humble: refresh foxglove_bridge (3.5.0, SDK 0.27.0), motion_capture_tracking and sick_safetyscanners_base Windows patches

- foxglove_bridge 3.5.0 uses the SDK's CMake package like jazzy's 3.6.0: take
  jazzy's patch (macOS/Windows SDK downloads, <map>, no /WX), with the SDK 0.27.0
  hashes (checked against upstream's linux-aarch64 one)
- motion_capture_tracking 1.0.9 / sick_safetyscanners_base 1.0.4: same Windows
  changes, new context

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

Author: Tobias-Fischer

distros/humble/patch/ros2-foxglove-bridge.patch

@@ -1,98 +1,28 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 71deedd..0d1e717 100644
+index 9123e37..099e067 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -23,9 +23,9 @@ option(FOXGLOVE_BRIDGE_REMOTE_ACCESS "Build with remote access gateway support"
- 
- macro(enable_strict_compiler_warnings target)
-   if (MSVC)
--    target_compile_options(${target} PRIVATE /WX /W4)
-+    target_compile_options(${target} PRIVATE /W4)
-   elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
--    target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal -Wmost -Wunused-exception-parameter)
-+    target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal -Wmost -Wunused-exception-parameter -Wno-error=format)
-   else()
-     target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal)
-   endif()
-@@ -63,6 +63,15 @@ if (CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarc
+@@ -97,6 +97,18 @@ if (CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarc
  elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
    set(FOXGLOVE_SDK_PLATFORM "x86_64-unknown-linux-gnu")
-   set(FOXGLOVE_SDK_SHA "b949295e80eb1a9bb356e657b9c2579c886717fac290c4e48a5e9846063bf2e8")
+   set(FOXGLOVE_SDK_SHA "4790dad26adaced1a5f81530ed406bab7b60aa202a868eb78cfc04976b9ce6d7")
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64")
 +  set(FOXGLOVE_SDK_PLATFORM "aarch64-apple-darwin")
-+  set(FOXGLOVE_SDK_SHA "1c6a32fc25c3a29eb9f3c5156f9c82970a8714523ffc3893ea4e852b977ee1e5")
++  set(FOXGLOVE_SDK_SHA "70c6e59cf757ac0480912c13cb2c630a3839de34eba428ef717411dae6b1688e")
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
 +  set(FOXGLOVE_SDK_PLATFORM "x86_64-apple-darwin")
-+  set(FOXGLOVE_SDK_SHA "12249d4b2f16c3ff661f21d19603fb33a82888f0391576269f31f9cc1a4cb7a8")
-+elseif(WIN32 AND CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64")
++  set(FOXGLOVE_SDK_SHA "c6092c615523d462a9d3779313b8c033cf923ce30a43dc5305d48fe4f6d26988")
++elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "ARM64")
++  set(FOXGLOVE_SDK_PLATFORM "aarch64-pc-windows-msvc")
++  set(FOXGLOVE_SDK_SHA "b88abb1bc2c5e230db65cd3d608174f005b3b4563b1c0b2e33db05bc3a2b528b")
++elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64")
 +  set(FOXGLOVE_SDK_PLATFORM "x86_64-pc-windows-msvc")
-+  set(FOXGLOVE_SDK_SHA "58c3c5e945623bc02b596f748c82e1c8b82daef7871f11f600ff1a606ac9295d")
++  set(FOXGLOVE_SDK_SHA "ae4ac0f4ab9eb998542a5626cd7870ba011824499fe33fa86936e82ed6502185")
  else()
    message(FATAL_ERROR "Unsupported platform/architecture combination: ${CMAKE_SYSTEM_PROCESSOR}-${CMAKE_SYSTEM_NAME}")
  endif()
-@@ -84,14 +93,30 @@ target_include_directories(foxglove_cpp_shared SYSTEM
-     $<INSTALL_INTERFACE:include>
- )
- target_sources(foxglove_cpp_shared PRIVATE ${FOXGLOVE_SDK_SOURCES})
-+# $ORIGIN is ELF-only; macOS' equivalent is @loader_path
-+if(APPLE)
-+  set(FOXGLOVE_BRIDGE_RPATH "@loader_path")
-+else()
-+  set(FOXGLOVE_BRIDGE_RPATH "$ORIGIN")
-+endif()
- # Import the prebuilt C shared library from the fetched SDK
- add_library(foxglove-shared SHARED IMPORTED)
--set_target_properties(foxglove-shared PROPERTIES
--  IMPORTED_LOCATION ${foxglove_sdk_SOURCE_DIR}/lib/libfoxglove.so
--)
-+if(WIN32)
-+  # the Windows SDK ships foxglove.dll with the import library foxglove.dll.lib
-+  set_target_properties(foxglove-shared PROPERTIES
-+    IMPORTED_LOCATION ${foxglove_sdk_SOURCE_DIR}/lib/foxglove.dll
-+    IMPORTED_IMPLIB ${foxglove_sdk_SOURCE_DIR}/lib/foxglove.dll.lib
-+  )
-+  # the C++ wrapper has no dllexport annotations
-+  set_target_properties(foxglove_cpp_shared PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
-+else()
-+  set_target_properties(foxglove-shared PROPERTIES
-+    IMPORTED_LOCATION ${foxglove_sdk_SOURCE_DIR}/lib/libfoxglove${CMAKE_SHARED_LIBRARY_SUFFIX}
-+  )
-+endif()
- target_link_libraries(foxglove_cpp_shared PRIVATE foxglove-shared)
- set_target_properties(foxglove_cpp_shared PROPERTIES
--  INSTALL_RPATH "$ORIGIN"
-+  INSTALL_RPATH "${FOXGLOVE_BRIDGE_RPATH}"
-   BUILD_WITH_INSTALL_RPATH TRUE
- )
- 
-@@ -168,7 +193,7 @@ target_link_libraries(foxglove_bridge_component
- rclcpp_components_register_nodes(foxglove_bridge_component "foxglove_bridge::FoxgloveBridge")
- enable_strict_compiler_warnings(foxglove_bridge_component)
- set_target_properties(foxglove_bridge_component PROPERTIES
--  INSTALL_RPATH "$ORIGIN"
-+  INSTALL_RPATH "${FOXGLOVE_BRIDGE_RPATH}"
-   BUILD_WITH_INSTALL_RPATH TRUE
- )
- 
-@@ -219,8 +244,14 @@ install(TARGETS foxglove_bridge_component
- )
- # Install the SDK shared libraries alongside the bridge component library so
- # the runtime linker can find them via RPATH ($ORIGIN).
--install(FILES $<TARGET_FILE:foxglove_cpp_shared> DESTINATION lib)
--install(FILES $<TARGET_FILE:foxglove-shared> DESTINATION lib)
-+if(WIN32)
-+  # DLLs are found through PATH (bin), import libraries in lib
-+  install(FILES $<TARGET_FILE:foxglove_cpp_shared> $<TARGET_FILE:foxglove-shared> DESTINATION bin)
-+  install(FILES $<TARGET_LINKER_FILE:foxglove_cpp_shared> DESTINATION lib)
-+else()
-+  install(FILES $<TARGET_FILE:foxglove_cpp_shared> DESTINATION lib)
-+  install(FILES $<TARGET_FILE:foxglove-shared> DESTINATION lib)
-+endif()
- install(TARGETS foxglove_bridge
-   DESTINATION lib/${PROJECT_NAME}
- )
 diff --git a/src/message_definition_cache.cpp b/src/message_definition_cache.cpp
-index ef72c9c..ed85745 100644
+index cf2864e..9124c80 100644
 --- a/src/message_definition_cache.cpp
 +++ b/src/message_definition_cache.cpp
 @@ -3,6 +3,7 @@

