Merge pull request #374 from TayebAlsh/add-mavlink-osx-patch

Add mavlink/mavros support for macOS (osx-arm64)

Author: Tobias-Fischer

patch/ros-humble-mavlink.osx.patch

@@ -0,0 +1,20 @@
+diff --git a/pymavlink/generator/CPP11/include_v2.0/msgmap.hpp b/pymavlink/generator/CPP11/include_v2.0/msgmap.hpp
+index a3956aa2..2abe2a5e 100644
+--- a/pymavlink/generator/CPP11/include_v2.0/msgmap.hpp
++++ b/pymavlink/generator/CPP11/include_v2.0/msgmap.hpp
+@@ -4,7 +4,14 @@
+ #include <algorithm>
+ #ifdef FREEBSD
+ #include <sys/endian.h>
+-#elif __APPLE__
++#elif defined(__APPLE__)
++#include <libkern/OSByteOrder.h>
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
+ #include <machine/endian.h>
+ #else
+ #include <endian.h>

pkg_additional_info.yaml

@@ -151,5 +151,11 @@ rosidl_generator_cpp:
   build_number: 14
 rosidl_runtime_cpp:
   build_number: 14
+mavlink:
+  build_number: 14
+libmavconn:
+  build_number: 14
 mavros:
   build_number: 14
+mavros_msgs:
+  build_number: 14

vinca.yaml

@@ -341,10 +341,6 @@ packages_select_by_deps:
       # Require Linux-specific joystick interfaces
       - joy_linux
 
-      # mavros and mavlink (currently Linux only)
-      - mavlink
-      - mavros
-
   # These packages are currently only build on Linux,
   # as trying to build them in the past on macos or Windows resulted in errors,
   # but probably they can work on all platform with some work
@@ -445,3 +441,6 @@ packages_select_by_deps:
       - ign_ros2_control
       - gz_ros2_control
       - ur_simulation_gz
+      # mavros and mavlink (enabled on macOS for testing)
+      - mavlink
+      - mavros