Add lbr_fri_ros2_stack

conda_build_config.yaml

@@ -61,3 +61,10 @@ libzenohcxx:
   - 1.4.0
 libcap:
   - 2.71
+
+lbr_fri_client_sdk:
+  - '1.11'
+  - '1.14'
+  - '1.15'
+  - '1.16'
+  - '1.17'

patch/dependencies.yaml

@@ -280,3 +280,12 @@ franka_example_controllers:
 franka_ign_ros2_control:
   add_host: ["ros-humble-urdf", "ros-humble-kdl-parser", "ros-humble-tf2-geometry-msgs", "ros-humble-tf2-eigen", "${{ 'libgl-devel' if linux }}"]
   add_run: ["ros-humble-urdf", "ros-humble-kdl-parser", "ros-humble-tf2-geometry-msgs", "ros-humble-tf2-eigen"]
+gz_ros2_control:
+  remove_host: ["libignition-gazebo6"]
+  add_host: ["${{ 'libignition-gazebo6' if not win }}", "${{ 'libgz-sim7' if win }}"]
+ign_ros2_control:
+  remove_host: ["libignition-gazebo6"]
+  add_host: ["${{ 'libignition-gazebo6' if not win }}", "${{ 'libgz-sim7' if win }}"]
+lbr_ros2_control:
+  add_host: ["ros-humble-kinematics-interface"]
+  add_run: ["ros-humble-kinematics-interface"]

patch/ros-humble-gz-ros2-control.patch

@@ -1,11 +1,41 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 5e4ce57..b2f3a8d 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -1,6 +1,23 @@
+@@ -1,6 +1,51 @@
  cmake_minimum_required(VERSION 3.5)
  project(gz_ros2_control)
 
++# Avoid Windows min/max macros and provide tiny compatibility headers for MSVC.
++if(WIN32)
++  add_compile_definitions(NOMINMAX)
++  file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/unistd.h" "#pragma once\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/unistd.h" "#include <io.h>\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/unistd.h" "#ifndef access\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/unistd.h" "#define access _access\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/unistd.h" "#endif\n")
++
++  file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#pragma once\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#ifndef NOMINMAX\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#define NOMINMAX\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#endif\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#include <windows.h>\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#ifdef interface\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#undef interface\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#endif\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#ifdef STRICT\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#undef STRICT\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#endif\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#ifdef min\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#undef min\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#endif\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#ifdef max\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#undef max\n")
++  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h" "#endif\n")
++
++  include_directories(BEFORE "${CMAKE_CURRENT_BINARY_DIR}")
++  add_compile_options($<$<CXX_COMPILER_ID:MSVC>:/FI${CMAKE_CURRENT_BINARY_DIR}/windows_macro_fix.h>)
++endif()
++
 +# Fix for macOS case sensitivity issue with TinyXML2 targets
 +# ignition-gui6 from conda-forge expects TINYXML2::TINYXML2 but macOS provides tinyxml2::tinyxml2
 +# We need to create the uppercase target before any ignition packages are loaded
@@ -26,3 +56,36 @@ index 5e4ce57..b2f3a8d 100644
  # Default to C++14
  if(NOT CMAKE_CXX_STANDARD)
    set(CMAKE_CXX_STANDARD 14)
+@@ -57,14 +102,25 @@ if("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+   set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
+   set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
+   add_definitions(-DGZ_HEADERS)
+ else()
+-  find_package(ignition-gazebo6 REQUIRED)
+-  set(GZ_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
+-  message(STATUS "Compiling against Gazebo fortress")
+-  find_package(ignition-plugin1 REQUIRED)
+-  set(GZ_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
+-  set(GZ_PLUGIN ignition-plugin${GZ_PLUGIN_VER}::register)
+-  set(GZ_SIM ignition-gazebo${GZ_SIM_VER}::core)
++  if(WIN32)
++    find_package(gz-sim7 REQUIRED)
++    set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
++    message(STATUS "Compiling against Gazebo fortress (gz)")
++    find_package(gz-plugin2 REQUIRED)
++    set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
++    set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
++    set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
++    add_definitions(-DGZ_HEADERS)
++  else()
++    find_package(ignition-gazebo6 REQUIRED)
++    set(GZ_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
++    message(STATUS "Compiling against Gazebo fortress")
++    find_package(ignition-plugin1 REQUIRED)
++    set(GZ_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
++    set(GZ_PLUGIN ignition-plugin${GZ_PLUGIN_VER}::register)
++    set(GZ_SIM ignition-gazebo${GZ_SIM_VER}::core)
++  endif()
+ endif()
+
+ include_directories(

patch/ros-humble-kinematics-interface-kdl.win.patch

@@ -1,7 +1,7 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
+diff --git a/kinematics_interface_kdl/CMakeLists.txt b/kinematics_interface_kdl/CMakeLists.txt
 index afeadae..c1cc640 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
+--- a/kinematics_interface_kdl/CMakeLists.txt
++++ b/kinematics_interface_kdl/CMakeLists.txt
 @@ -5,6 +5,10 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
    add_compile_options(-Wall -Wextra -Wpedantic)
  endif()