distros/humble/patch/ros2-foxglove-bridge.win.patch

@@ -1,97 +1,13 @@
-diff --git a/include/foxglove_bridge/generic_client.hpp b/include/foxglove_bridge/generic_client.hpp
-index 9478fae..ff1f017 100644
---- a/include/foxglove_bridge/generic_client.hpp
-+++ b/include/foxglove_bridge/generic_client.hpp
-@@ -23,7 +23,7 @@ public:
- 
-   std::shared_ptr<void> create_response() override;
-   std::shared_ptr<rmw_request_id_t> create_request_header() override;
--#if RCLCPP_VERSION_GTE(31, 0, 0)
-+#if (RCLCPP_VERSION_MAJOR > 31 || (RCLCPP_VERSION_MAJOR == 31 && (RCLCPP_VERSION_MINOR > 0 || (RCLCPP_VERSION_MINOR == 0 && RCLCPP_VERSION_PATCH >= 0))))
-   void handle_response(const std::shared_ptr<rmw_request_id_t>& request_header,
-                        const std::shared_ptr<void>& response) override;
- #else
-diff --git a/src/generic_client.cpp b/src/generic_client.cpp
-index 51ed180..a78c3c1 100644
---- a/src/generic_client.cpp
-+++ b/src/generic_client.cpp
-@@ -70,7 +70,7 @@ std::string getTypeIntrospectionSymbolName(const std::string& serviceType) {
- 
- const rosidl_service_type_support_t* GenericClient::getServiceTypeSupportHandle(
-   const std::string& serviceType) {
--#if RCLCPP_VERSION_GTE(25, 0, 0)
-+#if (RCLCPP_VERSION_MAJOR > 25 || (RCLCPP_VERSION_MAJOR == 25 && (RCLCPP_VERSION_MINOR > 0 || (RCLCPP_VERSION_MINOR == 0 && RCLCPP_VERSION_PATCH >= 0))))
-   // Jazzy and newer can use the built-in rclcpp call.
-   return rclcpp::get_service_typesupport_handle(serviceType, TYPESUPPORT_LIB_NAME,
-                                                 *_typeSupportLib);
-@@ -120,7 +120,7 @@ GenericClient::GenericClient(rclcpp::node_interfaces::NodeBaseInterface* nodeBas
- 
-   // get_typesupport_handle is deprecated since rclcpp 25.0.0
-   // (https://github.com/ros2/rclcpp/pull/2209)
--#if RCLCPP_VERSION_GTE(25, 0, 0)
-+#if (RCLCPP_VERSION_MAJOR > 25 || (RCLCPP_VERSION_MAJOR == 25 && (RCLCPP_VERSION_MINOR > 0 || (RCLCPP_VERSION_MINOR == 0 && RCLCPP_VERSION_PATCH >= 0))))
-   _requestTypeSupportHdl =
-     rclcpp::get_message_typesupport_handle(requestTypeName, TYPESUPPORT_LIB_NAME, *_typeSupportLib);
-   _responseTypeSupportHdl = rclcpp::get_message_typesupport_handle(
-@@ -155,7 +155,7 @@ std::shared_ptr<rmw_request_id_t> GenericClient::create_request_header() {
-   return std::shared_ptr<rmw_request_id_t>(new rmw_request_id_t);
- }
- 
--#if RCLCPP_VERSION_GTE(31, 0, 0)
-+#if (RCLCPP_VERSION_MAJOR > 31 || (RCLCPP_VERSION_MAJOR == 31 && (RCLCPP_VERSION_MINOR > 0 || (RCLCPP_VERSION_MINOR == 0 && RCLCPP_VERSION_PATCH >= 0))))
- void GenericClient::handle_response(const std::shared_ptr<rmw_request_id_t>& request_header,
-                                     const std::shared_ptr<void>& response) {
- #else
-diff --git a/src/message_definition_cache.cpp b/src/message_definition_cache.cpp
-index ed85745..212e5df 100644
---- a/src/message_definition_cache.cpp
-+++ b/src/message_definition_cache.cpp
-@@ -12,7 +12,7 @@
- #include <utility>
- 
- #include <ament_index_cpp/version.h>
--#if AMENT_INDEX_CPP_VERSION_GTE(1, 13, 2)
-+#if (AMENT_INDEX_CPP_VERSION_MAJOR > 1 || (AMENT_INDEX_CPP_VERSION_MAJOR == 1 && (AMENT_INDEX_CPP_VERSION_MINOR > 13 || (AMENT_INDEX_CPP_VERSION_MINOR == 13 && AMENT_INDEX_CPP_VERSION_PATCH >= 2))))
