude Opus 5.5 --- shared/build_timings/linux-64.json | 7217 +++++++++++++++++++++++ shared/build_timings/linux-aarch64.json | 7133 ++++++++++++++++++++++ shared/build_timings/osx-arm64.json | 6413 ++++++++++++++++++++ 3 files changed, 20763 insertions(+) create mode 100644 shared/build_timings/linux-64.json create mode 100644 shared/build_timings/linux-aarch64.json create mode 100644 shared/build_timings/osx-arm64.json diff --git a/shared/build_timings/linux-64.json b/shared/build_timings/linux-64.json new file mode 100644 index 000000000..56baf8861 --- /dev/null +++ b/shared/build_timings/linux-64.json @@ -0,0 +1,7217 @@ +{ +"ros-jazzy-ackermann-msgs": { +"jazzy": 0.1 +}, +"ros-jazzy-ackermann-steering-controller": { +"jazzy": 0.2 +}, +"ros-jazzy-action-msgs": { +"jazzy": 0.3 +}, +"ros-jazzy-action-tutorials-cpp": { +"jazzy": 0.1 +}, +"ros-jazzy-action-tutorials-interfaces": { +"jazzy": 0.1 +}, +"ros-jazzy-action-tutorials-py": { +"jazzy": 0.1 +}, 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58.9 +}, +"ros2-ur-dashboard-msgs": { +"jazzy": 92.2 +}, +"ros2-ur-description": { +"jazzy": 36.3 +}, +"ros2-ur-moveit-config": { +"jazzy": 20.7 +}, +"ros2-ur-msgs": { +"jazzy": 80.6 +}, +"ros2-ur-robot-driver": { +"jazzy": 79.6 +}, +"ros2-ur-simulation-gz": { +"jazzy": 11.1 +}, +"ros2-urdf": { +"jazzy": 25.1 +}, +"ros2-urdf-launch": { +"jazzy": 28.6 +}, +"ros2-urdf-parser-plugin": { +"jazzy": 15.1 +}, +"ros2-urdf-tutorial": { +"jazzy": 13.5 +}, +"ros2-urdfdom": { +"jazzy": 2.5 +}, +"ros2-urdfdom-headers": { +"jazzy": 2.5 +}, +"ros2-urdfdom-py": { +"jazzy": 4.2 +}, +"ros2-urg-c": { +"jazzy": 11.0 +}, +"ros2-urg-node": { +"jazzy": 27.3 +}, +"ros2-urg-node-msgs": { +"jazzy": 23.1 +}, +"ros2-vector-pursuit-controller": { +"jazzy": 21.7 +}, +"ros2-velocity-controllers": { +"jazzy": 27.9 +}, +"ros2-velodyne": { +"jazzy": 16.2 +}, +"ros2-velodyne-description": { +"jazzy": 23.3 +}, +"ros2-velodyne-driver": { +"jazzy": 28.5 +}, +"ros2-velodyne-laserscan": { +"jazzy": 23.0 +}, +"ros2-velodyne-msgs": { +"jazzy": 17.8 +}, +"ros2-velodyne-pointcloud": { +"jazzy": 81.6 +}, +"ros2-vision-msgs": { +"jazzy": 55.7 +}, +"ros2-vision-msgs-rviz-plugins": { +"jazzy": 108.1 +}, +"ros2-vision-opencv": { +"jazzy": 15.3 +}, +"ros2-visp": { +"jazzy": 10.6 +}, +"ros2-visualization-msgs": { +"jazzy": 41.7 +}, +"ros2-warehouse-ros": { +"jazzy": 28.8 +}, +"ros2-warehouse-ros-sqlite": { +"jazzy": 38.7 +}, +"ros2-web-video-server": { +"jazzy": 56.0 +}, +"ros2-xacro": { +"jazzy": 14.0 +}, +"ros2-yaml-cpp-vendor": { +"jazzy": 13.6 +}, +"ros2-yasmin": { +"jazzy": 53.7 +}, +"ros2-yasmin-cli": { +"jazzy": 10.2 +}, +"ros2-yasmin-demos": { +"jazzy": 82.5 +}, +"ros2-yasmin-editor": { +"jazzy": 31.0 +}, +"ros2-yasmin-factory": { +"jazzy": 28.9 +}, +"ros2-yasmin-msgs": { +"jazzy": 23.8 +}, +"ros2-yasmin-pcl": { +"jazzy": 71.7 +}, +"ros2-yasmin-plugins-manager": { +"jazzy": 16.1 +}, +"ros2-yasmin-ros": { +"jazzy": 48.5 +}, +"ros2-yasmin-viewer": { +"jazzy": 27.4 +}, +"ros2-zed-description": { +"jazzy": 13.0 +}, +"ros2-zed-msgs": { +"jazzy": 75.7 +}, +"ros2-zenoh-cpp-vendor": { +"jazzy": 14.6 +}, +"ros2-zlib-point-cloud-transport": { +"jazzy": 21.8 +}, +"ros2-zstd-image-transport": { +"jazzy": 29.6 +}, +"ros2-zstd-point-cloud-transport": { +"jazzy": 21.6 +}, +"ros2-zstd-vendor": { +"jazzy": 15.0 +} +} From cf71b7830ec35529e13d9e0017b6e2b58a4c6bb3 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 23 Oct 2026 18:21:17 +1000 Subject: [PATCH 11/14] Build times for all five platforms, also for lyrical's compatibility recipes osx-64 and win-64 from the jazzy build-branch runs' job logs (39770120710 and 39907983469; 39770136120 and the finished jobs of 39907979075). Recipes those