From a762f22c2ff9dc981fff684ee1734f2ee54c5efe Mon Sep 17 00:00:00 2001 From: wep21 Date: Sun, 7 Sep 2025 20:53:11 +0900 Subject: [PATCH 01/33] add autoware core Signed-off-by: wep21 --- vinca.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/vinca.yaml b/vinca.yaml index 3a4a5d62..0bb9819c 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -212,6 +212,7 @@ packages_select_by_deps: - autoware_lanlet2_utils - autoware_osqp_interface - autoware_qp_interface + - autoware_core patch_dir: patch rosdistro_snapshot: rosdistro_snapshot.yaml From 087fdb0ab8404359d8ecb83186aea1d9653b1618 Mon Sep 17 00:00:00 2001 From: wep21 Date: Sun, 7 Sep 2025 21:08:53 +0900 Subject: [PATCH 02/33] update Signed-off-by: wep21 --- rosdistro_additional_recipes.yaml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/rosdistro_additional_recipes.yaml b/rosdistro_additional_recipes.yaml index eef664e9..042ed284 100644 --- a/rosdistro_additional_recipes.yaml +++ b/rosdistro_additional_recipes.yaml @@ -327,4 +327,8 @@ autoware_internal_localization_msgs: autoware_localization_msgs: tag: release/humble/autoware_localization_msgs/1.9.0-1 url: https://github.com/ros2-gbp/autoware_msgs-release.git - version: 1.10.0 + version: 1.9.0 +autoware_planning_msgs: + tag: release/humble/autoware_planning_msgs/1.9.0-1 + url: https://github.com/ros2-gbp/autoware_msgs-release.git + version: 1.9.0 From b70a07e634b375d3ade2ec41ce40338dacd8f622 Mon Sep 17 00:00:00 2001 From: wep21 Date: Sun, 7 Sep 2025 22:44:59 +0900 Subject: [PATCH 03/33] update Signed-off-by: wep21 --- rosdistro_additional_recipes.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/rosdistro_additional_recipes.yaml b/rosdistro_additional_recipes.yaml index 042ed284..92be0d6f 100644 --- a/rosdistro_additional_recipes.yaml +++ b/rosdistro_additional_recipes.yaml @@ -324,6 +324,10 @@ autoware_internal_localization_msgs: tag: release/jazzy/autoware_internal_localization_msgs/1.10.0-1 url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git version: 1.10.0 +autoware_internal_planning_msgs: + tag: release/jazzy/autoware_internal_planning_msgs/1.10.0-1 + url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git + version: 1.10.0 autoware_localization_msgs: tag: release/humble/autoware_localization_msgs/1.9.0-1 url: https://github.com/ros2-gbp/autoware_msgs-release.git From 92c6e95a272f418ea338bfe9fc09b6fd67ac5445 Mon Sep 17 00:00:00 2001 From: wep21 Date: Sun, 7 Sep 2025 23:05:28 +0900 Subject: [PATCH 04/33] update Signed-off-by: wep21 --- rosdistro_additional_recipes.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/rosdistro_additional_recipes.yaml b/rosdistro_additional_recipes.yaml index 92be0d6f..0be06564 100644 --- a/rosdistro_additional_recipes.yaml +++ b/rosdistro_additional_recipes.yaml @@ -319,7 +319,7 @@ autoware_velocity_smoother: tag: release/humble/autoware_velocity_smoother/1.4.0-1 url: https://github.com/ros2-gbp/autoware_core-release.git version: 1.4.0 -# TODO: remove autoware_internal_localization_msgs and it's sub packages after they are released in kilted +# TODO: remove autoware msgs and it's sub packages after they are released in kilted autoware_internal_localization_msgs: tag: release/jazzy/autoware_internal_localization_msgs/1.10.0-1 url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git @@ -328,10 +328,10 @@ autoware_internal_planning_msgs: tag: release/jazzy/autoware_internal_planning_msgs/1.10.0-1 url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git version: 1.10.0 -autoware_localization_msgs: - tag: release/humble/autoware_localization_msgs/1.9.0-1 - url: https://github.com/ros2-gbp/autoware_msgs-release.git - version: 1.9.0 +# autoware_localization_msgs: +# tag: release/humble/autoware_localization_msgs/1.9.0-1 +# url: https://github.com/ros2-gbp/autoware_msgs-release.git +# version: 1.9.0 autoware_planning_msgs: tag: release/humble/autoware_planning_msgs/1.9.0-1 url: https://github.com/ros2-gbp/autoware_msgs-release.git From 3944777afe7e756835dcce2f393ef6f92474f577 Mon Sep 17 00:00:00 2001 From: wep21 Date: Sun, 7 Sep 2025 23:10:05 +0900 Subject: [PATCH 05/33] update Signed-off-by: wep21 --- rosdistro_additional_recipes.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/rosdistro_additional_recipes.yaml b/rosdistro_additional_recipes.yaml index 0be06564..a2cb54e2 100644 --- a/rosdistro_additional_recipes.yaml +++ b/rosdistro_additional_recipes.yaml @@ -328,10 +328,10 @@ autoware_internal_planning_msgs: tag: release/jazzy/autoware_internal_planning_msgs/1.10.0-1 url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git version: 1.10.0 -# autoware_localization_msgs: -# tag: release/humble/autoware_localization_msgs/1.9.0-1 -# url: https://github.com/ros2-gbp/autoware_msgs-release.git -# version: 1.9.0 +autoware_localization_msgs: + tag: release/humble/autoware_localization_msgs/1.9.0-1 + url: https://github.com/ros2-gbp/autoware_msgs-release.git + version: 1.9.0 autoware_planning_msgs: tag: release/humble/autoware_planning_msgs/1.9.0-1 url: https://github.com/ros2-gbp/autoware_msgs-release.git From fbe4dc1423b182719bec61bd5364fa34a11a2a80 Mon Sep 17 00:00:00 2001 From: wep21 Date: Sun, 7 Sep 2025 23:33:20 +0900 Subject: [PATCH 06/33] remove cache Signed-off-by: wep21 --- .github/workflows/testpr.yml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 89dc7475..25c0f63c 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -104,6 +104,12 @@ jobs: run: | rm -rf ${{ matrix.folder_cache }}/* + - name: remove cache + shell: bash -l {0} + run: | + rm -rf ${{ matrix.folder_cache }}/ros-kilted-autoware-internal-* + rm -rf ${{ matrix.folder_cache }}/ros-kilted-autoware-*-msgs + - name: See packages restored by cache shell: bash -l {0} run: | From 677691f23ad984afc37fd6cee32c117d21ed1789 Mon Sep 17 00:00:00 2001 From: wep21 Date: Sun, 7 Sep 2025 23:40:55 +0900 Subject: [PATCH 07/33] update Signed-off-by: wep21 --- pkg_additional_info.