patch/ros-humble-kinematics-interface.patch

@@ -1,11 +1,11 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
+diff --git a/kinematics_interface/CMakeLists.txt b/kinematics_interface/CMakeLists.txt
 index 27a6269..06549d9 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
+--- a/kinematics_interface/CMakeLists.txt
++++ b/kinematics_interface/CMakeLists.txt
 @@ -45,5 +45,5 @@ install(
  )
- 
+
  ament_export_targets(export_kinematics_interface HAS_LIBRARY_TARGET)
 -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} Eigen3)
- ament_package()
+ ament_package()

patch/ros-humble-kinematics-interface.win.patch

@@ -1,7 +1,7 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 88eaf9e..f0dbffd 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
+diff --git a/kinematics_interface/CMakeLists.txt b/kinematics_interface/CMakeLists.txt
+index 27a6269..2a1a3ef 100644
+--- a/kinematics_interface/CMakeLists.txt
++++ b/kinematics_interface/CMakeLists.txt
 @@ -5,6 +5,10 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
    add_compile_options(-Wall -Wextra -Wpedantic)
  endif()

pkg_additional_info.yaml

@@ -166,3 +166,7 @@ mavros_msgs:
   build_number: 14
 mavros_extras:
   build_number: 14
+kinematics_interface:
+  build_number: 14
+kinematics_interface_kdl:
+  build_number: 14

robostack.yaml

@@ -106,6 +106,8 @@ flex:
   robostack: [flex]
 fmt:
   robostack: [fmt]
+fri_client_sdk:
+  robostack: [lbr-fri-client-sdk]
 g++-static:
   robostack: []
 gawk:

rosdistro_additional_recipes.yaml

@@ -26,3 +26,92 @@ wasm_cpp:
   url: https://github.com/ros2wasm/rmw_wasm.git
   version: 1.0.0
   additional_folder: wasm_cpp
+lbr_demos_advanced_cpp:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 2.4.3
+  additional_folder: lbr_demos/lbr_demos_advanced_cpp
+lbr_demos_advanced_py:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 2.4.3
+  additional_folder: lbr_demos/lbr_demos_advanced_py
+lbr_demos_cpp:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 2.4.3
+  additional_folder: lbr_demos/lbr_demos_cpp
+lbr_demos_py:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 2.4.3
+  additional_folder: lbr_demos/lbr_demos_py
+lbr_moveit:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 2.4.3
+  additional_folder: lbr_demos/lbr_moveit
+lbr_moveit_cpp:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 2.4.3
+  additional_folder: lbr_demos/lbr_moveit_cpp
+lbr_bringup:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 2.2.2
+  additional_folder: lbr_bringup
+lbr_description:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 2.2.2
+  additional_folder: lbr_description
+lbr_fri_ros2:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 2.2.2
+  additional_folder: lbr_fri_ros2
+lbr_fri_ros2_stack:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 2.2.2
+  additional_folder: lbr_fri_ros2_stack
+lbr_ros2_control:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 2.2.2
+  additional_folder: lbr_ros2_control
+iiwa14_moveit_config:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 0.3.0
+  additional_folder: lbr_moveit_config/iiwa14_moveit_config
+iiwa7_moveit_config:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 0.3.0
+  additional_folder: lbr_moveit_config/iiwa7_moveit_config
+med14_moveit_config:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 0.3.0
+  additional_folder: lbr_moveit_config/med14_moveit_config
+med7_moveit_config:
+  url: https://github.com/lbr-stack/lbr_fri_ros2_stack.git
+  rev: 2e932d4e062966afe216710a7cc2fe50a8099365
+  version: 0.3.0
+  additional_folder: lbr_moveit_config/med7_moveit_config
+lbr_fri_idl:
+  url: https://github.com/lbr-stack/lbr_fri_idl.git
+  rev: e422bff2b3d70ec47853145b35645980df623a60
+  version: 1.5.0
+kinematics_interface:
+  url: https://github.com/ros-controls/kinematics_interface.git
+  rev: 7285c88693ae612cfdb1952e5344f9b9a6998ba2
+  version: 0.4.0
+  additional_folder: kinematics_interface
+kinematics_interface_kdl:
+  url: https://github.com/ros-controls/kinematics_interface.git
+  rev: 7285c88693ae612cfdb1952e5344f9b9a6998ba2
+  version: 0.4.0
+  additional_folder: kinematics_interface_kdl

vinca.yaml

@@ -321,6 +321,25 @@ packages_select_by_deps:
       - topic_based_ros2_control
       # IntelRealSense
       - librealsense2
+      # requested in https://github.com/RoboStack/ros-humble/issues/352
+      - lbr_bringup
+      - lbr_demos_advanced_cpp
+      - lbr_demos_advanced_py
+      - lbr_demos_cpp
+      - lbr_demos_py
+      - lbr_moveit
+      - lbr_moveit_cpp
+      - lbr_description
+      - lbr_fri_ros2
+      - lbr_fri_ros2_stack
+      - iiwa14_moveit_config
+      - iiwa7_moveit_config
+      - med14_moveit_config
+      - med7_moveit_config
+      - lbr_ros2_control
+      - lbr_fri_idl
+      - kinematics_interface
+      - kinematics_interface_kdl
 
   # These packages are only built on Linux as they depend on Linux-specific API
   - if: linux