- #include <ament_index_cpp/get_package_share_path.hpp>
- #else
- #include <ament_index_cpp/get_package_share_directory.hpp>
-@@ -221,7 +221,7 @@ const MessageSpec& MessageDefinitionCache::load_message_spec(
- 
-   // Get the package share directory, or throw a PackageNotFoundError
-   std::filesystem::path share_dir;
--#if AMENT_INDEX_CPP_VERSION_GTE(1, 13, 2)
-+#if (AMENT_INDEX_CPP_VERSION_MAJOR > 1 || (AMENT_INDEX_CPP_VERSION_MAJOR == 1 && (AMENT_INDEX_CPP_VERSION_MINOR > 13 || (AMENT_INDEX_CPP_VERSION_MINOR == 13 && AMENT_INDEX_CPP_VERSION_PATCH >= 2))))
-   share_dir = ament_index_cpp::get_package_share_path(package);
- #else
-   share_dir = ament_index_cpp::get_package_share_directory(package);
-@@ -229,7 +229,7 @@ const MessageSpec& MessageDefinitionCache::load_message_spec(
- 
-   // Get the rosidl_interfaces index contents for this package
-   std::string index_contents;
--#if AMENT_INDEX_CPP_VERSION_GTE(1, 13, 0)
-+#if (AMENT_INDEX_CPP_VERSION_MAJOR > 1 || (AMENT_INDEX_CPP_VERSION_MAJOR == 1 && (AMENT_INDEX_CPP_VERSION_MINOR > 13 || (AMENT_INDEX_CPP_VERSION_MINOR == 13 && AMENT_INDEX_CPP_VERSION_PATCH >= 0))))
-   ament_index_cpp::PathWithResource path_with_resource =
-     ament_index_cpp::get_resource("rosidl_interfaces", package);
-   if (path_with_resource.resourcePath == std::nullopt) {
-diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp
-index 2229aad..73d3d3e 100644
---- a/src/ros2_foxglove_bridge.cpp
-+++ b/src/ros2_foxglove_bridge.cpp
-@@ -59,7 +59,7 @@ inline std::vector<std::byte> readFile(const std::string& filepath) {
-   return buffer;
- }
- 
--#if !RCLCPP_VERSION_GTE(28, 0, 0)
-+#if !(RCLCPP_VERSION_MAJOR > 28 || (RCLCPP_VERSION_MAJOR == 28 && (RCLCPP_VERSION_MINOR > 0 || (RCLCPP_VERSION_MINOR == 0 && RCLCPP_VERSION_PATCH >= 0))))
- // Prior to Jazzy, GenericSubscription drops MessageInfo from the callback.
- // This subclass overrides handle_serialized_message to forward it.
- class GenericSubscriptionWithMessageInfo : public rclcpp::GenericSubscription {
-@@ -833,7 +833,7 @@ Subscription FoxgloveBridge::createRosSubscription(ChannelId channelId, const st
-   subscriptionOptions.event_callbacks = eventCallbacks;
-   subscriptionOptions.callback_group = _subscriptionCallbackGroup;
- 
--#if RCLCPP_VERSION_GTE(28, 0, 0)
-+#if (RCLCPP_VERSION_MAJOR > 28 || (RCLCPP_VERSION_MAJOR == 28 && (RCLCPP_VERSION_MINOR > 0 || (RCLCPP_VERSION_MINOR == 0 && RCLCPP_VERSION_PATCH >= 0))))
-   return this->create_generic_subscription(
-     topic, datatype, qos,
-     [this, channelId](std::shared_ptr<const rclcpp::SerializedMessage> msg,
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9123e37..2232b91 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -61,7 +61,7 @@ endif()
+ 
+ macro(enable_strict_compiler_warnings target)
+   if (MSVC)
+-    target_compile_options(${target} PRIVATE /WX /W4)
++    target_compile_options(${target} PRIVATE /W4)
+   elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+     target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal -Wmost -Wunused-exception-parameter)
+   else()

