[Tobias-Fischer]

Closes #106, porting RoboStack/ros-lyrical#30 by @wolfv: adds mola to the shared selection, on all platforms. MOLA 3.x now builds on MRPT 3 (mrpt3-release: mrpt_core, mrpt_math, …) and mp2p_icp 3.0 is split into mp2p_icp_core/mp2p_icp_viz, so the old PR's MRPT 2 workarounds aren't used. Everything is released in the rosdistros (MOLA 3.3.x and MRPT 3 for humble, jazzy, lyrical and rolling), so no additional recipes.

One commit per fix:

• cli11 rosdep key → conda-forge cli11 (was unmapped: mola_launcher, mp2p_icp_core/_viz, mola_metric_maps couldn't find CLI11). Side effect: gz_utils_vendor and ros_gz_sim also get cli11 in their recipes, so they rebuild.
• mrpt_common: host-depends on ament_cmake (its CMakeLists uses it with ROS_VERSION=2, its package.xml doesn't declare it); mrpt_gui: host-depends on wxwidgets (the wxwidgets/wx-common keys map to wxpython only, so libmrpt_gui.so lacked libwx_baseu-3.3.so at runtime).
• mrpt_gui: NO_CMAKE_FIND_ROOT_PATH for the bundled nanogui fonts (conda's find-root settings hid them).
• mrpt_imgui_vendor: links ${CMAKE_DL_LIBS} publicly (dlopen is in libdl on the glibc 2.28 sysroot).
• mola_launcher: also looks for modules in <prefix>/lib of each AMENT_PREFIX_PATH entry (a conda environment sets neither MOLA_MODULES_LIB_PATH nor LD_LIBRARY_PATH, so it found 0 modules), and skips *__rosidl_* libraries, which are never modules (loading the Python type support one crashed). The only patch that changes upstream behaviour.
• The mola metapackage doesn't pull in mola_lidar_odometry/mola_state_estimation*; they can be added if wanted.

macOS (osx-arm64 trial):

• mrpt_maps: the bundled Bonxai Grid move assignment re-constructs its Mask (const members): clang instantiates it and rejects the implicitly deleted assignment, GCC never instantiates it.
• mrpt_gui: also builds the bundled nanogui on macOS (upstream defaults it off on Apple, which removes CDisplayWindowGUI that mola_viz needs).
• mp2p_icp_core: dlopen and lib<name>.dylib on __APPLE__ (macOS took the Windows LoadLibrary branch, as Apple clang doesn't define __unix__), plugin search in each AMENT_PREFIX_PATH's lib like mola_launcher, and size_t values serialized as uint64_t (MRPT's CArchive only takes fixed-width integers; size_t is unsigned long but uint64_t is unsigned long long on macOS; the same type on Linux).
• mp2p_icp_viz: links CoreServices on Apple (libcfgpath uses FSFindFolder).
• mola_launcher: dlopen/.dylib modules on __APPLE__, as mp2p_icp_core.

Windows:

• GLEW: the MRPT 3 release sources have no bundled GLEW (3rdparty/), so mrpt_opengl and mrpt_imgui link conda-forge's glew (a DLL: no GLEW_STATIC); mrpt_imgui's header calls GL extension functions inline, so its users get GLEW too (glew32.lib by path in the installed targets).
• mrpt_gui: re-enables GDI (/UNOGDI: the ROS build scripts set NOGDI for every package, but wxWidgets' and nanogui's GUI code need it), <commdlg.h> for nanogui's file dialog, and installs nanogui's bundled glad headers (its opengl.h includes them on Windows, upstream only installs the GLFW and nanovg headers).
• mrpt_math: run-depends on eigen on Windows (its exported targets carry the Eigen include path). mrpt_libros_bridge exports all symbols.
• mola_kernel: #undef ERROR (wingdi.h) before DiagnosticLevel::ERROR; VizInterface's backend names as inline variables (static data members aren't exported by export-all, so mola_viz failed to link).
• mola_launcher and mp2p_icp_core: modules and plugins load with LoadLibrary (<name>.dll, searched in each prefix's bin); mola-cli uses signal() and _write().
• mola_yaml: an extra macro expansion for MSVC's traditional preprocessor (__VA_ARGS__); mola_bridge_ros2: /bigobj; mola_metric_maps: static constexpr for a lambda (C3493), and its tests aren't built (POSIX setenv()).

