Add MOLA on MRPT 3

distros/humble/patch/dependencies.yaml

@@ -62,6 +62,11 @@ mimick_vendor:
   add_build: ["vcstool"]
 moveit_visual_tools:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+mrpt_gui:
+  # Overrides shared/: this distribution maps Qt to qt-main 5.15, whose builds need
+  # gstreamer <1.27, while the pinned wxwidgets (3.3.3) needs gstreamer 1.28. A version
+  # spec bypasses that pin, so the solver picks a wxwidgets that coexists with qt-main.
+  add_host: ["wxwidgets >=3.2", "${{ 'glad' if win }}"]  # glad: as in shared/
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}"]
 nav2_util:

distros/jazzy/patch/dependencies.yaml

@@ -101,6 +101,11 @@ mimick_vendor:
   add_host: ["setuptools <81"]
 moveit_visual_tools:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+mrpt_gui:
+  # Overrides shared/: this distribution maps Qt to qt-main 5.15, whose builds need
+  # gstreamer <1.27, while the pinned wxwidgets (3.3.3) needs gstreamer 1.28. A version
+  # spec bypasses that pin, so the solver picks a wxwidgets that coexists with qt-main.
+  add_host: ["wxwidgets >=3.2", "${{ 'glad' if win }}"]  # glad: as in shared/
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}"]
 nav2_mppi_controller:

shared/patch/dependencies.yaml

@@ -78,6 +78,29 @@ moveit_setup_framework:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 moveit_setup_srdf_plugins:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+mrpt_common:
+  # CMakeLists.txt calls find_package(ament_cmake) when ROS_VERSION=2 (set by ros_environment),
+  # but package.xml (build_type cmake) does not declare it
+  add_host: ["ros2-ament-cmake"]
+mrpt_gui:
+  # links libwx_*; the wxwidgets/wx-common keys map to wxpython, so wxwidgets is only a
+  # transitive host dep and its (weak) run_exports never reach the run requirements
+  # Windows: nanogui links conda-forge's glad instead of its bundled copy (ros2-mrpt-gui.win.patch)
+  add_host: ["wxwidgets", "${{ 'glad' if win }}"]
+mrpt_imgui:
+  # Windows: links conda-forge's GLEW like mrpt_opengl, also for its users (ros2-mrpt-imgui.win.patch)
+  add_host: ["${{ 'glew' if win }}"]
+  add_run: ["${{ 'glew' if win }}"]
+mrpt_math:
+  # its public headers include Eigen, and its exported CMake targets (and mrpt_poses') carry
+  # the eigen3 include directory: users need the headers (eigen-abi-devel's run_exports only
+  # add eigen-abi), or dependents without their own eigen dependency fail to configure
+  add_run: ["eigen"]
+mrpt_opengl:
+  # Windows: the release source has no bundled GLEW (ros2-mrpt-opengl.win.patch); users of
+  # opengl_api.h need GL/glew.h too
+  add_host: ["${{ 'glew' if win }}"]
+  add_run: ["${{ 'glew' if win }}"]
 mujoco_ros2_control_plugins:
   add_host:
   - if: linux

shared/patch/ros2-mola-bridge-ros2.win.patch

@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1002ccf..fc37b9a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -85,6 +85,10 @@ mola_add_library(
+ # Same for mrpt_libros_bridge
+ mola_version_to_hexadecimal(mrpt_libros_bridge_VERSION_HEX ${mrpt_libros_bridge_VERSION})
+ target_compile_definitions(${PROJECT_NAME} PRIVATE MRPT_ROS2_BRIDGE_VERSION=${mrpt_libros_bridge_VERSION_HEX})
++if(MSVC)
++  # error C1128: number of sections exceeded object file format limit
++  target_compile_options(${PROJECT_NAME} PRIVATE /bigobj)
++endif()
+ message(STATUS "Found: mrpt_libros_bridge_VERSION: ${mrpt_libros_bridge_VERSION} (${mrpt_libros_bridge_VERSION_HEX})")
+
+ if (gps_msgs_FOUND)

