Fields2cover

shared/patch/dependencies.yaml

@@ -127,6 +127,9 @@ open3d_conversions:
   # (which provides TBBConfig.cmake) -- add it explicitly so find_package(Open3D)
   # can resolve its own TBB dependency.
   add_host: ["tbb-devel"]
+ortools_vendor:
+  add_host: ["eigen", "libabseil", "libprotobuf", "re2", "zlib"]
+  add_run: ["eigen", "libabseil", "libprotobuf", "re2", "zlib"]
 pcl_ros:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
 plotjuggler_ros:

shared/patch/ros2-fields2cover.patch

@@ -0,0 +1,13 @@
+diff --git a/cmake/F2CCompilerOptions.cmake b/cmake/F2CCompilerOptions.cmake
+index 6eb7491..3f61f1d 100644
+--- a/cmake/F2CCompilerOptions.cmake
++++ b/cmake/F2CCompilerOptions.cmake
+@@ -4,7 +4,7 @@ function(f2c_set_compiler_options target)
+     target_compile_options(${target} PRIVATE /W4 /WX)
+   else()
+     target_compile_options(${target} PRIVATE
+-      -Wall -Wextra -Werror -pedantic
++      -Wall -Wextra -pedantic
+       -Wno-unused-parameter -Wno-sign-compare
+     )
+   endif()

