Add as2_core patch and additional aerostack2 packages

patch/ros-humble-as2-core.patch

@@ -0,0 +1,35 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1234567..abcdefg 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -21,9 +21,6 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+ # add -Wall -Wextra -pedantic
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -pedantic")
+
+-# https://stackoverflow.com/a/73279950/9553849
+-set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/geographiclib")
+-
+ # set a define with the system env variable ROS_DISTRO
+ set(ROS_DISTRO $ENV{ROS_DISTRO})
+ message(STATUS "Detected ROS_DISTRO: ${ROS_DISTRO}")
+@@ -57,7 +54,8 @@ foreach(DEPENDENCY ${PROJECT_DEPENDENCIES})
+   find_package(${DEPENDENCY} REQUIRED)
+ endforeach()
+
+-find_package(GeographicLib REQUIRED)
++# Use CONFIG mode to find GeographicLib from conda package
++find_package(GeographicLib REQUIRED CONFIG)
+
+ # Pybind11
+ find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
+@@ -92,7 +90,8 @@ target_include_directories(
+   $<INSTALL_INTERFACE:include>)
+
+ ament_target_dependencies(${PROJECT_NAME} ${PROJECT_DEPENDENCIES})
+ ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+-ament_export_dependencies(${PROJECT_DEPENDENCIES})
++# Export GeographicLib so downstream packages can find the target
++ament_export_dependencies(${PROJECT_DEPENDENCIES} GeographicLib)
+
+ ament_export_include_directories(include)
+ ament_export_libraries(${PROJECT_NAME})

patch/ros-humble-mavros-extras.patch

@@ -0,0 +1,51 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 5cb1fae47..cd5eee700 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -34,11 +34,10 @@ find_package(eigen3_cmake_module REQUIRED)
+ find_package(Eigen3 REQUIRED)
+ find_package(yaml_cpp_vendor REQUIRED)
+
+-## Find GeographicLib
+-# Append to CMAKE_MODULE_PATH since debian/ubuntu installs
+-# FindGeographicLib.cmake in a nonstand location
+-set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/geographiclib")
+-find_package(GeographicLib REQUIRED)
++# Find GeographicLib
++# Use CONFIG mode to find GeographicLib from conda package
++# (libmavconn already sets CMAKE_MODULE_PATH for CheckGeographicLibDatasets)
++find_package(GeographicLib REQUIRED CONFIG)
+
+ find_package(angles REQUIRED)
+ find_package(eigen_stl_containers REQUIRED)
+@@ -156,6 +155,8 @@ ament_target_dependencies(mavros_extras_plugins
+   yaml_cpp_vendor
+ )
+ pluginlib_export_plugin_description_file(mavros mavros_plugins.xml)
++# Link GeographicLib - not handled by ament_target_dependencies
++target_link_libraries(mavros_extras_plugins ${GeographicLib_LIBRARIES})
+
+ add_library(mavros_extras SHARED
+   # [[[cog:
+diff --git a/src/plugins/fake_gps.cpp b/src/plugins/fake_gps.cpp
+index 2a5b99fb4..451e8832c 100644
+--- a/src/plugins/fake_gps.cpp
++++ b/src/plugins/fake_gps.cpp
+@@ -401,7 +401,7 @@ private:
+   /* -*- callbacks -*- */
+   void mocap_tf_cb(const geometry_msgs::msg::TransformStamped::SharedPtr trans)
+   {
+-    Eigen::Affine3d pos_enu; tf2::fromMsg(trans->transform, pos_enu);
++    Eigen::Affine3d pos_enu(tf2::transformToEigen(trans->transform));
+
+     send_fake_gps(
+       trans->header.stamp,
+@@ -439,7 +439,7 @@ private:
+
+   void transform_cb(const geometry_msgs::msg::TransformStamped & trans)
+   {
+-    Eigen::Affine3d pos_enu; tf2::fromMsg(trans.transform, pos_enu);
++    Eigen::Affine3d pos_enu(tf2::transformToEigen(trans.transform));
+
+     send_fake_gps(
+       trans.header.stamp,

pkg_additional_info.yaml

@@ -159,3 +159,5 @@ mavros:
   build_number: 14
 mavros_msgs:
   build_number: 14
+mavros_extras:
+  build_number: 14

vinca.yaml

@@ -110,7 +110,7 @@ packages_remove_from_deps:
 
