From b99224e6608abda6620f87b429b99eb7440c14ef Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Sun, 22 Sep 2024 19:28:25 -0700 Subject: [PATCH 1/4] Add moveit-visual-tools. --- vinca_osx.yaml | 1 + vinca_osx_arm64.yaml | 1 + 2 files changed, 2 insertions(+) diff --git a/vinca_osx.yaml b/vinca_osx.yaml index a5d9244d..794b9c1e 100644 --- a/vinca_osx.yaml +++ b/vinca_osx.yaml @@ -102,6 +102,7 @@ packages_select_by_deps: - moveit - moveit_servo - moveit-planners-chomp + - moveit-visual-tools - gtsam diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml index fc1b8a0f..5d828b15 100644 --- a/vinca_osx_arm64.yaml +++ b/vinca_osx_arm64.yaml @@ -92,6 +92,7 @@ packages_select_by_deps: - moveit - moveit-planners-chomp + - moveit-visual-tools - gtsam From 0c6069b9aa24959a37a253cdcfeeddd45ea82457 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Sun, 22 Sep 2024 22:29:45 -0700 Subject: [PATCH 2/4] Update ros-humble-pid-controller.patch file paths. --- patch/ros-humble-pid-controller.patch | 56 +++++++++++++-------------- 1 file changed, 28 insertions(+), 28 deletions(-) diff --git a/patch/ros-humble-pid-controller.patch b/patch/ros-humble-pid-controller.patch index 3fc24fef..cc43bb49 100644 --- a/patch/ros-humble-pid-controller.patch +++ b/patch/ros-humble-pid-controller.patch @@ -1,28 +1,28 @@ -diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt -index 15e903222a..6c9e00ef8b 100644 ---- a/pid_controller/CMakeLists.txt -+++ b/pid_controller/CMakeLists.txt -@@ -45,7 +45,7 @@ ament_target_dependencies(pid_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) - - # Causes the visibility macros to use dllexport rather than dllimport, - # which is appropriate when building the dll but not consuming it. --target_compile_definitions(pid_controller PRIVATE "PID_CONTROLLER_BUILDING_DLL") -+target_compile_definitions(pid_controller PRIVATE "PID_CONTROLLER__VISIBILITY_BUILDING_DLL") - - pluginlib_export_plugin_description_file(controller_interface pid_controller.xml) - -diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp -index f7b8cc4491..788f39f1ed 100644 ---- a/pid_controller/include/pid_controller/pid_controller.hpp -+++ b/pid_controller/include/pid_controller/pid_controller.hpp -@@ -121,8 +121,10 @@ class PidController : public controller_interface::ChainableControllerInterface - std::unique_ptr state_publisher_; - - // override methods from ChainableControllerInterface -+ PID_CONTROLLER__VISIBILITY_PUBLIC - std::vector on_export_reference_interfaces() override; - -+ PID_CONTROLLER__VISIBILITY_PUBLIC - bool on_set_chained_mode(bool chained_mode) override; - - // internal methods +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 81cbe6f00..d7798b579 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -45,7 +45,7 @@ ament_target_dependencies(pid_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + + # Causes the visibility macros to use dllexport rather than dllimport, + # which is appropriate when building the dll but not consuming it. +-target_compile_definitions(pid_controller PRIVATE "PID_CONTROLLER_BUILDING_DLL") ++target_compile_definitions(pid_controller PRIVATE "PID_CONTROLLER__VISIBILITY_BUILDING_DLL") + + pluginlib_export_plugin_description_file(controller_interface pid_controller.xml) + +diff --git a/include/pid_controller/pid_controller.hpp b/include/pid_controller/pid_controller.hpp +index 105a91544..4919a739c 100644 +--- a/include/pid_controller/pid_controller.hpp ++++ b/include/pid_controller/pid_controller.hpp +@@ -119,8 +119,10 @@ protected: + std::unique_ptr state_publisher_; + + // override methods from ChainableControllerInterface ++ PID_CONTROLLER__VISIBILITY_PUBLIC + std::vector on_export_reference_interfaces() override; + ++ PID_CONTROLLER__VISIBILITY_PUBLIC + bool on_set_chained_mode(bool chained_mode) override; + + // internal methods From 4bd0bb6e5733405774a6583b8ae1f00d403a3769 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Sun, 22 Sep 2024 23:40:10 -0700 Subject: [PATCH 3/4] Skip pid-controller dependency. --- vinca_osx.yaml | 2 ++ vinca_osx_arm64.yaml | 2 ++ 2 files changed, 4 insertions(+) diff --git a/vinca_osx.yaml b/vinca_osx.yaml index 794b9c1e..2e489836 100644 --- a/vinca_osx.yaml +++ b/vinca_osx.yaml @@ -32,6 +32,8 @@ packages_remove_from_deps: - rttest # Not available for macOS and Windows! - gripper_controllers + # unmet dependencies + - pid-controller skip_existing: # - https://conda.anaconda.org/robostack-humble/ diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml index 5d828b15..3c059cd8 100644 --- a/vinca_osx_arm64.yaml +++ b/vinca_osx_arm64.yaml @@ -32,6 +32,8 @@ packages_remove_from_deps: - rttest # Not available for macOS and Windows! - gripper_controllers + # unmet dependencies + - pid-controller skip_existing: - https://conda.anaconda.org/robostack-staging/ From 923f25586a2438d358ed37b19be5a481911ac74f Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Sun, 22 Sep 2024 23:47:06 -0700 Subject: [PATCH 4/4] Add rapidjson-dev -> rapidjson mapping. --- robostack.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/robostack.yaml b/robostack.yaml index bd43367c..aa5cc121 100644 --- a/robostack.yaml +++ b/robostack.yaml @@ -864,6 +864,8 @@ qt5-qmake: robostack: [qt-main, REQUIRE_OPENGL] qtbase5-dev: robostack: [qt-main, REQUIRE_OPENGL] +rapidjson-dev: + robostack: [rapidjson] roboticstoolbox-python: robostack: [roboticstoolbox-python] rsync: @@ -955,4 +957,3 @@ zbar: robostack: [zbar] zlib: robostack: [zlib] -