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index 5bacb3d3..56c3c626 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -146,3 +146,5 @@ proxsuite: dep_name: proxsuite max_pin: 'x.x' override_version: '0.7.2' +autoware_internal_planning_msgs: + build_number: 13 From 1ee7eebf524dc9f5dcbd4328288a28c5571cc403 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 8 Sep 2025 00:40:12 +0900 Subject: [PATCH 08/33] update Signed-off-by: wep21 --- .github/workflows/testpr.yml | 6 ------ rosdistro_additional_recipes.yaml | 4 ++-- 2 files changed, 2 insertions(+), 8 deletions(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 25c0f63c..89dc7475 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -104,12 +104,6 @@ jobs: run: | rm -rf ${{ matrix.folder_cache }}/* - - name: remove cache - shell: bash -l {0} - run: | - rm -rf ${{ matrix.folder_cache }}/ros-kilted-autoware-internal-* - rm -rf ${{ matrix.folder_cache }}/ros-kilted-autoware-*-msgs - - name: See packages restored by cache shell: bash -l {0} run: | diff --git a/rosdistro_additional_recipes.yaml b/rosdistro_additional_recipes.yaml index a2cb54e2..5a1c7a65 100644 --- a/rosdistro_additional_recipes.yaml +++ b/rosdistro_additional_recipes.yaml @@ -325,9 +325,9 @@ autoware_internal_localization_msgs: url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git version: 1.10.0 autoware_internal_planning_msgs: - tag: release/jazzy/autoware_internal_planning_msgs/1.10.0-1 + tag: release/humble/autoware_internal_planning_msgs/1.12.0-1 url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git - version: 1.10.0 + version: 1.12.0 autoware_localization_msgs: tag: release/humble/autoware_localization_msgs/1.9.0-1 url: https://github.com/ros2-gbp/autoware_msgs-release.git From 4cd13105d1c278b06dc4547d9fa41579df004b47 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 8 Sep 2025 21:11:36 +0900 Subject: [PATCH 09/33] add patch Signed-off-by: wep21 --- ...os-kilted-autoware-route-handler.osx.patch | 22 +++++++++++++++++++ 1 file changed, 22 insertions(+) create mode 100644 patch/ros-kilted-autoware-route-handler.osx.patch diff --git a/patch/ros-kilted-autoware-route-handler.osx.patch b/patch/ros-kilted-autoware-route-handler.osx.patch new file mode 100644 index 00000000..2d3fea65 --- /dev/null +++ b/patch/ros-kilted-autoware-route-handler.osx.patch @@ -0,0 +1,22 @@ +diff --git a/src/route_handler.cpp b/src/route_handler.cpp +index 878f1aa..d3604b4 100644 +--- a/src/route_handler.cpp ++++ b/src/route_handler.cpp +@@ -2073,7 +2073,7 @@ bool RouteHandler::planPathLaneletsBetweenCheckpoints( + RCLCPP_WARN( + logger_, + "Failed to find reroute on previous preferred lanelets %s, but on previous route " +- "segment %ld still", ++ "segment %lld still", + preferred_lanelets_str.str().c_str(), closest_lanelet.id()); + return closest_lanelet; + } +@@ -2134,7 +2134,7 @@ bool RouteHandler::planPathLaneletsBetweenCheckpoints( + const double optional_route_length = optional_route->length2d(); + const double optional_route_cost = optional_route_length + angle_diff_weight * angle_diff; + RCLCPP_DEBUG( +- logger_, "Lanelet ID %ld: Route length = %.1f, Angle Diff = %.4f rad, Route cost = %.2f", ++ logger_, "Lanelet ID %lld: Route length = %.1f, Angle Diff = %.4f rad, Route cost = %.2f", + st_llt.id(), optional_route_length, angle_diff, optional_route_cost); + if (optional_route_cost < min_route_cost) { + min_route_cost = optional_route_cost; From 96d6524e10b0979036f5784562a26929683c4900 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 8 Sep 2025 21:18:03 +0900 Subject: [PATCH 10/33] add patch Signed-off-by: wep21 --- patch/ros-kilted-autoware-default-adapi.patch | 45 +++++++++++++++++++ 1 file changed, 45 insertions(+) create mode 100644 patch/ros-kilted-autoware-default-adapi.patch diff --git a/patch/ros-kilted-autoware-default-adapi.patch b/patch/ros-kilted-autoware-default-adapi.patch new file mode 100644 index 00000000..00988857 --- /dev/null +++ b/patch/ros-kilted-autoware-default-adapi.patch @@ -0,0 +1,45 @@ +diff --git a/src/localization.cpp b/src/localization.cpp +index e4eca71..ce8f46a 100644 +--- a/src/localization.cpp ++++ b/src/localization.cpp +@@ -37,7 +37,7 @@ LocalizationNode::LocalizationNode(const rclcpp::NodeOptions & options) + srv_initialize_ = create_service( + autoware::adapi_specs::localization::Initialize::name, + std::bind(&LocalizationNode::on_initialize, this, std::placeholders::_1, std::placeholders::_2), +- rmw_qos_profile_services_default, group_cli_); ++ rclcpp::ServicesQoS(), group_cli_); + + // Component Interface + sub_state_ = create_subscription< +diff --git a/src/routing.cpp b/src/routing.cpp +index 1528db6..15580d0 100644 +--- a/src/routing.cpp ++++ b/src/routing.cpp +@@ -100,15 +100,15 @@ RoutingNode::RoutingNode(const rclcpp::NodeOptions & options) + cli_clear_route_ = + create_client( + autoware::component_interface_specs::planning::ClearRoute::name, +- rmw_qos_profile_services_default, group_cli_); ++ rclcpp::ServicesQoS(), group_cli_); + cli_set_waypoint_route_ = + create_client( + autoware::component_interface_specs::planning::SetWaypointRoute::name, +- rmw_qos_profile_services_default, group_cli_); ++ rclcpp::ServicesQoS(), group_cli_); + cli_set_lanelet_route_ = + create_client( + autoware::component_interface_specs::planning::SetLaneletRoute::name, +- rmw_qos_profile_services_default, group_cli_); ++ rclcpp::ServicesQoS(), group_cli_); + sub_operation_mode_ = + create_subscription( + autoware::component_interface_specs::system::OperationModeState::name, +@@ -119,7 +119,7 @@ RoutingNode::RoutingNode(const rclcpp::NodeOptions & options) + cli_operation_mode_ = + create_client( + autoware::component_interface_specs::system::ChangeOperationMode::name, +- rmw_qos_profile_services_default, group_cli_); ++ rclcpp::ServicesQoS(), group_cli_); + + is_autoware_control_ = false; + is_auto_mode_ = false; From d46e0894d22da8980408028a7cd72c3f91391bca Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 8 Sep 2025 21:45:07 +0900 Subject: [PATCH 11/33] update Signed-off-by: wep21 --- rosdistro_additional_recipes.