shared/patch/ros2-mola-kernel.win.patch

@@ -0,0 +1,49 @@
+diff --git a/include/mola_kernel/interfaces/DiagnosticsProvider.h b/include/mola_kernel/interfaces/DiagnosticsProvider.h
+index 9ee9be8..fb7423d 100644
+--- a/include/mola_kernel/interfaces/DiagnosticsProvider.h
++++ b/include/mola_kernel/interfaces/DiagnosticsProvider.h
+@@ -22,6 +22,12 @@
+ #include <string>
+ #include <vector>
+
++// windows.h (wingdi.h) defines ERROR, which breaks DiagnosticLevel::ERROR below
++// (the generated diagnostic_msgs headers do the same)
++#if defined(_WIN32) && defined(ERROR)
++#undef ERROR
++#endif
++
+ namespace mola
+ {
+ /** \addtogroup mola_kernel_interfaces_grp
+diff --git a/include/mola_kernel/interfaces/VizInterface.h b/include/mola_kernel/interfaces/VizInterface.h
+index e86f489..1d67359 100644
+--- a/include/mola_kernel/interfaces/VizInterface.h
++++ b/include/mola_kernel/interfaces/VizInterface.h
+@@ -147,10 +147,12 @@ class VizInterface
+   [[nodiscard]] virtual const std::string& gui_backend() const noexcept = 0;
+
+   /// Canonical backend name returned by MolaViz (nanogui).
+-  static const std::string BACKEND_NANOGUI;  // defined in VizInterface.cpp as "nanogui"
++  // RoboStack: inline, so Windows DLLs using it need no exported data symbol
++  static inline const std::string BACKEND_NANOGUI = "nanogui";
+
+   /// Canonical backend name returned by MolaVizImGui (Dear ImGui).
+-  static const std::string BACKEND_IMGUI;  // defined in VizInterface.cpp as "imgui"
++  // RoboStack: inline, so Windows DLLs using it need no exported data symbol
++  static inline const std::string BACKEND_IMGUI = "imgui";
+
+   /**
+    * \brief Installs or replaces the menu bar of a parent window.
+diff --git a/src/interfaces/VizInterface.cpp b/src/interfaces/VizInterface.cpp
+index 8b207c8..1caa66f 100644
+--- a/src/interfaces/VizInterface.cpp
++++ b/src/interfaces/VizInterface.cpp
+@@ -24,7 +24,5 @@ namespace mola
+
+ VizInterface::~VizInterface() = default;
+
+-const std::string VizInterface::BACKEND_NANOGUI = "nanogui";
+-const std::string VizInterface::BACKEND_IMGUI   = "imgui";
+
+ }  // namespace mola
+\ No newline at end of file