shared/patch/ros2-ortools-vendor.patch

@@ -0,0 +1,131 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index fd967c2..0c45489 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -10,7 +10,13 @@ ament_vendor(
+   VCS_VERSION v9.9
+   CMAKE_ARGS
+     -DCMAKE_BUILD_TYPE=Release
+-    -DBUILD_DEPS:BOOL=ON
++    # Take all dependencies from conda-forge instead of building
++    -DBUILD_DEPS:BOOL=OFF
++    -DBUILD_ZLIB:BOOL=OFF
++    -DBUILD_absl:BOOL=OFF
++    -DBUILD_Protobuf:BOOL=OFF
++    -DBUILD_Eigen3:BOOL=OFF
++    -DBUILD_re2:BOOL=OFF
+     -DCMAKE_POLICY_VERSION_MINIMUM:STRING=3.5
+     -DBUILD_SAMPLES:BOOL=OFF
+     -DBUILD_EXAMPLES:BOOL=OFF
+diff --git a/patches/0002-newer-abseil-protobuf.patch b/patches/0002-newer-abseil-protobuf.patch
+new file mode 100644
+index 0000000..1ba42e6
+--- /dev/null
++++ b/patches/0002-newer-abseil-protobuf.patch
+@@ -0,0 +1,106 @@
++diff --git a/ortools/base/file.cc b/ortools/base/file.cc
++index 6588bb6..0642e0b 100644
++--- a/ortools/base/file.cc
+++++ b/ortools/base/file.cc
++@@ -240,7 +240,7 @@ namespace {
++ class NoOpErrorCollector : public google::protobuf::io::ErrorCollector {
++  public:
++   ~NoOpErrorCollector() override = default;
++-  void AddError(int line, int column, const std::string& message) override {}
+++  void RecordError(int line, int column, absl::string_view message) override {}
++ };
++ }  // namespace
++ 
++diff --git a/ortools/base/logging.h b/ortools/base/logging.h
++index 4fdc7f8..9770766 100644
++--- a/ortools/base/logging.h
+++++ b/ortools/base/logging.h
++@@ -20,6 +20,7 @@
++ #include "absl/log/check.h"
++ #include "absl/log/die_if_null.h"
++ #include "absl/log/log.h"
+++#include "absl/log/vlog_is_on.h"
++ #include "absl/memory/memory.h"
++ #include "absl/status/status.h"
++ #include "absl/strings/str_cat.h"
++diff --git a/ortools/base/source_location.h b/ortools/base/source_location.h
++index ec0e295..2b0c2e9 100644
++--- a/ortools/base/source_location.h
+++++ b/ortools/base/source_location.h
++@@ -32,6 +32,10 @@
++ 
++ #include "absl/base/config.h"
++ 
+++#if __has_include("absl/types/source_location.h")
+++// Abseil provides absl::SourceLocation itself since 2025.
+++#include "absl/types/source_location.h"
+++#else
++ namespace absl {
++ 
++ // Class representing a specific location in the source code of a program.
++@@ -116,6 +120,7 @@ class SourceLocation {
++ };
++ 
++ }  // namespace absl
+++#endif
++ 
++ // If a function takes an `absl::SourceLocation` parameter, pass this as the
++ // argument.
++diff --git a/ortools/base/strong_int.h b/ortools/base/strong_int.h
++index 3ec2e11..1b822bd 100644
++--- a/ortools/base/strong_int.h
+++++ b/ortools/base/strong_int.h
++@@ -149,6 +149,7 @@
++ 
++ #include <functional>
++ #include <iosfwd>
+++#include <limits>
++ #include <ostream>  // NOLINT
++ #include <type_traits>
++ 
++diff --git a/ortools/port/proto_utils.h b/ortools/port/proto_utils.h
++index 535d634..ba0464b 100644
++--- a/ortools/port/proto_utils.h
+++++ b/ortools/port/proto_utils.h
++@@ -58,7 +58,7 @@ std::string ProtoEnumToString(ProtoEnumType enum_value) {
++         "Invalid enum value of: ", enum_value, " for enum type: ",
++         google::protobuf::GetEnumDescriptor<ProtoEnumType>()->name());
++   }
++-  return enum_value_descriptor->name();
+++  return std::string(enum_value_descriptor->name());
++ #endif  // !defined(__PORTABLE_PLATFORM__)
++ }
++ 
++diff --git a/ortools/util/file_util.cc b/ortools/util/file_util.cc
++index 7cae476..d486e41 100644
++--- a/ortools/util/file_util.cc
+++++ b/ortools/util/file_util.cc
++@@ -163,7 +163,7 @@ absl::Status WriteProtoToFile(absl::string_view filename,
++     case ProtoWriteFormat::kJson: {
++       google::protobuf::util::JsonPrintOptions options;
++       options.add_whitespace = true;
++-      options.always_print_primitive_fields = true;
+++      options.always_print_fields_with_no_presence = true;
++       options.preserve_proto_field_names = true;
++       if (!google::protobuf::util::MessageToJsonString(proto, &output_string,
++                                                        options)
++diff --git a/ortools/util/parse_proto.cc b/ortools/util/parse_proto.cc
++index 0c3a53d..e507533 100644
++--- a/ortools/util/parse_proto.cc
+++++ b/ortools/util/parse_proto.cc
++@@ -36,11 +36,11 @@ class TextFormatErrorCollector : public google::protobuf::io::ErrorCollector {
++   TextFormatErrorCollector() = default;
++   ~TextFormatErrorCollector() override = default;
++ 
++-  void AddError(int line, int column, const std::string& message) override {
++-    collected_errors_.push_back({false, line, column, message});
+++  void RecordError(int line, int column, absl::string_view message) override {
+++    collected_errors_.push_back({false, line, column, std::string(message)});
++   }
++-  void AddWarning(int line, int column, const std::string& message) override {
++-    collected_errors_.push_back({true, line, column, message});
+++  void RecordWarning(int line, int column, absl::string_view message) override {
+++    collected_errors_.push_back({true, line, column, std::string(message)});
++   }
++ 
++   // Returns a string listing each collected error.  When an error is associated

shared/vinca.yaml

@@ -448,6 +448,7 @@ packages_select_by_deps:
       - easynav_system
       - easynav_tools
       - easynav_vff_controller
+      - fields2cover
       - libcamera
       - mujoco_ros2_control # Isaac ROS deploy / Unitree G1 simulation; runtime uses Linux-specific files; mujoco_ros2_control_plugins needs EGL
       - mujoco_ros2_control_demos # Use readlink and access at runtime linux-specific file