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/rosdistro_additional_recipes.yaml b/rosdistro_additional_recipes.yaml index 5a1c7a65..0b02ec91 100644 --- a/rosdistro_additional_recipes.yaml +++ b/rosdistro_additional_recipes.yaml @@ -336,3 +336,7 @@ autoware_planning_msgs: tag: release/humble/autoware_planning_msgs/1.9.0-1 url: https://github.com/ros2-gbp/autoware_msgs-release.git version: 1.9.0 +autoware_system_msgs: + tag: release/humble/autoware_system_msgs/1.9.0-1 + url: https://github.com/ros2-gbp/autoware_msgs-release.git + version: 1.9.0 From 36b9d5480af9381f6d23426f158ce822918b7153 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 8 Sep 2025 21:53:21 +0900 Subject: [PATCH 12/33] update Signed-off-by: wep21 --- ...s-kilted-autoware-velocity-smoother.osx.patch | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 patch/ros-kilted-autoware-velocity-smoother.osx.patch diff --git a/patch/ros-kilted-autoware-velocity-smoother.osx.patch b/patch/ros-kilted-autoware-velocity-smoother.osx.patch new file mode 100644 index 00000000..23646abb --- /dev/null +++ b/patch/ros-kilted-autoware-velocity-smoother.osx.patch @@ -0,0 +1,16 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index ebde146..55e4b7a 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -45,6 +45,11 @@ rclcpp_components_register_node(${PROJECT_NAME}_node + EXECUTABLE velocity_smoother_node + ) + ++target_compile_options(velocity_smoother_node ++ PRIVATE ++ -Wno-deprecated-declarations ++) ++ + if(BUILD_TESTING) + ament_add_ros_isolated_gmock(test_smoother_base_functions + test/test_smoother_base_functions.cpp From 3116c07277fbdd9413752bae939339b337d1d817 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 8 Sep 2025 22:38:14 +0900 Subject: [PATCH 13/33] update Signed-off-by: wep21 --- .../ros-kilted-autoware-adapi-adaptors.patch | 26 +++++++++++++++++++ 1 file changed, 26 insertions(+) create mode 100644 patch/ros-kilted-autoware-adapi-adaptors.patch diff --git a/patch/ros-kilted-autoware-adapi-adaptors.patch b/patch/ros-kilted-autoware-adapi-adaptors.patch new file mode 100644 index 00000000..b7b495a3 --- /dev/null +++ b/patch/ros-kilted-autoware-adapi-adaptors.patch @@ -0,0 +1,26 @@ +diff --git a/src/initial_pose_adaptor.cpp b/src/initial_pose_adaptor.cpp +index 3b9aaab..044e314 100644 +--- a/src/initial_pose_adaptor.cpp ++++ b/src/initial_pose_adaptor.cpp +@@ -43,7 +43,7 @@ InitialPoseAdaptor::InitialPoseAdaptor(const rclcpp::NodeOptions & options) + std::bind(&InitialPoseAdaptor::on_initial_pose, this, std::placeholders::_1)); + + cli_initialize_ = +- create_client(Initialize::name, rmw_qos_profile_services_default); ++ create_client(Initialize::name, rclcpp::ServicesQoS()); + } + + void InitialPoseAdaptor::on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg) +diff --git a/src/routing_adaptor.cpp b/src/routing_adaptor.cpp +index 9c89e2b..5820797 100644 +--- a/src/routing_adaptor.cpp ++++ b/src/routing_adaptor.cpp +@@ -34,7 +34,7 @@ RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options) + "~/input/waypoint", 10, std::bind(&RoutingAdaptor::on_waypoint, this, _1)); + + cli_reroute_ = create_client( +- ChangeRoutePoints::name, rmw_qos_profile_services_default); ++ ChangeRoutePoints::name, rclcpp::ServicesQoS()); + cli_route_ = + create_client(SetRoutePoints::name, rmw_qos_profile_services_default); + cli_clear_ = From dc68140a7c4b20f15a605671a08d639511687e3d Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 8 Sep 2025 23:02:41 +0900 Subject: [PATCH 14/33] update Signed-off-by: wep21 --- patch/ros-kilted-autoware-adapi-adaptors.patch | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/patch/ros-kilted-autoware-adapi-adaptors.patch b/patch/ros-kilted-autoware-adapi-adaptors.patch index b7b495a3..cf281ea0 100644 --- a/patch/ros-kilted-autoware-adapi-adaptors.patch +++ b/patch/ros-kilted-autoware-adapi-adaptors.patch @@ -12,15 +12,21 @@ index 3b9aaab..044e314 100644 void InitialPoseAdaptor::on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg) diff --git a/src/routing_adaptor.cpp b/src/routing_adaptor.cpp -index 9c89e2b..5820797 100644 +index 9c89e2b..415f570 100644 --- a/src/routing_adaptor.cpp +++ b/src/routing_adaptor.cpp -@@ -34,7 +34,7 @@ RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options) +@@ -34,11 +34,11 @@ RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options) "~/input/waypoint", 10, std::bind(&RoutingAdaptor::on_waypoint, this, _1)); cli_reroute_ = create_client( - ChangeRoutePoints::name, rmw_qos_profile_services_default); + ChangeRoutePoints::name, rclcpp::ServicesQoS()); cli_route_ = - create_client(SetRoutePoints::name, rmw_qos_profile_services_default); +- create_client(SetRoutePoints::name, rmw_qos_profile_services_default); ++ create_client(SetRoutePoints::name, rclcpp::ServicesQoS()); cli_clear_ = +- create_client(ClearRoute::name, rmw_qos_profile_services_default); ++ create_client(ClearRoute::name, rclcpp::ServicesQoS()); + + const auto state_qos = rclcpp::QoS{RouteState::depth} + .reliability(RouteState::reliability) From 83c334e8ae3a0a4486c4f6659f09afcb2b475899 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 8 Sep 2025 23:32:51 +0900 Subject: [PATCH 15/33] update Signed-off-by: wep21 --- ...s-kilted-autoware-adapi-adaptors.osx.patch | 25 +++++++++++++++++++ patch/ros-kilted-autoware-ground-filter.patch | 15 +++++++++++ 2 files changed, 40 insertions(+) create mode 100644 patch/ros-kilted-autoware-adapi-adaptors.osx.patch create mode 100644 patch/ros-kilted-autoware-ground-filter.patch diff --git a/patch/ros-kilted-autoware-adapi-adaptors.osx.patch b/patch/ros-kilted-autoware-adapi-adaptors.osx.patch new file mode 100644 index 00000000..02e61237 --- /dev/null +++ b/patch/ros-kilted-autoware-adapi-adaptors.osx.patch @@ -0,0 +1,25 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index a9f443e..519ab41 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -15,10 +15,20 @@ rclcpp_components_register_node(${PROJECT_NAME} + EXECUTOR MultiThreadedExecutor + ) + ++target_compile_options(initial_pose_adaptor_node ++ PRIVATE ++ -Wno-deprecated-declarations ++) ++ + rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::adapi_adaptors::RoutingAdaptor" + EXECUTABLE routing_adaptor_node + EXECUTOR SingleThreadedExecutor + ) + ++target_compile_options(routing_adaptor_node ++ PRIVATE ++ -Wno-deprecated-declarations ++) ++ + ament_auto_package(INSTALL_TO_SHARE config launch) diff --git a/patch/ros-kilted-autoware-ground-filter.patch b/patch/ros-kilted-autoware-ground-filter.patch new file mode 100644 index 00000000..ca2a5965 --- /dev/null +++ b/patch/ros-kilted-autoware-ground-filter.patch @@ -0,0 +1,15 @@ +diff --git a/include/autoware/ground_filter/grid.hpp b/include/autoware/ground_filter/grid.hpp +index b69426c..42e7870 100644 +--- a/include/autoware/ground_filter/grid.hpp ++++ b/include/autoware/ground_filter/grid.hpp +@@ -25,6 +25,10 @@ + #include + #include + ++#ifndef M_PIf ++#define M_PIf 3.14159265358979324f ++#endif ++ + namespace + { + From 711d6f7e5a8baf8f37247665fc2c7b919c24f311 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 13:08:40 +0900 Subject: [PATCH 16/33] update Signed-off-by: wep21 --- patch/ros-kilted-autoware-ground-filter.patch | 22 +++++++++++++++++-- ...s-kilted-autoware-lanelet2-extension.patch | 13 ----------- pkg_additional_info.yaml | 8 +++++++ rosdistro_additional_recipes.yaml | 8 +++++++ 4 files changed, 36 insertions(+), 15 deletions(-) diff --git a/patch/ros-kilted-autoware-ground-filter.patch b/patch/ros-kilted-autoware-ground-filter.patch index ca2a5965..1f061be5 100644 --- a/patch/ros-kilted-autoware-ground-filter.patch +++ b/patch/ros-kilted-autoware-ground-filter.patch @@ -1,15 +1,33 @@ diff --git a/include/autoware/ground_filter/grid.hpp b/include/autoware/ground_filter/grid.hpp -index b69426c..42e7870 100644 +index b69426c..c57fe92 100644 --- a/include/autoware/ground_filter/grid.hpp +++ b/include/autoware/ground_filter/grid.hpp -@@ -25,6 +25,10 @@ +@@ -25,6 +25,12 @@ #include #include +#ifndef M_PIf +#define M_PIf 3.14159265358979324f ++#define M_PI_2f 2 * M_PIf ++#define M_PI_4f 4 * M_PIf +#endif + namespace { +diff --git a/src/node.cpp b/src/node.cpp +index 1fd0f90..9305f75 100644 +--- a/src/node.cpp ++++ b/src/node.cpp +@@ -204,9 +204,9 @@ void GroundFilterComponent::subscribe() + if (use_indices_) { + // Subscribe to the input using a filter + sub_input_filter_.subscribe( +- this, "input", rclcpp::SensorDataQoS().keep_last(max_queue_size_).get_rmw_qos_profile()); ++ this, "input", rclcpp::SensorDataQoS().keep_last(max_queue_size_)); + sub_indices_filter_.subscribe( +- this, "indices", rclcpp::SensorDataQoS().keep_last(max_queue_size_).get_rmw_qos_profile()); ++ this, "indices", rclcpp::SensorDataQoS().keep_last(max_queue_size_)); + + if (approximate_sync_) { + sync_input_indices_a_ = std::make_shared< diff --git a/patch/ros-kilted-autoware-lanelet2-extension.patch b/patch/ros-kilted-autoware-lanelet2-extension.patch index 0a7f84b7..18e93185 100644 --- a/patch/ros-kilted-autoware-lanelet2-extension.patch +++ b/patch/ros-kilted-autoware-lanelet2-extension.patch @@ -17,16 +17,3 @@ index a3ec429..6a64b82 100644 ament_auto_add_executable(${PROJECT_NAME}_sample src/sample_code.cpp) target_link_libraries(${PROJECT_NAME}_sample ${PROJECT_NAME}_lib -diff --git a/lib/query.cpp b/lib/query.cpp -index 4c61bba..11a9cca 100644 ---- a/lib/query.cpp -+++ b/lib/query.cpp -@@ -32,7 +32,7 @@ - #include - #include - #include --#include -+#include - - #include - #include diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index 56c3c626..d7d19655 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -148,3 +148,11 @@ proxsuite: override_version: '0.7.2' autoware_internal_planning_msgs: build_number: 13 +autoware_planning_msgs: + build_number: 13 +autoware_system_msgs: + build_number: 13 +autoware_lanelet2_extension: + build_number: 13 +autoware_lanelet2_extension_python: + build_number: 13 diff --git a/rosdistro_additional_recipes.yaml b/rosdistro_additional_recipes.yaml index 0b02ec91..50ac534a 100644 --- a/rosdistro_additional_recipes.yaml +++ b/rosdistro_additional_recipes.yaml @@ -340,3 +340,11 @@ autoware_system_msgs: tag: release/humble/autoware_system_msgs/1.9.0-1 url: https://github.com/ros2-gbp/autoware_msgs-release.git version: 1.9.0 +autoware_lanelet2_extension: + tag: release/humble/autoware_lanelet2_extension/0.8.0-1 + url: https://github.com/ros2-gbp/autoware_lanelet2_extension-release.git + version: 0.8.0 +autoware_lanelet2_extension_python: + tag: release/humble/autoware_lanelet2_extension_python/0.8.0-1 + url: https://github.com/ros2-gbp/autoware_lanelet2_extension-release.git + version: 0.8.0 From b7472a1a373da26b2747094a0c18fe68effe64f8 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 13:39:47 +0900 Subject: [PATCH 17/33] add patch Signed-off-by: wep21 --- ...ed-autoware-motion-velocity-planner.osx.patch | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 patch/ros-kilted-autoware-motion-velocity-planner.osx.patch diff --git a/patch/ros-kilted-autoware-motion-velocity-planner.osx.patch b/patch/ros-kilted-autoware-motion-velocity-planner.osx.patch new file mode 100644 index 00000000..c57faece --- /dev/null +++ b/patch/ros-kilted-autoware-motion-velocity-planner.osx.patch @@ -0,0 +1,16 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 00233ed..2d75cc6 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -15,6 +15,11 @@ rclcpp_components_register_node(${PROJECT_NAME}_lib + EXECUTABLE ${PROJECT_NAME}_node + ) + ++target_compile_options(${PROJECT_NAME}_node ++ PRIVATE ++ -Wno-deprecated-declarations ++) ++ + ament_auto_package(INSTALL_TO_SHARE + launch + config From 58c187d741d633f7c54e3579601de44d98cb8969 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 14:01:30 +0900 Subject: [PATCH 18/33] add patch Signed-off-by: wep21 --- ...-kilted-autoware-mission-planner.osx.patch | 28 +++++++++++++++++++ 1 file changed, 28 insertions(+) create mode 100644 patch/ros-kilted-autoware-mission-planner.osx.patch diff --git a/patch/ros-kilted-autoware-mission-planner.osx.patch b/patch/ros-kilted-autoware-mission-planner.osx.patch new file mode 100644 index 00000000..fcb760b4 --- /dev/null +++ b/patch/ros-kilted-autoware-mission-planner.osx.patch @@ -0,0 +1,28 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 007b246..3145354 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -13,6 +13,11 @@ rclcpp_components_register_node(goal_pose_visualizer_component + EXECUTABLE goal_pose_visualizer + ) + ++target_compile_options(goal_pose_visualizer ++ PRIVATE ++ -Wno-deprecated-declarations ++) ++ + ament_auto_add_library(${PROJECT_NAME}_component SHARED + src/mission_planner/arrival_checker.cpp + src/mission_planner/service_utils.cpp +@@ -24,6 +29,11 @@ rclcpp_components_register_node(${PROJECT_NAME}_component + EXECUTABLE mission_planner + ) + ++target_compile_options(mission_planner ++ PRIVATE ++ -Wno-deprecated-declarations ++) ++ + ament_auto_add_library(${PROJECT_NAME}_lanelet2_plugins SHARED + src/lanelet2_plugins/default_planner.cpp + src/lanelet2_plugins/utility_functions.cpp From 606591816223962aa412b5f2ad4e5fda2f693939 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 15:10:02 +0900 Subject: [PATCH 19/33] add patch Signed-off-by: wep21 --- ...