shared/patch/ros2-mola-launcher.patch

@@ -0,0 +1,70 @@
+diff --git a/src/MolaDLL_Loader.cpp b/src/MolaDLL_Loader.cpp
+--- a/src/MolaDLL_Loader.cpp
++++ b/src/MolaDLL_Loader.cpp
+@@ -24,7 +24,7 @@
+
+ #include <map>
+
+-#if defined(__unix__)
++#if defined(__unix__) || defined(__APPLE__)
+ #include <dlfcn.h>
+ #endif
+
+@@ -39,7 +39,9 @@
+ {
+   MRPT_TRY_START
+
+-#if defined(__unix__)
++#if defined(__APPLE__)
++#define DLL_EXT "dylib"
++#elif defined(__unix__)
+ #define DLL_EXT "so"
+ #else
+ #define DLL_EXT "dll"
+@@ -59,11 +61,14 @@
+     for (const auto& lib : lst)
+     {
+       if (lib.name.find("mola") == std::string::npos) continue;  // skip
++      // ROS interface libraries (e.g. mola_msgs) are never MOLA modules, and the
++      // Python ones cannot be dlopen()ed from a non-Python process:
++      if (lib.name.find("__rosidl_") != std::string::npos) continue;  // skip
+
+       // Already loaded?
+       if (loaded_lib_handled.count(lib.name) != 0) continue;  // skip
+
+-#if defined(__unix__)
++#if defined(__unix__) || defined(__APPLE__)
+       // Check if already loaded?
+       {
+         void* handle = dlopen(lib.wholePath.c_str(), RTLD_NOLOAD);
+@@ -109,7 +114,7 @@
+   {
+     // printf("[mola-launcher] Unloading: %s\n",
+     // lib.second.lib_path.c_str());
+-#if defined(__unix__)
++#if defined(__unix__) || defined(__APPLE__)
+     dlclose(lib.second.handle);
+ #else
+     FreeLibrary(lib.second.handle);
+diff --git a/src/MolaLauncherApp.cpp b/src/MolaLauncherApp.cpp
+--- a/src/MolaLauncherApp.cpp
++++ b/src/MolaLauncherApp.cpp
+@@ -119,6 +119,18 @@
+   // do not filter these ones by *directory* name, since *filenames* will be
+   // filtered later on:
+   from_env_var_to_list("LD_LIBRARY_PATH", lib_search_paths_);
++
++  // conda/RoboStack environments do not set LD_LIBRARY_PATH: also search
++  // <prefix>/lib (<prefix>/bin for Windows DLLs) for every prefix in AMENT_PREFIX_PATH.
++  {
++    std::vector<std::string> prefixes;
++    from_env_var_to_list("AMENT_PREFIX_PATH", prefixes);
++#if defined(_WIN32)
++    for (const auto& prefix : prefixes) safe_add_to_list(prefix + "/bin", lib_search_paths_);
++#else
++    for (const auto& prefix : prefixes) safe_add_to_list(prefix + "/lib", lib_search_paths_);
++#endif
++  }
+ }
+
+ MolaLauncherApp::~MolaLauncherApp()

shared/patch/ros2-mola-launcher.win.patch

@@ -0,0 +1,105 @@
+diff --git a/apps/mola-cli.cpp b/apps/mola-cli.cpp
+index 2bd97ff..d77ceda 100644
+--- a/apps/mola-cli.cpp
++++ b/apps/mola-cli.cpp
+@@ -23,7 +23,11 @@
+ #include <mrpt/core/exceptions.h>
+ #include <mrpt/rtti/CObject.h>
+ #include <mrpt/system/filesystem.h>
++#if defined(_WIN32)
++#include <io.h>  // _write()
++#else
+ #include <unistd.h>  // write()
++#endif
+
+ #include <CLI/CLI.hpp>
+ #include <atomic>
+@@ -48,7 +52,11 @@ void mola_signal_handler([[maybe_unused]] int s)
+   // raw write() to stderr. The actual shutdown (which logs, sleeps and joins
+   // threads) is done by the main thread as soon as spin() returns.
+   static const char           msg[] = "\nTermination signal caught. Shutting down...\n";
++#if defined(_WIN32)
++  [[maybe_unused]] const auto n = ::_write(2, msg, sizeof(msg) - 1);
++#else
+   [[maybe_unused]] const auto n     = ::write(STDERR_FILENO, msg, sizeof(msg) - 1);
++#endif
+
+   if (auto* app = theApp.load())
+   {
+@@ -58,6 +66,11 @@ void mola_signal_handler([[maybe_unused]] int s)
+
+ void mola_install_signal_handler()
+ {
++#if defined(_WIN32)
++  // No sigaction() on Windows:
++  std::signal(SIGINT, &mola_signal_handler);
++  std::signal(SIGTERM, &mola_signal_handler);
++#else
+   struct sigaction sigIntHandler;
+
+   sigIntHandler.sa_handler = &mola_signal_handler;
+@@ -71,6 +84,7 @@ void mola_install_signal_handler()
+   // the main MOLA loop keeps running, so the process never exits and lingers
+   // with its ROS 2 endpoints still advertised but no longer served.
+   sigaction(SIGTERM, &sigIntHandler, nullptr);
++#endif
+ }
+
+ // Default task for mola-cli: launching a SLAM system
+diff --git a/src/MolaDLL_Loader.cpp b/src/MolaDLL_Loader.cpp
+index ec376eb..6dcee68 100644
+--- a/src/MolaDLL_Loader.cpp
++++ b/src/MolaDLL_Loader.cpp
+@@ -26,6 +26,11 @@
+
+ #if defined(__unix__) || defined(__APPLE__)
+ #include <dlfcn.h>
++#elif defined(_WIN32)
++#ifndef NOMINMAX
++#define NOMINMAX
++#endif
++#include <windows.h>  // LoadLibraryA(), FreeLibrary()
+ #endif
+
+ /** From internal_load_lib_modules() */
+@@ -81,11 +86,17 @@ void internal_load_lib_modules(
+
+       void* handle = dlopen(lib.wholePath.c_str(), RTLD_LAZY);
+ #else
+-      HMODULE handle = LoadLibrary(lib.wholePath.c_str());
++      void* handle = LoadLibraryA(lib.wholePath.c_str());
+ #endif
+       if (handle == nullptr)
+       {
++#if defined(_WIN32)
++        const std::string err_str =
++            mrpt::format("LoadLibrary() error code %lu", static_cast<unsigned long>(GetLastError()));
++        const char* err = err_str.c_str();
++#else
+         const char* err = dlerror();
++#endif
+         if (!err) err = "(error calling dlerror())";
+         THROW_EXCEPTION(mrpt::format(
+             "Error loading module: `%s`\ndlerror(): `%s`", lib.wholePath.c_str(), err));
+@@ -117,7 +128,7 @@ void internal_unload_lib_modules()
+ #if defined(__unix__) || defined(__APPLE__)
+     dlclose(lib.second.handle);
+ #else
+-    FreeLibrary(lib.second.handle);
++    FreeLibrary(static_cast<HMODULE>(lib.second.handle));
+ #endif
+   }
+   loaded_lib_handled.clear();
+diff --git a/src/MolaLauncherApp.cpp b/src/MolaLauncherApp.cpp
+index d939bfe..37be9fc 100644
+--- a/src/MolaLauncherApp.cpp
++++ b/src/MolaLauncherApp.cpp
+@@ -99,7 +99,7 @@ std::string relative_to_abs_path(
+   if (f.is_relative())
+   {
+     f = fs::path(*basePath) / f;
+-    return f;
++    return f.string();  // no implicit conversion on Windows (wchar_t paths)
+   }
+   else
+     return path;