 packages_select_by_deps:
   # These are the packages that are build on all platforms, including wasm32
-    # only subset of packages to reduce maintainer load
+  # only subset of packages to reduce maintainer load
   - rclpy
   - ros_workspace
   - ros_environment
@@ -237,12 +237,12 @@ packages_select_by_deps:
       - gazebo-ros-pkgs
       - ros_ign
       # *** Vendor packages ***
-      - graph_msgs          # PickNik Robotics
-      - apriltag            # AprilRobotics
-      - ur_robot_driver     # Universal Robots
-      - ur_calibration      # Universal Robots, requested in https://github.com/RoboStack/ros-humble/issues/217
-      - stubborn_buddies    # Open RMF
-      - ament_cmake_catch2  # Open RMF
+      - graph_msgs # PickNik Robotics
+      - apriltag # AprilRobotics
+      - ur_robot_driver # Universal Robots
+      - ur_calibration # Universal Robots, requested in https://github.com/RoboStack/ros-humble/issues/217
+      - stubborn_buddies # Open RMF
+      - ament_cmake_catch2 # Open RMF
       - ament_cmake_vendor_package # Requested in https://github.com/RoboStack/ros-humble/pull/210
       - ament_cmake_mypy
       # - transport_drivers
@@ -252,13 +252,13 @@ packages_select_by_deps:
       - udp_driver
       - apex_test_tools
       - visp
-      - bno055              # flynneva
+      - bno055 # flynneva
       - aws_robomaker_small_warehouse_world # AWS Robotics
       # Only msgs as avt_vimba_camera ships some Linux .so in the repo, so it only supports linux
-      - avt_vimba_camera_msgs    #  Allied Vision Technologies
-      - system_modes        # Micro-ROS
-      - tf_transformations  # DLu
-      - marker-msgs         # TUW Robotics
+      - avt_vimba_camera_msgs #  Allied Vision Technologies
+      - system_modes # Micro-ROS
+      - tf_transformations # DLu
+      - marker-msgs # TUW Robotics
       - moveit_resources
       # requested in https://github.com/RoboStack/ros-humble/pull/205
       - plotjuggler_msgs
@@ -333,7 +333,7 @@ packages_select_by_deps:
       # Depends on libcamera that is only available on linux
       - camera_ros
       # Depends on camera_ros that is only available on linux
-      - apriltag_ros        # Christian Rauch
+      - apriltag_ros # Christian Rauch
       # Depends on v4l that is only available on linux
       - v4l2_camera
       #  avt_vimba_camera ships some Linux .so in the repo, so it only supports linux
@@ -358,12 +358,12 @@ packages_select_by_deps:
       # but should be easy to fix
       - spatio_temporal_voxel_layer
       # Some missing support for macOS, see https://github.com/cyberbotics/webots_ros2/pull/733
-      - webots_ros2         # Cyberbotics
+      - webots_ros2 # Cyberbotics
       # Linking problems on macOS, probably a missing link to draco library or similar
       - point_cloud_transport_plugins
-      - realsense2-camera   # IntelRealSense
+      - realsense2-camera # IntelRealSense
       - realsense2-description # IntelRealSense
-       # removed in jazzy, never supported windows or macos, no packages depend on it
+        # removed in jazzy, never supported windows or macos, no packages depend on it
       - apex_containers
       # CMake errors related to OpenCV on macos, probably fixable
       - moveit_ros_perception
@@ -372,7 +372,6 @@ packages_select_by_deps:
       # See https://github.com/RoboStack/ros-humble/pull/338#issuecomment-3146453142 for macos and Windows errors
       - franka_ros2
 
-
   # These packages are currently not build on Windows, but they may with some work
   - if: not wasm32 and not win
     then:
@@ -381,7 +380,7 @@ packages_select_by_deps:
       - foxglove_bridge
       - velodyne
       # error C1189: #error:  WinSock.h has already been included
-      - velodyne_simulator  # Dataspeed Inc.
+      - velodyne_simulator # Dataspeed Inc.
       - moveit_py
       # TODO on windows: fix iconv link issue
       - ffmpeg_image_transport
@@ -419,8 +418,8 @@ packages_select_by_deps:
       # Windows is failing with error C1083: Cannot open compiler generated file: ''
       - motion_capture_tracking
       # ublox compilation fails on Windows
-      - ublox               # Kumar Robotics
-      - ublox_dgnss         # Aussie Robots
+      - ublox # Kumar Robotics
+      - ublox_dgnss # Aussie Robots
       - ublox_dgnss_node
       - ublox_ubx_interfaces
       # error C1083: Cannot open include file: 'rqt_gui_cpp/plugin.h'
@@ -434,13 +433,22 @@ packages_select_by_deps:
       - spacenav
       # unresolved external symbol "public: static struct QMetaObject const rviz_default_plugins::displays::MarkerNamespace::staticMetaObject"
       - vision-msgs-rviz-plugins
-      # aerostack2
+      # aerostack2 packages (as2_core patched for GeographicLib)
       - as2_cli
       - as2_msgs
+      - as2_platform_mavlink
+      - as2_behavior
+      - as2_behavior_tree
+      - as2_motion_controller
+      - as2_state_estimator
+      - as2_python_api
+      - as2_alphanumeric_viewer
+      - as2_motion_reference_handlers
 
       - ign_ros2_control
       - gz_ros2_control
       - ur_simulation_gz
       # mavros and mavlink (enabled on macOS for testing)
       - mavlink
       - mavros
+      - mavros_extras