runs didn't reach are estimated from their linux-64 time with a fit per platform (osx-64: 37 s + 1.61 x; win-64: 77 s + 2.13 x; median error 33% and 20%), compatibility recipes at the platform's median (0.3-0.4 s). Every ros-jazzy- time is copied to ros-lyrical- (under "lyrical"), so that lyrical's compatibility recipes have a time until its own build jobs record theirs. Co-Authored-By: Claude Opus 5.5 --- shared/build_timings/linux-64.json | 3606 +++++++++ shared/build_timings/linux-aarch64.json | 3564 +++++++++ shared/build_timings/osx-64.json | 9617 +++++++++++++++++++++++ shared/build_timings/osx-arm64.json | 3204 ++++++++ shared/build_timings/win-64.json | 8222 +++++++++++++++++++ 5 files changed, 28213 insertions(+) create mode 100644 shared/build_timings/osx-64.json create mode 100644 shared/build_timings/win-64.json diff --git a/shared/build_timings/linux-64.json b/shared/build_timings/linux-64.json index 56baf8861..ff1d568ff 100644 --- a/shared/build_timings/linux-64.json +++ b/shared/build_timings/linux-64.json @@ -3605,6 +3605,3612 @@ "ros-jazzy-zstd-vendor": { "jazzy": 0.1 }, +"ros-lyrical-ackermann-msgs": { +"lyrical": 0.1 +}, +"ros-lyrical-ackermann-steering-controller": { +"lyrical": 0.2 +}, +"ros-lyrical-action-msgs": { +"lyrical": 0.3 +}, +"ros-lyrical-action-tutorials-cpp": { +"lyrical": 0.1 +}, +"ros-lyrical-action-tutorials-interfaces": { +"lyrical": 0.1 +}, +"ros-lyrical-action-tutorials-py": { +"lyrical": 0.1 +}, +"ros-lyrical-actionlib-msgs": { +"lyrical": 0.1 +}, +"ros-lyrical-actuator-msgs": { +"lyrical": 0.1 +}, +"ros-lyrical-admittance-controller": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-black": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-clang-format": { +"lyrical": 0.1 +}, +"ros-lyrical-ament-clang-tidy": { +"lyrical": 0.1 +}, +"ros-lyrical-ament-cmake": { +"lyrical": 0.1 +}, +"ros-lyrical-ament-cmake-auto": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-black": { +"lyrical": 0.1 +}, +"ros-lyrical-ament-cmake-catch2": { +"lyrical": 0.1 +}, +"ros-lyrical-ament-cmake-clang-format": { +"lyrical": 0.1 +}, +"ros-lyrical-ament-cmake-clang-tidy": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-copyright": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-core": { +"lyrical": 0.1 +}, +"ros-lyrical-ament-cmake-cppcheck": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-cpplint": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-export-definitions": { +"lyrical": 0.1 +}, +"ros-lyrical-ament-cmake-export-dependencies": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-export-include-directories": { +"lyrical": 0.7 +}, +"ros-lyrical-ament-cmake-export-interfaces": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-export-libraries": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-export-link-flags": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-export-targets": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-flake8": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-gen-version-h": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-gmock": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-google-benchmark": { +"lyrical": 0.1 +}, +"ros-lyrical-ament-cmake-gtest": { +"lyrical": 0.1 +}, +"ros-lyrical-ament-cmake-include-directories": { +"lyrical": 0.2 +}, +"ros-lyrical-ament-cmake-libraries": { +"lyrical": 0.2 +}, 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+"ros2-warehouse-ros-sqlite": { +"jazzy": 113.0 +}, +"ros2-xacro": { +"jazzy": 67.7 +}, +"ros2-yaml-cpp-vendor": { +"jazzy": 77.8 +}, +"ros2-zed-description": { +"jazzy": 91.0 +}, +"ros2-zenoh-cpp-vendor": { +"jazzy": 94.3 +}, +"ros2-zlib-point-cloud-transport": { +"jazzy": 123.2 +}, +"ros2-zstd-image-transport": { +"jazzy": 134.3 +}, +"ros2-zstd-point-cloud-transport": { +"jazzy": 110.3 +}, +"ros2-zstd-vendor": { +"jazzy": 79.2 +} +} From ca1683036720be1c7b085dbf2e153b876b8bbc36 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 23 Oct 2026 18:28:16 +1000 Subject: [PATCH 12/14] test_generate_gha: independent of the repository's build times With shared/build_timings/win-64.json present, rs gha packs by time and first retries an oversized workflow with fewer runners, so the batch-size retry test now runs without timings; a new test covers the retry with timings. Co-Authored-By: Claude Opus 5.5 --- tools/tests/test_generate_gha.py | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/tools/tests/test_generate_gha.py b/tools/tests/test_generate_gha.py index 04ba1fe73..e08f35847 100644 --- a/tools/tests/test_generate_gha.py +++ b/tools/tests/test_generate_gha.py @@ -1,9 +1,11 @@ """rs gha: larger batches when the generated workflow is too large for GitHub.""" +import build_timings import robostack as rs def test_gha_retries_with_larger_batches_when_the_workflow_is_too_large(monkeypatch, tmp_path): + monkeypatch.setattr(build_timings, "TIMINGS", tmp_path / "no-timings") # batching by count sizes = [] def fake_run_tee(cmd, cwd): @@ -19,6 +21,25 @@ def fake_run_tee(cmd, cwd): assert sizes == [25, 37, 55] +def test_gha_with_timings_retries_with_fewer_runners_first(monkeypatch, tmp_path): + (tmp_path / "timings").mkdir() + (tmp_path / "timings" / "win-64.json").write_text('{"ros2-a": {"jazzy": 1.0}}\n') + monkeypatch.setattr(build_timings, "TIMINGS", tmp_path / "timings") + calls = [] + + def fake_run_tee(cmd, cwd): + calls.append(cmd) + if len(calls) < 3: + return 1, b"RuntimeError: Generated workflow win.yml is 530.8 KiB, exceeding the 500 KiB limit." + return 0, b"" + + monkeypatch.setattr(rs, "run_tee", fake_run_tee) + monkeypatch.setattr(rs, "work_dir", lambda distro: tmp_path) + + assert rs.generate_gha("jazzy", ["--platform", "win-64", "--batch-size", "25"]) == 0 + assert [next((a for a in c if a.startswith("--runners")), None) for c in calls] == [None, "--runners=10", "--runners=5"] + + def test_gha_does_not_retry_other_failures(monkeypatch, tmp_path): sizes = [] From bf11abb5d03cfdd35b9061cb8ccec1d1d590d1c2 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 23 Oct 2026 18:43:52 +1000 Subject: [PATCH 13/14] rs gha: fall back to batching by count when a timed workflow stays too large Packing by time keeps short stages apart (they share a job only up to two minutes), so lyrical's win-64 workflow, whose jobs carry the long Windows scripts, stayed at 621 KiB even with --runners 2. After the runner retries, generate it without --timings; batching by count then merges the short stages and the larger-batch retries shrink it as before. Co-Authored-By: Claude Opus 5.5 --- tools/robostack.py | 5 +++++ tools/tests/test_generate_gha.py | 21 +++++++++++++++++++++ 2 files changed, 26 insertions(+) diff --git a/tools/robostack.py b/tools/robostack.py index ddfc1c4aa..fd44af490 100644 --- a/tools/robostack.py +++ b/tools/robostack.py @@ -455,6 +455,11 @@ def generate_gha(distro: str, args: list[str]) -> int: extra = [a for a in extra if not a.startswith("--runners")] + [f"--runners={runners}"] print(f"The workflow is too large; retrying with --runners {runners}", flush=True) continue + if timed: # still too large (many short stages, e.g. win-64's long jobs): batch by count + timed = False + extra = [a for a in extra if not a.startswith("--runners") and a not in ("--timings", "build_timings.json")] + print("The workflow is too large; retrying without --timings (batches by count)", flush=True) + continue if batch_size >= MAX_BATCH_SIZE: break batch_size = min(batch_size * 3 // 2, MAX_BATCH_SIZE) diff --git a/tools/tests/test_generate_gha.py b/tools/tests/test_generate_gha.py index e08f35847..b2f3e4ac7 100644 --- a/tools/tests/test_generate_gha.py +++ b/tools/tests/test_generate_gha.py @@ -40,6 +40,27 @@ def fake_run_tee(cmd, cwd): assert [next((a for a in c if a.startswith("--runners")), None) for c in calls] == [None, "--runners=10", "--runners=5"] +def test_gha_with_timings_falls_back_to_batching_by_count(monkeypatch, tmp_path): + (tmp_path / "timings").mkdir() + (tmp_path / "timings" / "win-64.json").write_text('{"ros2-a": {"jazzy": 1.0}}\n') + monkeypatch.setattr(build_timings, "TIMINGS", tmp_path / "timings") + calls = [] + + def fake_run_tee(cmd, cwd): + calls.append(cmd) + if "--timings" in cmd or int(cmd[cmd.index("--batch_size") + 1]) < 37: + return 1, b"RuntimeError: Generated workflow win.yml is 620.9 KiB, exceeding the 500 KiB limit." + return 0, b"" + + monkeypatch.setattr(rs, "run_tee", fake_run_tee) + monkeypatch.setattr(rs, "work_dir", lambda distro: tmp_path) + + assert rs.generate_gha("jazzy", ["--platform", "win-64", "--batch-size", "25"]) == 0 + # 20, 10, 5 and 2 runners with --timings, then by count: 25, then 37 fits + assert ["--timings" in c for c in calls] == [True] * 4 + [False, False] + assert all("--runners" not in " ".join(c) for c in calls[4:]) + + def test_gha_does_not_retry_other_failures(monkeypatch, tmp_path): sizes = [] From 3e2f3ccd83ba50c1fcbcebee55ed72a4e9f3e8ee Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 23 Oct 2026 19:32:03 +1000 Subject: [PATCH 14/14] vinca with job budgets (RoboStack/vinca#180); rs gha without its own size retries vinca-gha now keeps the workflow under GitHub's size limit itself (a job budget spent where it shortens the workflow most, with or without build times), and its Windows jobs call .scripts/build_win.bat instead of inlining it. rs gha drops the retries with fewer runners and the fallback to batching by count; larger batches remain the last resort when even the fewest jobs the batch size allows don't fit. The check that the Windows workflow uses the repository's build script looks for the call. lyrical's full rebuild: win-64 149 jobs (483 KiB), linux-64 197 jobs (341 KiB). 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{url}/\n" for url in skip) ) - # vinca-gha inlines ./.scripts/build_win.bat into the Windows workflow + # vinca-gha checks for ./.scripts/build_win.bat, which the Windows jobs call shutil.rmtree(w / ".scripts", ignore_errors=True) shutil.copytree(ROOT / ".scripts", w / ".scripts") (w / "vinca_pinning.yaml").write_text(vinca_pinning(distro)) @@ -436,30 +436,20 @@ def generate_gha(distro: str, args: list[str]) -> int: # GitHub refuses workflow files over 500 KiB, which a full rebuild's many batches can # reach (jazzy's win-64 at 25): then retry with larger, hence fewer, batches. batch_size = int(ns.batch_size) - # each job keeps the build times it records (build-ci); with times for the platform, - # vinca-gha packs each stage's recipes into jobs by time instead of by count + # each job keeps the build times it records (build-ci); vinca-gha packs each stage's + # recipes into jobs by those times (every recipe the same without them) import build_timings extra = ["--keep-file", f"distros/{distro}/work/{build_timings.JOURNAL}"] - timed = build_timings.vinca_timings(ns.platform, d / "build_timings.json") - if timed: + if build_timings.vinca_timings(ns.platform, d / "build_timings.json"): extra += ["--timings", "build_timings.json"] - runners = 20 + # vinca-gha keeps the workflow under GitHub's size limit itself (a job budget); only + # when even the