Add fuse

distros/jazzy/patch/ros2-fuse-models.win.patch

@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index fe3bc94..aadac7c 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -10,6 +10,10 @@ endif()
+ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ endif()
++if(MSVC)
++  # error C1128: number of sections exceeded object file format limit
++  add_compile_options(/bigobj)
++endif()
+
+ find_package(ament_cmake_ros REQUIRED)
+

distros/lyrical/patch/ros2-fuse-viz.patch

@@ -0,0 +1,29 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 5a24db7..540d97e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -23,13 +23,13 @@ find_package(tf2_geometry_msgs REQUIRED)
+
+ find_package(Eigen3 REQUIRED)
+ find_package(gtest_vendor)
+-find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
++find_package(Qt6 COMPONENTS Core Widgets REQUIRED)
+
+ ###########
+ ## Build ##
+ ###########
+
+-qt5_wrap_cpp(moc_files
++qt6_wrap_cpp(moc_files
+   include/fuse_viz/mapped_covariance_property.hpp
+   include/fuse_viz/pose_2d_stamped_property.hpp
+   include/fuse_viz/relative_pose_2d_stamped_constraint_property.hpp
+@@ -61,7 +61,7 @@ target_link_libraries(${PROJECT_NAME} PRIVATE
+ target_include_directories(${PROJECT_NAME} PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+-  ${Qt5Widgets_INCLUDE_DIRS}
++  ${Qt6Widgets_INCLUDE_DIRS}
+ )
+
+ #############

distros/rolling/patch/ros2-fuse-viz.patch

@@ -0,0 +1,29 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 5a24db7..540d97e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -23,13 +23,13 @@ find_package(tf2_geometry_msgs REQUIRED)
+
+ find_package(Eigen3 REQUIRED)
+ find_package(gtest_vendor)
+-find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
++find_package(Qt6 COMPONENTS Core Widgets REQUIRED)
+
+ ###########
+ ## Build ##
+ ###########
+
+-qt5_wrap_cpp(moc_files
++qt6_wrap_cpp(moc_files
+   include/fuse_viz/mapped_covariance_property.hpp
+   include/fuse_viz/pose_2d_stamped_property.hpp
+   include/fuse_viz/relative_pose_2d_stamped_constraint_property.hpp
+@@ -61,7 +61,7 @@ target_link_libraries(${PROJECT_NAME} PRIVATE
+ target_include_directories(${PROJECT_NAME} PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+-  ${Qt5Widgets_INCLUDE_DIRS}
++  ${Qt6Widgets_INCLUDE_DIRS}
+ )
+
+ #############

shared/patch/ros2-fuse-constraints.win.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 8640fe0..55d6a47 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -67,7 +67,7 @@ include(suitesparse-extras.cmake)
+ #       |                                         ^~~
+ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 12.0)
+   add_compile_options(-Wall -Werror -Wno-array-bounds)
+-else()
++elseif(NOT MSVC)
+   add_compile_options(-Wall -Werror)
+ endif()
+

shared/patch/ros2-fuse-core.win.patch

@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 737542c..9a68b92 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -63,6 +63,10 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
+ target_link_libraries(${PROJECT_NAME} PRIVATE
+   rclcpp_components::component
+ )
++# MSVC: M_PI (used in fuse_core/util.hpp) needs _USE_MATH_DEFINES, also in dependent packages
++if(MSVC)
++  target_compile_definitions(${PROJECT_NAME} PUBLIC _USE_MATH_DEFINES)
++endif()
+
+ ## fuse_echo executable
+ add_library(fuse_echo_component SHARED src/fuse_echo.cpp)

shared/patch/ros2-fuse-graphs.patch

@@ -0,0 +1,17 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9a0bc4d..d07dce2 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -44,7 +44,11 @@ include(boost-extras.cmake)
+ # /nix/store/b7hvml0m3qmqraz1022fwvyyg6fc1vdy-gcc-12.2.0/include/c++/12.2.0/bits/std_function.h:267:7: note: by argument 2 of type ‘const std::_Any_data&’ to ‘static bool std::_Function_handler<_Res(_ArgTypes ...), _Functor>::_M_manager(std::_Any_data&, const std::_Any_data&, std::_Manager_operation) [with _Res = const fuse_core::Variable&; _Functor = fuse_graphs::HashGraph::getVariables() const::<lambda(const std::unordered_map<boost::uuids::uuid, std::shared_ptr<fuse_core::Variable>, boost::hash<boost::uuids::uuid> >::value_type&)>; _ArgTypes = {const std::pair<const boost::uuids::uuid, std::shared_ptr<fuse_core::Variable> >&}]’ declared here
+ #   267 |       _M_manager(_Any_data& __dest, const _Any_data& __source,
+ #       |       ^~~~~~~~~~
+-add_compile_options(-Wall -Werror -Wno-maybe-uninitialized)
++if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
++  add_compile_options(-Wall -Werror -Wno-maybe-uninitialized)
++elseif(NOT MSVC)
++  add_compile_options(-Wall -Werror)
++endif()
+
+ ## fuse_graphs library
+ add_library(${PROJECT_NAME}

shared/pkg_additional_info.yaml

@@ -41,6 +41,28 @@ force_torque_sensor_broadcaster:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 foxglove_bridge:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+fuse_constraints:
+  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+fuse_core:
+  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+fuse_graphs:
+  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+fuse_loss:
+  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+fuse_models:  # Windows: imu_2d.cpp has more sections than an object file can hold without /bigobj (C1128)
+  additional_cmake_args:
+    if: win
+    then: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON -DCMAKE_CXX_FLAGS_INIT=/bigobj"
+fuse_optimizers:
+  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+fuse_publishers:
+  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+fuse_tutorials:
+  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+fuse_variables:
+  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+fuse_viz:
+  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 gz_cmake_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 gz_common_vendor:

shared/tests/ros2-fuse-optimizers.yaml

@@ -0,0 +1,4 @@
+tests:
+  # Smoke test: `fuse_optimizers/fixed_lag_smoother_node` (fuse's optimizer node) starts (loads its libraries and the RMW) and is still running after 5 s. It's stopped (killed if SIGTERM doesn't end it) before the test exits, or the test runner waits for it.
+  - script:
+      - python -c "import os, subprocess, sys, time; d = os.path.join(os.environ['PREFIX'], 'Library') if os.name == 'nt' else os.environ['PREFIX']; p = subprocess.Popen([os.path.join(d, 'lib', 'fuse_optimizers', 'fixed_lag_smoother_node')]); time.sleep(5); r = p.poll(); p.terminate(); time.sleep(3); p.kill(); p.wait(); sys.exit(0 if r is None else 1)"

shared/vinca.yaml

@@ -118,6 +118,7 @@ packages_select_by_deps:
   - flex_sync
   - foxglove_bridge
   - foxglove_msgs
+  - fuse # requested in https://github.com/RoboStack/ros-lyrical/pull/85
   - gazebo_dev
   - gazebo_msgs
   - gazebo_plugins