From 4226bfcee2b43656083e75ad2417953b21cf48e7 Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Mon, 5 Oct 2026 20:26:05 +0200 Subject: [PATCH 1/5] spatio_temporal_voxel_layer --- patch/dependencies.yaml | 4 ++++ robostack.yaml | 2 ++ vinca.yaml | 2 ++ 3 files changed, 8 insertions(+) diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 9e0f2e4ce..fd60e6752 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -102,6 +102,10 @@ nav2_smac_planner: add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode"] nav2_constrained_smoother: add_host: ["${{ 'openblas' if win }}", "ceres-solver"] +spatio_temporal_voxel_layer: + add_host: [libgl-devel, libopengl-devel, openvdb] +openvdb_vendor: + add_host: ["openvdb"] ompl: add_host: ["ompl"] pybind11_json_vendor: diff --git a/robostack.yaml b/robostack.yaml index 9b68233bb..53d1c09bc 100644 --- a/robostack.yaml +++ b/robostack.yaml @@ -417,6 +417,8 @@ libopencv-imgproc-dev: win64: [py-opencv, libopencv] libopenni-dev: robostack: [] +libopenvdb-dev: + robostack: [openvdb] liborocos-kdl: robostack: [orocos-kdl] liborocos-kdl-dev: diff --git a/vinca.yaml b/vinca.yaml index a491781b7..b298196cb 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -225,8 +225,10 @@ packages_select_by_deps: - camera_ros # Depends on libcamera that is only available on linux - livox_ros_driver2 - mavros + - openvdb_vendor - py_binding_tools - rmf_demos + - spatio_temporal_voxel_layer - swri_serial_util # Serial communication only implemented for linux - v4l2_camera # Depends on v4l that is only available on linux From ca874f4aee8d6351763c6f94b361c723515d7313 Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Tue, 6 Oct 2026 06:33:27 +0200 Subject: [PATCH 2/5] Same patch as Jazzy --- patch/ros-lyrical-openvdb-vendor.patch | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) create mode 100644 patch/ros-lyrical-openvdb-vendor.patch diff --git a/patch/ros-lyrical-openvdb-vendor.patch b/patch/ros-lyrical-openvdb-vendor.patch new file mode 100644 index 000000000..30f716f74 --- /dev/null +++ b/patch/ros-lyrical-openvdb-vendor.patch @@ -0,0 +1,24 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index c158a4a..8fad1d8 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -4,6 +4,8 @@ project(openvdb_vendor) + find_package(ament_cmake REQUIRED) + find_package(ament_cmake_vendor_package REQUIRED) + ++list(APPEND CMAKE_MODULE_PATH "${CMAKE_INSTALL_PREFIX}/lib/cmake/OpenVDB") + list(APPEND CMAKE_MODULE_PATH "/usr/lib/x86_64-linux-gnu/cmake/OpenVDB" + list(APPEND CMAKE_MODULE_PATH "/usr/lib/aarch64-linux-gnu/cmake/OpenVDB") + find_package(OpenVDB 10 QUIET) +diff --git a/openvdb_vendor-extras.cmake b/openvdb_vendor-extras.cmake +index a32dfc5..93ce1b9 100644 +--- a/openvdb_vendor-extras.cmake ++++ b/openvdb_vendor-extras.cmake +@@ -3,7 +3,5 @@ if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "") + set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE) + endif() + message( STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}" ) ++get_filename_component(_openvdb_prefix "${openvdb_vendor_DIR}/../../.." ABSOLUTE) ++list(APPEND CMAKE_MODULE_PATH "${_openvdb_prefix}/lib/cmake/OpenVDB") + list(APPEND CMAKE_MODULE_PATH "/usr/lib/x86_64-linux-gnu/cmake/OpenVDB") + list(APPEND CMAKE_MODULE_PATH "/usr/lib/aarch64-linux-gnu/cmake/OpenVDB") From 7eacaa142c674f708724bd92c4c82b30191dbf4d Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Tue, 