Qt 5 distributions (jazzy, humble):

• mrpt_gui: add_host: wxwidgets >=3.2 in distros/{jazzy,humble}/patch/dependencies.yaml, overriding the shared wxwidgets. These distributions map Qt to qt-main 5.15, whose builds need gstreamer <1.27 on Linux, while the pinned wxwidgets 3.3.3 needs gstreamer 1.28, so the host environment couldn't be solved. With a version spec the pin doesn't apply, and on linux-64 the solver takes wxwidgets 3.2.8.1 (gstreamer 1.26); its run_exports still reach the run requirements.
• mrpt_gui: error_box.cpp includes the wx headers only without Qt (its wx code is only used then). With Qt 5 on macOS, the wx and Qt headers clash (typedef 'NSData' cannot be referenced with the 'struct' specifier). No change on Linux or with Qt 6.

Recipe test on the mola metapackage: mola-cli --rtti-list-all lists MolaViz, BridgeROS2, Rosbag2Dataset and KeyframePointCloudMap, i.e. the launcher finds the module libraries without any environment variable (shared/tests/ros2-mola.yaml).

Built locally

• lyrical, linux-64: all 231 recipes of the mola closure (ROS core, 31 mrpt_*, 17 mola_*, mp2p_icp*), with their recipe tests. Smoke test in a fresh environment: mola-cli --help, icp-run --help, mm-info --help, mola-yaml-parser --help work; ldd finds every library; mola-cli --list-modules loads 12 modules (BridgeROS2, MolaViz, Rosbag2Dataset, KeyframePointCloudMap, …) without any environment variable set; import mrpt_msgs.msg, from mrpt import poses, import mola_msgs.srv work. That was before the macOS commits; those change Linux only by the extra AMENT_PREFIX_PATH plugin search in mp2p_icp_core (the __APPLE__ branches and size_t→uint64_t are the same code there), and a Linux rebuild with them is still to do.
• lyrical, osx-arm64: the same 231-recipe closure with recipe tests. mola-cli --list-modules loads the module libraries (bridge_ros2, the input_* modules, metric_maps, relocalization, viz; mola_kernel/launcher/yaml are linked directly), --rtti-list-all shows the same 13 mola:: classes as on Linux, the Python imports work, and otool -L shows only @rpath/system libraries. Not run: opening a window (nanogui on macOS isn't tested upstream), SLAM on a dataset.
• jazzy, osx-arm64: the same 231-recipe closure (MRPT 3.4.0, mp2p_icp 3.0.0, MOLA 3.3.1) with recipe tests. mola-cli --list-modules loads 9 module libraries as on lyrical, --rtti-list-all shows the 13 mola:: classes, libmrpt_gui.dylib links libwx_baseu-3.3 and libQt5Widgets, and mrpt_msgs, mola_msgs.srv and mrpt.gui import.
• jazzy, linux-64: the mola closure with recipe tests, on top of the jazzy sync and the other ports (a build host with a GPU and some system -dev packages, worked around locally). mrpt_gui's host environment solves as predicted (qt-main 5.15.15, gstreamer 1.26.11, wxwidgets 3.2.8.1). Smoke test in a fresh environment: mola-cli --list-modules lists the module libraries, --rtti-list-all shows the 13 mola:: classes, import mrpt_msgs.msg, mola_msgs.srv and from mrpt import poses work, and libmrpt_gui.so resolves libwx_baseu-3.2 and libQt5Widgets.
• humble, osx-arm64: the mola closure (MOLA 3.3.1, MRPT 3.5.0) with recipe tests; smoke test as on jazzy: 9 module libraries, the 13 mola:: classes, the Python imports; libmrpt_gui links wxWidgets 3.3 and Qt 5.
• rolling, osx-arm64: the mola closure (MOLA 3.3.2, MRPT 3.5.2) with recipe tests; the same smoke test passes (libmrpt_gui links wxWidgets 3.3, no Qt).
• humble, linux-64: the mola closure with recipe tests; smoke test: the module libraries are found, 13 mola:: classes, Python imports; libmrpt_gui.so resolves wxWidgets 3.2 and Qt 5.
• rolling, linux-64: the mola closure with recipe tests, incl. the new mola-cli --rtti-list-all test.

CI (run): green on humble, jazzy, lyrical and rolling, all platforms. osx-64 needed mrpt_common to compile the *.SSE2.cpp-style sources without the precompiled header (clang rejects a PCH built without -msse2; shared/patch/ros2-mrpt-common.patch). The syncs it was prepared on are merged.

🤖 Generated with Claude Code

[Tobias-Fischer]

Human Tobi: looks good to go once the sync PRs are in

[github-actions]

ABI check (linux-64)

About this check

Each package this pull request built, compared with its newest released build (tools/abi_check.py, libabigail):

• compatible / additions: the package can be bumped on its own;
• soname / incompatible: the packages that depend on it need a rebuild (build number bump) in the same pull request.

Exported symbols are compared (the released packages are stripped, so struct layouts aren't); unchanged installed headers rule out layout and inline changes, changed ones are listed for review. Dependents to rebuild are the released ones linking to a changed library. A changed pin is part of the comparison.