-autoware-behavior-velocity-planner.osx.patch | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 patch/ros-kilted-autoware-behavior-velocity-planner.osx.patch diff --git a/patch/ros-kilted-autoware-behavior-velocity-planner.osx.patch b/patch/ros-kilted-autoware-behavior-velocity-planner.osx.patch new file mode 100644 index 00000000..36268bb7 --- /dev/null +++ b/patch/ros-kilted-autoware-behavior-velocity-planner.osx.patch @@ -0,0 +1,16 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index a520b02..775eed9 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -16,6 +16,11 @@ rclcpp_components_register_node(${PROJECT_NAME}_lib + EXECUTABLE ${PROJECT_NAME}_node + ) + ++target_compile_options(${PROJECT_NAME}_node ++ PRIVATE ++ -Wno-deprecated-declarations ++) ++ + if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_node_interface.cpp From 03e5aca1d5b80c96ba46f46daa5e7f215e447c82 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 15:39:37 +0900 Subject: [PATCH 20/33] add patch Signed-off-by: wep21 --- .../ros-kilted-autoware-map-loader.osx.patch | 41 +++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100644 patch/ros-kilted-autoware-map-loader.osx.patch diff --git a/patch/ros-kilted-autoware-map-loader.osx.patch b/patch/ros-kilted-autoware-map-loader.osx.patch new file mode 100644 index 00000000..968397d9 --- /dev/null +++ b/patch/ros-kilted-autoware-map-loader.osx.patch @@ -0,0 +1,41 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 9f8f868..4ada06a 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -27,6 +27,11 @@ rclcpp_components_register_node(pointcloud_map_loader_node + EXECUTABLE autoware_pointcloud_map_loader + ) + ++target_compile_options(pointcloud_map_loader_node ++ PRIVATE ++ -Wno-deprecated-declarations ++) ++ + ament_auto_add_library(lanelet2_map_loader_node SHARED + src/lanelet2_map_loader/lanelet2_map_loader_node.cpp + ) +@@ -36,6 +41,11 @@ rclcpp_components_register_node(lanelet2_map_loader_node + EXECUTABLE autoware_lanelet2_map_loader + ) + ++target_compile_options(lanelet2_map_loader_node ++ PRIVATE ++ -Wno-deprecated-declarations ++) ++ + if(BUILD_TESTING) + add_launch_test( + test/lanelet2_map_loader_launch.test.py +diff --git a/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +index 54e9432..62ae5f6 100644 +--- a/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp ++++ b/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +@@ -104,7 +104,7 @@ void Lanelet2MapLoaderNode::on_map_projector_info( + if (map_major_ver > static_cast(lanelet::autoware::version)) { + RCLCPP_WARN( + get_logger(), +- "format_version(%ld) of the provided map(%s) is larger than the supported version(%ld)", ++ "format_version(%llu) of the provided map(%s) is larger than the supported version(%llu)", + map_major_ver, lanelet2_filename.c_str(), + static_cast(lanelet::autoware::version)); + if (!allow_unsupported_version) { From 923c0c24b22b9b01c67cf797bfe0c121b9c199eb Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 17:33:30 +0900 Subject: [PATCH 21/33] update patch Signed-off-by: wep21 --- patch/ros-kilted-autoware-map-loader.osx.patch | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/patch/ros-kilted-autoware-map-loader.osx.patch b/patch/ros-kilted-autoware-map-loader.osx.patch index 968397d9..b6946ffd 100644 --- a/patch/ros-kilted-autoware-map-loader.osx.patch +++ b/patch/ros-kilted-autoware-map-loader.osx.patch @@ -1,12 +1,12 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 9f8f868..4ada06a 100644 +index 9f8f868..6f502a4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -27,6 +27,11 @@ rclcpp_components_register_node(pointcloud_map_loader_node EXECUTABLE autoware_pointcloud_map_loader ) -+target_compile_options(pointcloud_map_loader_node ++target_compile_options(autoware_pointcloud_map_loader + PRIVATE + -Wno-deprecated-declarations +) @@ -18,7 +18,7 @@ index 9f8f868..4ada06a 100644 EXECUTABLE autoware_lanelet2_map_loader ) -+target_compile_options(lanelet2_map_loader_node ++target_compile_options(autoware_lanelet2_map_loader + PRIVATE + -Wno-deprecated-declarations +) From d28a94f0a99709c336eb125b45fbd74237967a70 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 17:56:21 +0900 Subject: [PATCH 22/33] update patch Signed-off-by: wep21 --- patch/ros-kilted-autoware-map-loader.osx.patch | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/patch/ros-kilted-autoware-map-loader.osx.patch b/patch/ros-kilted-autoware-map-loader.osx.patch index b6946ffd..62530adf 100644 --- a/patch/ros-kilted-autoware-map-loader.osx.patch +++ b/patch/ros-kilted-autoware-map-loader.osx.patch @@ -1,7 +1,16 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 9f8f868..6f502a4 100644 +index 9f8f868..b030133 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt +@@ -15,7 +15,7 @@ ament_auto_add_library(pointcloud_map_loader_node SHARED + src/pointcloud_map_loader/utils.cpp + ) + target_link_libraries(pointcloud_map_loader_node ${PCL_LIBRARIES}) +-target_link_libraries(pointcloud_map_loader_node yaml-cpp) ++target_link_libraries(pointcloud_map_loader_node yaml-cpp::yaml-cpp) + + target_include_directories(pointcloud_map_loader_node + SYSTEM PUBLIC @@ -27,6 +27,11 @@ rclcpp_components_register_node(pointcloud_map_loader_node EXECUTABLE autoware_pointcloud_map_loader ) From 3aecbf2cbcc2316c103599088b6e5765ed88b407 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 18:25:20 +0900 Subject: [PATCH 23/33] update patch Signed-off-by: wep21 --- patch/ros-kilted-autoware-map-loader.osx.patch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/patch/ros-kilted-autoware-map-loader.osx.patch b/patch/ros-kilted-autoware-map-loader.osx.patch index 62530adf..7e999d0c 100644 --- a/patch/ros-kilted-autoware-map-loader.osx.patch +++ b/patch/ros-kilted-autoware-map-loader.osx.patch @@ -1,5 +1,5 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 9f8f868..b030133 100644 +index 9f8f868..bfa9cde 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -15,7 +15,7 @@ ament_auto_add_library(pointcloud_map_loader_node SHARED @@ -7,7 +7,7 @@ index 9f8f868..b030133 100644 ) target_link_libraries(pointcloud_map_loader_node ${PCL_LIBRARIES}) -target_link_libraries(pointcloud_map_loader_node yaml-cpp) -+target_link_libraries(pointcloud_map_loader_node yaml-cpp::yaml-cpp) ++target_link_libraries(pointcloud_map_loader_node yaml-cpp::yaml-cpp fmt::fmt) target_include_directories(pointcloud_map_loader_node SYSTEM PUBLIC From 5a0b1b9bdbbb18bef9286b4440c243b1280b7a61 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 18:54:01 +0900 Subject: [PATCH 24/33] update patch Signed-off-by: wep21 --- ...s-kilted-autoware-path-generator.osx.patch | 38 +++++++++++++++++++ 1 file changed, 38 insertions(+) create mode 100644 patch/ros-kilted-autoware-path-generator.osx.patch diff --git a/patch/ros-kilted-autoware-path-generator.osx.patch b/patch/ros-kilted-autoware-path-generator.osx.patch new file mode 100644 index 00000000..eb6860d8 --- /dev/null +++ b/patch/ros-kilted-autoware-path-generator.osx.patch @@ -0,0 +1,38 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index a845e1a..083458a 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -25,6 +25,11 @@ rclcpp_components_register_node(${PROJECT_NAME} + EXECUTABLE path_generator_node + ) + ++target_compile_options(path_generator_node ++ PRIVATE ++ -Wno-deprecated-declarations ++) ++ + if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_dense_centerline.cpp +diff --git a/src/node.cpp b/src/node.cpp +index 3530c79..9527336 100644 +--- a/src/node.cpp ++++ b/src/node.cpp +@@ -256,7 +256,7 @@ std::optional PathGenerator::generate_path( + utils::get_lanelets_within_route_up_to(*current_lanelet_, planner_data_, backward_length); + if (!backward_lanelets_within_route) { + RCLCPP_ERROR( +- get_logger(), "Failed to get backward lanelets within route for current lanelet (id: %ld)", ++ get_logger(), "Failed to get backward lanelets within route for current lanelet (id: %lld)", + current_lanelet_->id()); + return std::nullopt; + } +@@ -284,7 +284,7 @@ std::optional PathGenerator::generate_path( + utils::get_lanelets_within_route_after(*current_lanelet_, planner_data_, forward_length); + if (!forward_lanelets_within_route) { + RCLCPP_ERROR( +- get_logger(), "Failed to get forward lanelets within route for current lanelet (id: %ld)", ++ get_logger(), "Failed to get forward lanelets within route for current lanelet (id: %lld)", + current_lanelet_->id()); + return std::nullopt; + } From bafa33455a327aee0b9d410b9fd0d48a39422792 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 19:22:33 +0900 Subject: [PATCH 25/33] add patch Signed-off-by: wep21 --- ...ed-autoware-lanelet2-map-visualizer.osx.patch | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 patch/ros-kilted-autoware-lanelet2-map-visualizer.osx.patch diff --git a/patch/ros-kilted-autoware-lanelet2-map-visualizer.osx.patch b/patch/ros-kilted-autoware-lanelet2-map-visualizer.osx.patch new file mode 100644 index 00000000..1c06d6fe --- /dev/null +++ b/patch/ros-kilted-autoware-lanelet2-map-visualizer.osx.patch @@ -0,0 +1,16 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index adc9417..7fdbcee 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -13,6 +13,11 @@ rclcpp_components_register_node(lanelet2_map_visualization_node + EXECUTABLE ${PROJECT_NAME} + ) + ++target_compile_options(${PROJECT_NAME} ++ PRIVATE ++ -Wno-deprecated-declarations ++) ++ + if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() From 94bcbeb01e823c40ad41a1dbe8989b311e40632b Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 20:25:57 +0900 Subject: [PATCH 26/33] update Signed-off-by: wep21 --- .github/workflows/testpr.yml | 5 ++++ ...s-kilted-autoware-adapi-adaptors.osx.patch | 25 ----------------- ...toware-behavior-velocity-planner.osx.patch | 16 ----------- ...autoware-lanelet2-map-visualizer.osx.patch | 16 ----------- .../ros-kilted-autoware-map-loader.osx.patch | 24 ---------------- ...-kilted-autoware-mission-planner.osx.patch | 28 ------------------- ...autoware-motion-velocity-planner.osx.patch | 16 ----------- ...s-kilted-autoware-path-generator.osx.patch | 16 ----------- ...kilted-autoware-pose-initializer.osx.patch | 16 ----------- ...ilted-autoware-velocity-smoother.osx.patch | 16 ----------- patch/ros-kilted-rosidl-runtime-cpp.osx.patch | 25 +++++++++++++++++ pkg_additional_info.yaml | 2 ++ 12 files changed, 32 insertions(+), 173 deletions(-) delete mode 100644 patch/ros-kilted-autoware-adapi-adaptors.osx.patch delete mode 100644 patch/ros-kilted-autoware-behavior-velocity-planner.osx.patch delete mode 100644 patch/ros-kilted-autoware-lanelet2-map-visualizer.osx.patch delete mode 100644 patch/ros-kilted-autoware-mission-planner.osx.patch delete mode 100644 patch/ros-kilted-autoware-motion-velocity-planner.osx.patch delete mode 100644 patch/ros-kilted-autoware-pose-initializer.osx.patch delete mode 100644 patch/ros-kilted-autoware-velocity-smoother.osx.patch create mode 100644 patch/ros-kilted-rosidl-runtime-cpp.osx.patch diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 89dc7475..d9e5e78f 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -104,6 +104,11 @@ jobs: run: | rm -rf ${{ matrix.folder_cache }}/* + - name: cache remove + shell: bash -l {0} + run: | + rm -rf ${{ matrix.folder_cache }}/ros-kilted-autoware-* + - name: See packages restored by cache shell: bash -l {0} run: | diff --git a/patch/ros-kilted-autoware-adapi-adaptors.osx.patch b/patch/ros-kilted-autoware-adapi-adaptors.osx.patch deleted file mode 100644 index 02e61237..00000000 --- a/patch/ros-kilted-autoware-adapi-adaptors.osx.patch +++ /dev/null @@ -1,25 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index a9f443e..519ab41 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -15,10 +15,20 @@ rclcpp_components_register_node(${PROJECT_NAME} - EXECUTOR MultiThreadedExecutor - ) - -+target_compile_options(initial_pose_adaptor_node -+ PRIVATE -+ -Wno-deprecated-declarations -+) -+ - rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "autoware::adapi_adaptors::RoutingAdaptor" - EXECUTABLE routing_adaptor_node - EXECUTOR SingleThreadedExecutor - ) - -+target_compile_options(routing_adaptor_node -+ PRIVATE -+ -Wno-deprecated-declarations -+) -+ - ament_auto_package(INSTALL_TO_SHARE config launch) diff --git a/patch/ros-kilted-autoware-behavior-velocity-planner.osx.patch b/patch/ros-kilted-autoware-behavior-velocity-planner.osx.patch deleted file mode 100644 index 36268bb7..00000000 --- a/patch/ros-kilted-autoware-behavior-velocity-planner.osx.patch +++ /dev/null @@ -1,16 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index a520b02..775eed9 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -16,6 +16,11 @@ rclcpp_components_register_node(${PROJECT_NAME}_lib - EXECUTABLE ${PROJECT_NAME}_node - ) - -+target_compile_options(${PROJECT_NAME}_node -+ PRIVATE -+ -Wno-deprecated-declarations -+) -+ - if(BUILD_TESTING) - ament_add_ros_isolated_gtest(test_${PROJECT_NAME} - test/test_node_interface.cpp