fewest jobs the batch size allows are too many, retry with larger batches while True: rc, output = run_tee(["vinca-gha", "--platform", ns.platform, "--trigger-branch", branch, "-d", "./recipes", "--batch_size", str(batch_size), *extra], d) if not rc or WORKFLOW_SIZE_MESSAGE not in output: break - if timed and runners > 2: # planning for fewer runners makes fewer jobs - runners //= 2 - extra = [a for a in extra if not a.startswith("--runners")] + [f"--runners={runners}"] - print(f"The workflow is too large; retrying with --runners {runners}", flush=True) - continue - if timed: # still too large (many short stages, e.g. win-64's long jobs): batch by count - timed = False - extra = [a for a in extra if not a.startswith("--runners") and a not in ("--timings", "build_timings.json")] - print("The workflow is too large; retrying without --timings (batches by count)", flush=True) - continue if batch_size >= MAX_BATCH_SIZE: break batch_size = min(batch_size * 3 // 2, MAX_BATCH_SIZE) @@ -489,7 +479,7 @@ def generate_gha(distro: str, args: list[str]) -> int: for l in lines] if sum("permissions:" in l for l in lines) != sum("contents: read" in l for l in lines): raise SystemExit(f"{wf}: a job with permissions but without contents: read") - if ns.platform == "win-64" and not any("build-ci" in l for l in lines): + if ns.platform == "win-64" and not any("build_win.bat" in l for l in lines): raise SystemExit(f"{wf}: the Windows workflow doesn't use .scripts/build_win.bat") if any(l.startswith("env:") for l in lines): raise SystemExit(f"{wf}: unexpected top-level env in the vinca-gha output") diff --git a/tools/tests/test_generate_gha.py b/tools/tests/test_generate_gha.py index b2f3e4ac7..c9f359a66 100644 --- a/tools/tests/test_generate_gha.py +++ b/tools/tests/test_generate_gha.py @@ -21,46 +21,6 @@ def fake_run_tee(cmd, cwd): assert sizes == [25, 37, 55] -def test_gha_with_timings_retries_with_fewer_runners_first(monkeypatch, tmp_path): - (tmp_path / "timings").mkdir() - (tmp_path / "timings" / "win-64.json").write_text('{"ros2-a": {"jazzy": 1.0}}\n') - monkeypatch.setattr(build_timings, "TIMINGS", tmp_path / "timings") - calls = [] - - def fake_run_tee(cmd, cwd): - calls.append(cmd) - if len(calls) < 3: - return 1, b"RuntimeError: Generated workflow win.yml is 530.8 KiB, exceeding the 500 KiB limit." - return 0, b"" - - monkeypatch.setattr(rs, "run_tee", fake_run_tee) - monkeypatch.setattr(rs, "work_dir", lambda distro: tmp_path) - - assert rs.generate_gha("jazzy", ["--platform", "win-64", "--batch-size", "25"]) == 0 - assert [next((a for a in c if a.startswith("--runners")), None) for c in calls] == [None, "--runners=10", "--runners=5"] - - -def test_gha_with_timings_falls_back_to_batching_by_count(monkeypatch, tmp_path): - (tmp_path / "timings").mkdir() - (tmp_path / "timings" / "win-64.json").write_text('{"ros2-a": {"jazzy": 1.0}}\n') - monkeypatch.setattr(build_timings, "TIMINGS", tmp_path / "timings") - calls = [] - - def fake_run_tee(cmd, cwd): - calls.append(cmd) - if "--timings" in cmd or int(cmd[cmd.index("--batch_size") + 1]) < 37: - return 1, b"RuntimeError: Generated workflow win.yml is 620.9 KiB, exceeding the 500 KiB limit." - return 0, b"" - - monkeypatch.setattr(rs, "run_tee", fake_run_tee) - monkeypatch.setattr(rs, "work_dir", lambda distro: tmp_path) - - assert rs.generate_gha("jazzy", ["--platform", "win-64", "--batch-size", "25"]) == 0 - # 20, 10, 5 and 2 runners with --timings, then by count: 25, then 37 fits - assert ["--timings" in c for c in calls] == [True] * 4 + [False, False] - assert all("--runners" not in " ".join(c) for c in calls[4:]) - - def test_gha_does_not_retry_other_failures(monkeypatch, tmp_path): sizes = []