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Add builds for EasyNav + NavMap + PlanSys2 #260

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5a5b1e1
Sync rosdistro_snapshot.yaml
fmrico Jul 31, 2026
100b02d
Add/Update recipes for NavMap, EasyNav and PlanSys2
fmrico Jul 31, 2026
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9 changes: 9 additions & 0 deletions patch/dependencies.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,15 @@ pcl_conversions:
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
pcl_ros:
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
easynav_bonxai_maps_manager:
# robostack-jazzy's already-published pcl_ros requires the newer eigen-abi
# package (>=5.0.1.80); pin eigen-abi-devel so this package resolves it too.
add_host: ["eigen-abi-devel"]
easynav_octomap_maps_manager:
# "octomap" isn't auto-resolved from rosdep for this package (same gap as
# geometric_shapes below); without it CMake fails to find octomapConfig.cmake.
add_host: ["octomap"]
add_run: ["octomap"]
rviz_rendering:
add_host: ["glew"]
behaviortree_cpp:
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54 changes: 54 additions & 0 deletions patch/ros-jazzy-navmap-ros.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,54 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3f6c3f0..4b2c4d4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,27 @@
cmake_minimum_required(VERSION 3.10)
project(navmap_ros)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
+
+# Avoid leaking system Eigen (e.g. /usr/include/eigen3) into exported include
+# directories through PCL.
+set(_eigen_prefix "")
+if(DEFINED ENV{PREFIX})
+ set(_eigen_prefix "$ENV{PREFIX}")
+elseif(DEFINED ENV{CONDA_PREFIX})
+ set(_eigen_prefix "$ENV{CONDA_PREFIX}")
+endif()
+if(_eigen_prefix)
+ set(Eigen3_DIR "${_eigen_prefix}/share/eigen3/cmake" CACHE PATH "" FORCE)
+ set(EIGEN3_INCLUDE_DIR "${_eigen_prefix}/include/eigen3" CACHE PATH "" FORCE)
+ set(EIGEN3_INCLUDE_DIRS "${_eigen_prefix}/include/eigen3" CACHE PATH "" FORCE)
+endif()
+find_package(Eigen3 CONFIG QUIET)

set(CMAKE_CXX_STANDARD 23)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -15,7 +36,18 @@ find_package(navmap_ros_interfaces REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(PCL REQUIRED COMPONENTS common io kdtree search)
+
+# PCLConfig.cmake may inject system Eigen include paths; filter them out to
+# prevent mixing system Eigen with the conda/pixi Eigen.
if(PCL_INCLUDE_DIRS)
# Be permissive: the entry may have a trailing slash or whitespace depending
# on how PCL was configured.
list(FILTER PCL_INCLUDE_DIRS EXCLUDE REGEX "/usr/include/eigen3")
endif()
+if(EIGEN3_INCLUDE_DIRS AND PCL_INCLUDE_DIRS)
+ list(FIND PCL_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIRS}" _eigen_idx)
+ if(_eigen_idx EQUAL -1)
+ list(APPEND PCL_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIRS}")
+ endif()
+endif()
+
find_package(pcl_conversions REQUIRED)

add_library(${PROJECT_NAME} SHARED
src/${PROJECT_NAME}/conversions.cpp
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