diff --git a/patch/ros-kilted-autoware-lanelet2-map-visualizer.osx.patch b/patch/ros-kilted-autoware-lanelet2-map-visualizer.osx.patch deleted file mode 100644 index 1c06d6fe..00000000 --- a/patch/ros-kilted-autoware-lanelet2-map-visualizer.osx.patch +++ /dev/null @@ -1,16 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index adc9417..7fdbcee 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -13,6 +13,11 @@ rclcpp_components_register_node(lanelet2_map_visualization_node - EXECUTABLE ${PROJECT_NAME} - ) - -+target_compile_options(${PROJECT_NAME} -+ PRIVATE -+ -Wno-deprecated-declarations -+) -+ - if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() diff --git a/patch/ros-kilted-autoware-map-loader.osx.patch b/patch/ros-kilted-autoware-map-loader.osx.patch index 7e999d0c..e9cd3565 100644 --- a/patch/ros-kilted-autoware-map-loader.osx.patch +++ b/patch/ros-kilted-autoware-map-loader.osx.patch @@ -11,30 +11,6 @@ index 9f8f868..bfa9cde 100644 target_include_directories(pointcloud_map_loader_node SYSTEM PUBLIC -@@ -27,6 +27,11 @@ rclcpp_components_register_node(pointcloud_map_loader_node - EXECUTABLE autoware_pointcloud_map_loader - ) - -+target_compile_options(autoware_pointcloud_map_loader -+ PRIVATE -+ -Wno-deprecated-declarations -+) -+ - ament_auto_add_library(lanelet2_map_loader_node SHARED - src/lanelet2_map_loader/lanelet2_map_loader_node.cpp - ) -@@ -36,6 +41,11 @@ rclcpp_components_register_node(lanelet2_map_loader_node - EXECUTABLE autoware_lanelet2_map_loader - ) - -+target_compile_options(autoware_lanelet2_map_loader -+ PRIVATE -+ -Wno-deprecated-declarations -+) -+ - if(BUILD_TESTING) - add_launch_test( - test/lanelet2_map_loader_launch.test.py diff --git a/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index 54e9432..62ae5f6 100644 --- a/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp diff --git a/patch/ros-kilted-autoware-mission-planner.osx.patch b/patch/ros-kilted-autoware-mission-planner.osx.patch deleted file mode 100644 index fcb760b4..00000000 --- a/patch/ros-kilted-autoware-mission-planner.osx.patch +++ /dev/null @@ -1,28 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 007b246..3145354 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -13,6 +13,11 @@ rclcpp_components_register_node(goal_pose_visualizer_component - EXECUTABLE goal_pose_visualizer - ) - -+target_compile_options(goal_pose_visualizer -+ PRIVATE -+ -Wno-deprecated-declarations -+) -+ - ament_auto_add_library(${PROJECT_NAME}_component SHARED - src/mission_planner/arrival_checker.cpp - src/mission_planner/service_utils.cpp -@@ -24,6 +29,11 @@ rclcpp_components_register_node(${PROJECT_NAME}_component - EXECUTABLE mission_planner - ) - -+target_compile_options(mission_planner -+ PRIVATE -+ -Wno-deprecated-declarations -+) -+ - ament_auto_add_library(${PROJECT_NAME}_lanelet2_plugins SHARED - src/lanelet2_plugins/default_planner.cpp - src/lanelet2_plugins/utility_functions.cpp diff --git a/patch/ros-kilted-autoware-motion-velocity-planner.osx.patch b/patch/ros-kilted-autoware-motion-velocity-planner.osx.patch deleted file mode 100644 index c57faece..00000000 --- a/patch/ros-kilted-autoware-motion-velocity-planner.osx.patch +++ /dev/null @@ -1,16 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 00233ed..2d75cc6 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -15,6 +15,11 @@ rclcpp_components_register_node(${PROJECT_NAME}_lib - EXECUTABLE ${PROJECT_NAME}_node - ) - -+target_compile_options(${PROJECT_NAME}_node -+ PRIVATE -+ -Wno-deprecated-declarations -+) -+ - ament_auto_package(INSTALL_TO_SHARE - launch - config diff --git a/patch/ros-kilted-autoware-path-generator.osx.patch b/patch/ros-kilted-autoware-path-generator.osx.patch index eb6860d8..91aee13e 100644 --- a/patch/ros-kilted-autoware-path-generator.osx.patch +++ b/patch/ros-kilted-autoware-path-generator.osx.patch @@ -1,19 +1,3 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index a845e1a..083458a 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -25,6 +25,11 @@ rclcpp_components_register_node(${PROJECT_NAME} - EXECUTABLE path_generator_node - ) - -+target_compile_options(path_generator_node -+ PRIVATE -+ -Wno-deprecated-declarations -+) -+ - if(BUILD_TESTING) - ament_add_ros_isolated_gtest(test_${PROJECT_NAME} - test/test_dense_centerline.cpp diff --git a/src/node.cpp b/src/node.cpp index 3530c79..9527336 100644 --- a/src/node.cpp diff --git a/patch/ros-kilted-autoware-pose-initializer.osx.patch b/patch/ros-kilted-autoware-pose-initializer.osx.patch deleted file mode 100644 index 7de1cf20..00000000 --- a/patch/ros-kilted-autoware-pose-initializer.osx.patch +++ /dev/null @@ -1,16 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 521b07f..0624f3d 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -20,6 +20,11 @@ rclcpp_components_register_node(${PROJECT_NAME} - EXECUTOR MultiThreadedExecutor - ) - -+target_compile_options(${PROJECT_NAME}_node -+ PRIVATE -+ -Wno-deprecated-declarations -+) -+ - if(BUILD_TESTING) - function(add_testcase filepath) - get_filename_component(filename ${filepath} NAME) diff --git a/patch/ros-kilted-autoware-velocity-smoother.osx.patch b/patch/ros-kilted-autoware-velocity-smoother.osx.patch deleted file mode 100644 index 23646abb..00000000 --- a/patch/ros-kilted-autoware-velocity-smoother.osx.patch +++ /dev/null @@ -1,16 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index ebde146..55e4b7a 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -45,6 +45,11 @@ rclcpp_components_register_node(${PROJECT_NAME}_node - EXECUTABLE velocity_smoother_node - ) - -+target_compile_options(velocity_smoother_node -+ PRIVATE -+ -Wno-deprecated-declarations -+) -+ - if(BUILD_TESTING) - ament_add_ros_isolated_gmock(test_smoother_base_functions - test/test_smoother_base_functions.cpp diff --git a/patch/ros-kilted-rosidl-runtime-cpp.osx.patch b/patch/ros-kilted-rosidl-runtime-cpp.osx.patch new file mode 100644 index 00000000..abfe18aa --- /dev/null +++ b/patch/ros-kilted-rosidl-runtime-cpp.osx.patch @@ -0,0 +1,25 @@ +diff --git a/include/rosidl_runtime_cpp/traits.hpp b/include/rosidl_runtime_cpp/traits.hpp +index 2d285b7b2..1f6ba834d 100644 +--- a/include/rosidl_runtime_cpp/traits.hpp ++++ b/include/rosidl_runtime_cpp/traits.hpp +@@ -128,14 +128,20 @@ inline void value_to_yaml(const std::string & value, std::ostream & out) + inline void value_to_yaml(const std::u16string & value, std::ostream & out) + { + out << "\""; ++#if __cplusplus < 201703L + std::wstring_convert, char16_t> convert; ++#endif + auto flags = out.flags(); + size_t index = 0; + while (index < value.size()) { + uint_least16_t character = static_cast(value[index]); + if (!