6 Oct 2026 07:27:26 +0200 Subject: [PATCH 3/5] Fix patch for Lyrical --- patch/ros-lyrical-openvdb-vendor.patch | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/patch/ros-lyrical-openvdb-vendor.patch b/patch/ros-lyrical-openvdb-vendor.patch index 30f716f74..cf0b10d52 100644 --- a/patch/ros-lyrical-openvdb-vendor.patch +++ b/patch/ros-lyrical-openvdb-vendor.patch @@ -1,24 +1,24 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index c158a4a..8fad1d8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -4,6 +4,8 @@ project(openvdb_vendor) +@@ -4,6 +4,7 @@ project(openvdb_vendor) find_package(ament_cmake REQUIRED) find_package(ament_cmake_vendor_package REQUIRED) +list(APPEND CMAKE_MODULE_PATH "${CMAKE_INSTALL_PREFIX}/lib/cmake/OpenVDB") - list(APPEND CMAKE_MODULE_PATH "/usr/lib/x86_64-linux-gnu/cmake/OpenVDB" + list(APPEND CMAKE_MODULE_PATH "/usr/lib/x86_64-linux-gnu/cmake/OpenVDB") list(APPEND CMAKE_MODULE_PATH "/usr/lib/aarch64-linux-gnu/cmake/OpenVDB") find_package(OpenVDB 10 QUIET) diff --git a/openvdb_vendor-extras.cmake b/openvdb_vendor-extras.cmake -index a32dfc5..93ce1b9 100644 --- a/openvdb_vendor-extras.cmake +++ b/openvdb_vendor-extras.cmake -@@ -3,7 +3,5 @@ if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "") +@@ -3,7 +3,9 @@ if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "") set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE) endif() message( STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}" ) +get_filename_component(_openvdb_prefix "${openvdb_vendor_DIR}/../../.." ABSOLUTE) +list(APPEND CMAKE_MODULE_PATH "${_openvdb_prefix}/lib/cmake/OpenVDB") + list(APPEND CMAKE_MODULE_PATH "${openvdb_vendor_DIR}/../../../opt/openvdb_vendor/lib/cmake/OpenVDB") list(APPEND CMAKE_MODULE_PATH "/usr/lib/x86_64-linux-gnu/cmake/OpenVDB") list(APPEND CMAKE_MODULE_PATH "/usr/lib/aarch64-linux-gnu/cmake/OpenVDB") + find_package(OpenVDB REQUIRED) From f12899147acf0bc8d6ccdde5706634e3cad40860 Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Tue, 6 Oct 2026 07:36:24 +0200 Subject: [PATCH 4/5] Bump build number to apply patch? --- pkg_additional_info.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index 74aa92164..5bbb2eac2 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -132,8 +132,6 @@ ompl: generate_dummy_package_with_run_deps: dep_name: ompl max_pin: 'x.x' -openvdb_vendor: - additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK" orocos_kdl_vendor: additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK" pcl_ros: @@ -243,6 +241,9 @@ gz_gui_vendor: gz_sim_vendor: additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK" build_number: 28 +openvdb_vendor: + additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK" + build_number: 28 rqt_plot: build_number: 28 rqt_py_common: From 17f5ee9f3d67b355ef3b405ef690b4b301481de6 Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Tue, 6 Oct 2026 08:34:42 +0200 Subject: [PATCH 5/5] gl/opengl stuff linux-only --- patch/dependencies.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index fd60e6752..88d846b14 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -103,7 +103,7 @@ nav2_smac_planner: nav2_constrained_smoother: add_host: ["${{ 'openblas' if win }}", "ceres-solver"] spatio_temporal_voxel_layer: - add_host: [libgl-devel, libopengl-devel, openvdb] + add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "openvdb"] openvdb_vendor: add_host: ["openvdb"] ompl: