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Tobias-FischerTobias-Fischer
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Merge pull request #253 from traversaro/addzenoh
 Add rmw_zenoh_cpp and de-vendor zenoh_cpp_vendor
2 parents ff88d81 + 1c18078 commit fb9736d

9 files changed

+69
-1
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‎conda_build_config.yaml‎

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@@ -41,3 +41,8 @@ cxx_compiler:
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cxx_compiler_version: # [unix]
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- 13 # [linux]
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- 18 # [osx]
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libzenohc:
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- 1.1.1
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libzenohcxx:
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- 1.1.1

‎patch/dependencies.yaml‎

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@@ -179,4 +179,8 @@ rosx_introspection:
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octomap_ros:
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add_host: ["octomap"]
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octomap_rviz_plugins:
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add_host: ["octomap"]
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add_host: ["octomap"]
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zenoh_cpp_vendor:
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add_host: ["libzenohc", "libzenohcxx"]
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rmw_zenoh_cpp:
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add_host: ["libzenohc", "libzenohcxx"]

‎patch/ros-humble-zenoh-cpp-vendor.patch‎

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diff --git a/zenoh_cpp_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt
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index 2d3ae046..de971841 100644
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--- a/zenoh_cpp_vendor/CMakeLists.txt
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+++ b/zenoh_cpp_vendor/CMakeLists.txt
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@@ -10,35 +10,10 @@ endif()
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_vendor_package REQUIRED)
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-# Disable default features and enable only the most useful ones. This reduces build time and footprint.
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-# For a complete list of features see: https://github.com/eclipse-zenoh/zenoh/blob/main/zenoh/Cargo.toml
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-# Note: We separate the two args needed for cargo with "$<SEMICOLON>" and not ";" as the
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-# latter is a list separater in cmake and hence the string will be split into two
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-# when expanded.
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-set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
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-
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-ament_vendor(zenoh_c_vendor
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- VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
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- VCS_VERSION 57d5e4d31d9b38fef34d7bcad3d3e54869c4ce73
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- CMAKE_ARGS
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- "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
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- "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
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- "-DZENOHC_CUSTOM_TARGET=${ZENOHC_CUSTOM_TARGET}"
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-)
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-
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+find_package(zenohc REQUIRED)
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ament_export_dependencies(zenohc)
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-# Set VCS_VERSION to include latest changes from zenoh-c to benefit from :
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-# - https://github.com/eclipse-zenoh/zenoh-cpp/pull/342 (Fix include what you use)
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-ament_vendor(zenoh_cpp_vendor
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- VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
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- VCS_VERSION 964b64dc8b935a43147287199e7bb12da7b141e6
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- CMAKE_ARGS
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- -DZENOHCXX_ZENOHC=OFF
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-)
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-
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-externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)
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-
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+find_package(zenohcxx REQUIRED)
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ament_export_dependencies(zenohcxx)
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ament_package()

‎robostack.yaml‎

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@@ -43,6 +43,8 @@ cartographer:
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robostack: [cartographer]
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ca-certificates:
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robostack: [ca-certificates]
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cargo:
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robostack: [rust]
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clang-format:
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robostack: [clang-format]
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clang-tidy:

‎vinca_linux_64.yaml‎

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@@ -181,6 +181,9 @@ packages_select_by_deps:
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# requested in https://github.com/RoboStack/ros-humble/issues/249
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- twist_mux
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# requested in https://github.com/RoboStack/ros-humble/issues/252
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- rmw_zenoh_cpp
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# ----- end of package support -----
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# - rtabmap

‎vinca_linux_aarch64.yaml‎

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@@ -110,6 +110,9 @@ packages_select_by_deps:
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# requested in https://github.com/RoboStack/ros-humble/issues/249
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- twist_mux
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# requested in https://github.com/RoboStack/ros-humble/issues/252
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- rmw_zenoh_cpp
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# Used to work, now needs fixes
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# - rtabmap
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# - webots-ros2

‎vinca_osx.yaml‎

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@@ -132,5 +132,8 @@ packages_select_by_deps:
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# requested in https://github.com/RoboStack/ros-humble/issues/249
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- twist_mux
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# requested in https://github.com/RoboStack/ros-humble/issues/252
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- rmw_zenoh_cpp
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patch_dir: patch
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rosdistro_snapshot: rosdistro_snapshot.yaml

‎vinca_osx_arm64.yaml‎

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# requested in https://github.com/RoboStack/ros-humble/issues/249
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- twist_mux
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# requested in https://github.com/RoboStack/ros-humble/issues/252
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- rmw_zenoh_cpp
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patch_dir: patch
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rosdistro_snapshot: rosdistro_snapshot.yaml

‎vinca_win.yaml‎

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# requested in https://github.com/RoboStack/ros-humble/issues/249
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- twist_mux
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# requested in https://github.com/RoboStack/ros-humble/issues/252
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- rmw_zenoh_cpp
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patch_dir: patch
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rosdistro_snapshot: rosdistro_snapshot.yaml

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