Build mavros from source, with patch to fix yaml-cpp linkage

Author: amarburg

.docker/Dockerfile

@@ -119,6 +119,9 @@ RUN git clone --depth 1 --recursive -b ${MAVLINK_RELEASE} https://github.com/mav
 # Comment those lines out in mavlink.
 # n.b. This may not be the best way to do this.  A sed one-liner?
 RUN patch -d mavlink -p 1 < $USER_WORKSPACE/src/blue/.docker/patches/mavlink_standard_library.patch
+# Fix linkage for yaml-cpp in mavros_extra_plugins
+RUN patch -d mavros -p 1 < $USER_WORKSPACE/src/blue/.docker/patches/mavros_extra_yaml_linkage.patch
+
 
 WORKDIR $USER_WORKSPACE
 RUN sudo apt-get -q update \

.docker/patches/mavros_extra_yaml_linkage.patch

@@ -0,0 +1,29 @@
+diff --git a/mavros_extras/CMakeLists.txt b/mavros_extras/CMakeLists.txt
+index dc0fd0cb..8e52b6f2 100644
+--- a/mavros_extras/CMakeLists.txt
++++ b/mavros_extras/CMakeLists.txt
+@@ -32,7 +32,7 @@ find_package(libmavconn REQUIRED)
+
+ find_package(eigen3_cmake_module REQUIRED)
+ find_package(Eigen3 REQUIRED)
+-# find_package(yaml_cpp REQUIRED)
++find_package(yaml-cpp REQUIRED)
+ find_package(yaml_cpp_vendor REQUIRED)
+
+ ## Find GeographicLib
+@@ -132,6 +132,7 @@ add_library(mavros_extras_plugins SHARED
+   src/plugins/wheel_odometry.cpp
+   # [[[end]]] (checksum: 1f8cd51fa90b89b27ee35d276b5f8c83)
+ )
++target_link_libraries(mavros_extras_plugins yaml-cpp::yaml-cpp)
+ ament_target_dependencies(mavros_extras_plugins
+   angles
+   geometry_msgs
+@@ -164,6 +165,7 @@ add_library(mavros_extras SHARED
+   src/lib/servo_state_publisher.cpp
+   # [[[end]]] (checksum: a3ce43c71c567f697861bcbcd0f25aa3)
+ )
++target_link_libraries(mavros_extras yaml-cpp::yaml-cpp)
+ ament_target_dependencies(mavros_extras
+   rclcpp
+   rclcpp_components