(character & 0xff80)) { // ASCII ++#if __cplusplus < 201703L + std::string character_as_string = convert.to_bytes(character); + out << std::hex << character_as_string.c_str(); ++#else ++ out << static_cast(character); ++#endif + } else if (!(character & 0xff00)) { // only 1 byte set + out << "\\x" << std::hex << std::setw(2) << std::setfill('0') << \ + character; diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index d7d19655..a807fb24 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -156,3 +156,5 @@ autoware_lanelet2_extension: build_number: 13 autoware_lanelet2_extension_python: build_number: 13 +rosidl_runtime_cpp: + build_number: 13 From adbd4d79b12f5b86a1d9569228610d28d00ea3b3 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 20:55:03 +0900 Subject: [PATCH 27/33] update Signed-off-by: wep21 --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index d9e5e78f..33e6d3bd 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -107,7 +107,7 @@ jobs: - name: cache remove shell: bash -l {0} run: | - rm -rf ${{ matrix.folder_cache }}/ros-kilted-autoware-* + rm -rf ${{ matrix.folder_cache }}/ros-kilted-rosidl-runtime-cpp* - name: See packages restored by cache shell: bash -l {0} From d0da4a890179e1a87cae746775c1b38c0a762159 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 21:24:06 +0900 Subject: [PATCH 28/33] update Signed-off-by: wep21 --- .github/workflows/testpr.yml | 5 ----- pkg_additional_info.yaml | 2 ++ 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 33e6d3bd..89dc7475 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -104,11 +104,6 @@ jobs: run: | rm -rf ${{ matrix.folder_cache }}/* - - name: cache remove - shell: bash -l {0} - run: | - rm -rf ${{ matrix.folder_cache }}/ros-kilted-rosidl-runtime-cpp* - - name: See packages restored by cache shell: bash -l {0} run: | diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index a807fb24..22d020e2 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -158,3 +158,5 @@ autoware_lanelet2_extension_python: build_number: 13 rosidl_runtime_cpp: build_number: 13 +rclcpp_components: + build_number: 13 From 18742e245844d6aca2542b93ba83883d342e36c9 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 21:49:18 +0900 Subject: [PATCH 29/33] ignore cache Signed-off-by: wep21 --- .github/workflows/testpr.yml | 2 +- pkg_additional_info.yaml | 2 -- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 89dc7475..39d8dbec 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -7,7 +7,7 @@ env: # Change to 'true' to enable the cache upload as artifacts SAVE_CACHE_AS_ARTIFACT: 'false' # Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging - IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true' jobs: build: diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index 22d020e2..a807fb24 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -158,5 +158,3 @@ autoware_lanelet2_extension_python: build_number: 13 rosidl_runtime_cpp: build_number: 13 -rclcpp_components: - build_number: 13 From 63e2ef234506088dc636559f17ef001b1be49c50 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 23:14:03 +0900 Subject: [PATCH 30/33] update Signed-off-by: wep21 --- vinca.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vinca.yaml b/vinca.yaml index 0bb9819c..4c200050 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -5,7 +5,7 @@ conda_index: - robostack.yaml - packages-ignore.yaml -# Reminder for next full rebuild, the next build number should be 13 +# Reminder for next full rebuild, the next build number should be 14 build_number: 12 mutex_package: From 80ce93771969132efa6bcb11e97e9d63803d4627 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 23:16:46 +0900 Subject: [PATCH 31/33] update Signed-off-by: wep21 --- .github/workflows/testpr.yml | 2 +- pkg_additional_info.yaml | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 39d8dbec..89dc7475 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -7,7 +7,7 @@ env: # Change to 'true' to enable the cache upload as artifacts SAVE_CACHE_AS_ARTIFACT: 'false' # Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging - IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false' jobs: build: diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index a807fb24..b13b76bc 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -156,5 +156,7 @@ autoware_lanelet2_extension: build_number: 13 autoware_lanelet2_extension_python: build_number: 13 +rosidl_runtime_c: + build_number: 13 rosidl_runtime_cpp: build_number: 13 From 1471c85639da8ec6909662450e21485911ce2835 Mon Sep 17 00:00:00 2001 From: wep21 Date: Mon, 15 Sep 2025 23:40:42 +0900 Subject: [PATCH 32/33] update Signed-off-by: wep21 --- pkg_additional_info.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index b13b76bc..fdb55a64 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -156,7 +156,7 @@ autoware_lanelet2_extension: build_number: 13 autoware_lanelet2_extension_python: build_number: 13 -rosidl_runtime_c: +rclcpp: build_number: 13 rosidl_runtime_cpp: build_number: 13 From ef076011a4ca4dea73a35767e32e45cc4f491b45 Mon Sep 17 00:00:00 2001 From: wep21 Date: Tue, 16 Sep 2025 01:05:01 +0900 Subject: [PATCH 33/33] update Signed-off-by: wep21 --- patch/ros-kilted-autoware-default-adapi.patch | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/patch/ros-kilted-autoware-default-adapi.patch b/patch/ros-kilted-autoware-default-adapi.patch index 00988857..b3405b41 100644 --- a/patch/ros-kilted-autoware-default-adapi.patch +++ b/patch/ros-kilted-autoware-default-adapi.patch @@ -1,3 +1,16 @@ +diff --git a/src/interface.cpp b/src/interface.cpp +index 16e2031..26108bc 100644 +--- a/src/interface.cpp ++++ b/src/interface.cpp +@@ -21,7 +21,7 @@ InterfaceNode::InterfaceNode(const rclcpp::NodeOptions & options) + : Node("interface", options), + srv_(create_service( + Version::name, +- [this]( ++ []( + const Version::Service::Request::SharedPtr, const Version::Service::Response::SharedPtr res) { + res->major = 1; + res->minor = 9; diff --git a/src/localization.cpp b/src/localization.cpp index e4eca71..ce8f46a 100644 --- a/src/localization.cpp