Add rmf_dev

distros/humble/patch/dependencies.yaml

@@ -89,9 +89,6 @@ py_trees_ros_tutorials:
   # PyQt6 (the rqt stack) can't be installed together
   remove_run: ["pyqt", "pyqt-builder"]
   add_run: ["pyqt6"]
-pybind11_json_vendor:
-  add_host: ["pybind11_json"]
-  add_run: ["pybind11_json"]
 python_qt_binding:
   # pyside2 has no python 3.14 build; port to PyQt6 instead.
   remove_host: ["qt-main", "pyqt"]

distros/humble/patch/ros2-menge-vendor.win.patch

@@ -0,0 +1,27 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7b578b1..5475546 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -60,10 +60,21 @@ add_library(
+
+ target_include_directories( menge_vendor PUBLIC ${TinyXML_INCLUDE_DIRS} )
+
+-target_link_libraries ( menge_vendor PUBLIC dl PRIVATE ${TinyXML_LIBRARIES} )
++if(WIN32)
++  target_link_libraries ( menge_vendor PRIVATE ${TinyXML_LIBRARIES} )
++else()
++  target_link_libraries ( menge_vendor PUBLIC dl PRIVATE ${TinyXML_LIBRARIES} )
++endif()
+
+ set_target_properties( menge_vendor PROPERTIES LINKER_LANGUAGE CXX )
+
++if(WIN32)
++  # CoreConfig.h exports MENGE_API symbols only with MENGECORE_EXPORTS (dllimport otherwise,
++  # and MSVC rejects defining dllimport static data members); no libdl on Windows
++  # (SharedLibrary.h uses LoadLibrary there).
++  target_compile_definitions( menge_vendor PRIVATE MENGECORE_EXPORTS )
++endif()
++
+ include(GNUInstallDirs)
+
+ ament_export_include_directories(include)

distros/humble/patch/ros2-rmf-api-msgs.win.patch

@@ -0,0 +1,45 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 27156a0..44d4528 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -83,11 +83,20 @@ install(
+
+ # Generate python schemas mode whenever colcon is triggered
+ message(" Generating schema as py mods")
++# "eval" is a POSIX shell builtin, not a real command -- fails on Windows
++# with "'eval' is not recognized". Pass the command as plain CMake
++# arguments instead of a quoted shell string; portable everywhere.
++# conda-forge's Windows Python is "python.exe", not "python3.exe".
++if(WIN32)
++  set(PY_EXECUTABLE_NAME python)
++else()
++  set(PY_EXECUTABLE_NAME python3)
++endif()
+ ADD_CUSTOM_TARGET(
+   py_schemas_gen ALL
+-  COMMAND eval "python3 generate_py_schemas.py \
+-    --schemas_dir ${CMAKE_CURRENT_LIST_DIR}/schemas \
+-    --output_file ${CMAKE_CURRENT_LIST_DIR}/rmf_api_msgs/schemas.py"
++  COMMAND ${PY_EXECUTABLE_NAME} generate_py_schemas.py
++    --schemas_dir ${CMAKE_CURRENT_LIST_DIR}/schemas
++    --output_file ${CMAKE_CURRENT_LIST_DIR}/rmf_api_msgs/schemas.py
+   WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/scripts)
+
+ # Generate pydantic models according to schemas
+@@ -97,11 +106,11 @@ if(PY_MODELGEN_AVAIL)
+   message(" Generating py models with 'datamodel-codegen'")
+   ADD_CUSTOM_TARGET(
+     py_models_gen ALL
+-    COMMAND eval "datamodel-codegen \
+-      --disable-timestamp \
+-      --input-file-type jsonschema  \
+-      --input ${CMAKE_CURRENT_LIST_DIR}/schemas \
+-      --output ${CMAKE_CURRENT_LIST_DIR}/rmf_api_msgs/models"
++    COMMAND datamodel-codegen
++      --disable-timestamp
++      --input-file-type jsonschema
++      --input ${CMAKE_CURRENT_LIST_DIR}/schemas
++      --output ${CMAKE_CURRENT_LIST_DIR}/rmf_api_msgs/models
+     WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/scripts)
+ else()
+   message(

distros/humble/patch/ros2-rmf-battery.win.patch

@@ -0,0 +1,35 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b00fb4c..bd84a62 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -12,6 +12,13 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ endif()
+
++if(MSVC)
++  # M_PI et al. are non-standard extensions MSVC only defines when this
++  # is set. Used both in rmf_traffic's installed Interpolate.hpp
++  # (consumed here) and in this package's own test_battery_drain.cpp.
++  add_compile_definitions(_USE_MATH_DEFINES)
++endif()
++
+ if(NOT CMAKE_BUILD_TYPE)
+   # Use the Release build type by default if the user has not specified one
+   set(CMAKE_BUILD_TYPE Release)
+@@ -36,6 +43,16 @@ add_library(rmf_battery SHARED
+   ${core_lib_srcs}
+ )
+
++if(WIN32)
++  # rmf_battery has no dllexport annotations at all. As a shared library
++  # on Windows with nothing explicitly exported, link.exe does not
++  # produce an import .lib, so every consumer fails with LNK1181
++  # "cannot open input file 'rmf_battery.lib'" even though
++  # rmf_battery.dll itself builds fine. Auto-export everything, same
++  # fix used for rmf_utils/rmf_traffic earlier in this package family.
++  set_target_properties(rmf_battery PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
++
+ target_link_libraries(rmf_battery
+   PUBLIC
+     rmf_utils::rmf_utils

distros/humble/patch/ros2-rmf-building-sim-common.win.patch

@@ -0,0 +1,17 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 19810d4..fd41036 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,6 +1,12 @@
+ cmake_minimum_required(VERSION 3.5)
+ project(rmf_building_sim_common)
+
++if(MSVC)
++  # Menge's headers include windows.h: without NOMINMAX its min/max macros break
++  # rclcpp's std::numeric_limits<...>::max() (C2589); M_PI needs _USE_MATH_DEFINES
++  add_compile_definitions(NOMINMAX _USE_MATH_DEFINES)
++endif()
++
+ # Default to C99
+ if(NOT CMAKE_C_STANDARD)
+   set(CMAKE_C_STANDARD 99)

distros/humble/patch/ros2-rmf-building-sim-gz-classic-plugins.patch

@@ -0,0 +1,29 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9ffa144..c890ff0 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -148,6 +148,9 @@ target_include_directories(crowd_simulator
+     ${rmf_building_sim_common_INCLUDE_DIRS}
+ )
+
++# libgazebo and sdformat (macOS links with -undefined error)
++target_link_libraries(crowd_simulator ${GAZEBO_LIBRARIES})
++
+ ###############################
+ # install stuff
+ ###############################
+diff --git a/src/thumbnail_generator.cpp b/src/thumbnail_generator.cpp
+index 584a92f..c41c8cf 100644
+--- a/src/thumbnail_generator.cpp
++++ b/src/thumbnail_generator.cpp
+@@ -21,6 +21,10 @@
+ #include <boost/program_options.hpp>
+ #include <ignition/transport/Node.hh>
+ #include <opencv2/opencv.hpp>
++#if __has_include(<opencv2/geometry.hpp>)
++// OpenCV 5 moved cv::boundingRect to the geometry module
++#include <opencv2/geometry.hpp>
++#endif
+
+ #include "gazebo/msgs/msgs.hh"
+ #include "gazebo/transport/transport.hh"

distros/humble/patch/ros2-rmf-fleet-adapter.patch

@@ -0,0 +1,140 @@
+diff --git a/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-notification.hpp b/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-notification.hpp
+index 20e0c69..0fae30f 100644
+--- a/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-notification.hpp
++++ b/rmf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-notification.hpp
+@@ -150,7 +150,6 @@ private:
+         }
+         on_error_notification(const on_error_notification& o) : ep(o.ep) {}
+         on_error_notification(const on_error_notification&& o) : ep(std::move(o.ep)) {}
+-        on_error_notification& operator=(on_error_notification o) { ep = std::move(o.ep); return *this; }
+         virtual void out(std::ostream& os) const {
+             os << "on_error(";
+             os << rxu::what(ep);
+diff --git a/src/full_control/main.cpp b/src/full_control/main.cpp
+index e979212..6ae1df8 100644
+--- a/src/full_control/main.cpp
++++ b/src/full_control/main.cpp
+@@ -1039,8 +1039,12 @@ std::shared_ptr<Connections> make_fleet(
+       request_msg->fleet_name.empty())
+         return;
+
+-      connections->fleet->open_lanes(request_msg->open_lanes);
+-      connections->fleet->close_lanes(request_msg->close_lanes);
++      connections->fleet->open_lanes(
++        std::vector<std::size_t>(
++          request_msg->open_lanes.begin(), request_msg->open_lanes.end()));
++      connections->fleet->close_lanes(
++        std::vector<std::size_t>(
++          request_msg->close_lanes.begin(), request_msg->close_lanes.end()));
+
+       std::unordered_set<std::size_t> newly_closed_lanes;
+       for (const auto& l : request_msg->close_lanes)
+@@ -1093,7 +1097,9 @@ std::shared_ptr<Connections> make_fleet(
+         requests.push_back(std::move(request));
+       }
+       connections->fleet->limit_lane_speeds(requests);
+-      connections->fleet->remove_speed_limits(request_msg->remove_limits);
++      connections->fleet->remove_speed_limits(
++        std::vector<std::size_t>(
++          request_msg->remove_limits.begin(), request_msg->remove_limits.end()));
+     });
+
+   connections->interrupt_request_sub =
+diff --git a/src/rmf_fleet_adapter/LegacyTask.cpp b/src/rmf_fleet_adapter/LegacyTask.cpp
+index bdbb184..191d04a 100644
+--- a/src/rmf_fleet_adapter/LegacyTask.cpp
++++ b/src/rmf_fleet_adapter/LegacyTask.cpp
+@@ -22,7 +22,9 @@
+
+ #include <rxcpp/rx-observable.hpp>
+
++#if defined(__linux__)
+ #include <malloc.h>
++#endif
+
+ namespace rmf_fleet_adapter {
+
+@@ -157,7 +159,9 @@ void LegacyTask::_start_next_phase()
+     //
+     // TODO(MXG): Remove this when the planner has been made more
+     // memory-efficient.
++#if defined(__linux__)
+     malloc_trim(0);
++#endif
+
+     return;
+   }
+diff --git a/src/rmf_fleet_adapter/TaskManager.cpp b/src/rmf_fleet_adapter/TaskManager.cpp
+index 6edcf44..e9e8d78 100644
+--- a/src/rmf_fleet_adapter/TaskManager.cpp
++++ b/src/rmf_fleet_adapter/TaskManager.cpp
+@@ -344,9 +344,9 @@ nlohmann::json& copy_phase_data(
+   phase_state["category"] = header.category();
+   phase_state["detail"] = header.detail();
+   phase_state["original_estimate_millis"] =
+-    std::max(0l, to_millis(header.original_duration_estimate()).count());
++    std::max<int64_t>(0, to_millis(header.original_duration_estimate()).count());
+   phase_state["estimate_millis"] =
+-    std::max(0l, to_millis(snapshot.estimate_remaining_time()).count());
++    std::max<int64_t>(0, to_millis(snapshot.estimate_remaining_time()).count());
+   phase_state["final_event_id"] = snapshot.final_event()->id();
+   auto& event_states = phase_state["events"];
+
+@@ -410,7 +410,7 @@ void copy_phase_data(
+   phase["category"] = header.category();
+   phase["detail"] = header.detail();
+   phase["estimate_millis"] =
+-    std::max(0l, to_millis(header.original_duration_estimate()).count());
++    std::max<int64_t>(0, to_millis(header.original_duration_estimate()).count());
+ }
+
+ //==============================================================================
+@@ -484,9 +484,9 @@ void TaskManager::ActiveTask::publish_task_state(TaskManager& mgr)
+   _state_msg["unix_millis_finish_time"] =
+     to_millis(finish_estimate.time_since_epoch()).count();
+   _state_msg["original_estimate_millis"] =
+-    std::max(0l, to_millis(header.original_duration_estimate()).count());
++    std::max<int64_t>(0, to_millis(header.original_duration_estimate()).count());
+   _state_msg["estimate_millis"] =
+-    std::max(0l, to_millis(remaining_time_estimate).count());
++    std::max<int64_t>(0, to_millis(remaining_time_estimate).count());
+   copy_assignment(_state_msg["assigned_to"], *mgr._context);
+   _state_msg["status"] =
+     status_to_string(_task->status_overview());
+@@ -1838,7 +1838,7 @@ rmf_task::State TaskManager::_publish_pending_task(
+     const auto estimate =
+       pending.finish_state().time().value() - pending.deployment_time();
+     pending_json["original_estimate_millis"] =
+-      std::max(0l, to_millis(estimate).count());
++      std::max<int64_t>(0, to_millis(estimate).count());
+   }
+   copy_assignment(pending_json["assigned_to"], *_context);
+   pending_json["status"] = "queued";
+diff --git a/src/rmf_fleet_adapter/agv/internal_FleetUpdateHandle.hpp b/src/rmf_fleet_adapter/agv/internal_FleetUpdateHandle.hpp
+index 56e8e5a..a27465c 100644
+--- a/src/rmf_fleet_adapter/agv/internal_FleetUpdateHandle.hpp
++++ b/src/rmf_fleet_adapter/agv/internal_FleetUpdateHandle.hpp
+@@ -73,7 +73,9 @@
+ #include <iostream>
+ #include <unordered_set>
+ #include <optional>
++#if defined(__linux__)
+ #include <malloc.h>
++#endif
+
+ namespace rmf_fleet_adapter {
+ namespace agv {
+@@ -360,7 +362,12 @@ public:
+     // TODO(MXG): Remove this when the planner has been made more
+     // memory-efficient.
+     handle->_pimpl->memory_trim_timer = handle->_pimpl->node->create_wall_timer(
+-      std::chrono::minutes(5), []() { malloc_trim(0); });
++      std::chrono::minutes(5), []()
++      {
++#if defined(__linux__)
++        malloc_trim(0);
++#endif
++      });
+
+     // Create subs and pubs for bidding
+     auto transient_qos = rclcpp::QoS(10).transient_local();