distros/humble/patch/ros2-motion-capture-tracking.win.patch

@@ -1,5 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 6fb3e04..179d621 100644
+index 300f534..35e1093 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -1,6 +1,9 @@
@@ -13,13 +13,13 @@ index 6fb3e04..179d621 100644
    add_compile_options(-Wall -Wextra -Wpedantic)
  endif()
 diff --git a/deps/libmotioncapture/CMakeLists.txt b/deps/libmotioncapture/CMakeLists.txt
-index 8ae21e2..371278f 100644
+index 61a4af9..6cf2a5d 100644
 --- a/deps/libmotioncapture/CMakeLists.txt
 +++ b/deps/libmotioncapture/CMakeLists.txt
-@@ -19,6 +19,11 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
- set(CMAKE_CXX_EXTENSIONS OFF)
+@@ -20,6 +20,11 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 
- find_package(Boost 1.5 REQUIRED) # for optitrack (system component is header-only in Boost 1.70+)
+ find_package(Threads REQUIRED)
+ find_package(Boost) # for optitrack
 +if(WIN32)
 +  # Boost's auto-linking asks MSVC for an unqualified boost_filesystem.lib (LNK1104):
 +  # link Boost::filesystem's imported target, which knows the actual library path
@@ -28,13 +28,13 @@ index 8ae21e2..371278f 100644
  add_definitions(
    -DBOOST_DATE_TIME_NO_LIB
    -DBOOST_REGEX_NO_LIB
-@@ -233,6 +238,9 @@ add_library(libmotioncapture
+@@ -239,6 +244,9 @@ add_library(libmotioncapture
  target_link_directories(libmotioncapture PUBLIC
    ${my_link_directories}
  )
 +if(WIN32)
 +  target_link_libraries(libmotioncapture Boost::filesystem)
 +endif()
  target_link_libraries(libmotioncapture
+   Eigen3::Eigen
    ${my_libraries}
- )

distros/humble/patch/ros2-sick-safetyscanners-base.win.patch

@@ -1,5 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 8bf0f32..9ff3fc6 100644
+index 15a6663..cf811fe 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -1,6 +1,9 @@
@@ -9,6 +9,6 @@ index 8bf0f32..9ff3fc6 100644
 +# no dllexport annotations: export everything so MSVC writes the import library (LNK1181)
 +set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 +
- ## Use C++11
- #add_definitions(-std=c++11 -Wall)
- ## By adding -Wall and -Werror, the compiler does not ignore warnings anymore,
+ ## Find system libraries
+ find_package(Boost REQUIRED COMPONENTS thread chrono)
+