shared/patch/ros2-mola-metric-maps.win.patch

@@ -0,0 +1,28 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 775a066..073a5f8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -187,7 +187,8 @@ add_subdirectory(apps)
+ # -----------------------
+ # define tests:
+ enable_testing()
+-add_subdirectory(tests)
++# RoboStack: not on Windows, the tests use POSIX setenv()/unsetenv()
++# add_subdirectory(tests)
+
+ # -----------------------------------------------------------------------------
+ #  ROS2
+diff --git a/src/KeyframePointCloudMap.cpp b/src/KeyframePointCloudMap.cpp
+index 74b2701..1a38249 100644
+--- a/src/KeyframePointCloudMap.cpp
++++ b/src/KeyframePointCloudMap.cpp
+@@ -1864,7 +1864,8 @@ namespace
+ /// axis with a large centering offset, covering ~ +/-1e6 voxels per axis.
+ inline int64_t voxelKey(float x, float y, float z, double inv_voxel)
+ {
+-  constexpr int64_t kOffset = 1 << 20;  // center the range around 0
++  // RoboStack: static, so the lambda below needn't capture it (MSVC requires that, C3493)
++  static constexpr int64_t kOffset = 1 << 20;  // center the range around 0
+   const auto        q       = [inv_voxel](float c)
+   { return static_cast<int64_t>(std::floor(static_cast<double>(c) * inv_voxel)) + kOffset; };
+   const int64_t ix = q(x);

shared/patch/ros2-mola-yaml.win.patch

@@ -0,0 +1,22 @@
+diff --git a/include/mola_yaml/macro_helpers.h b/include/mola_yaml/macro_helpers.h
+index 0f76953..cb7c4a4 100644
+--- a/include/mola_yaml/macro_helpers.h
++++ b/include/mola_yaml/macro_helpers.h
+@@ -48,7 +48,10 @@
+ // which corresponds to the actual argument count (up to 10 args supported).
+ // ---------------------------------------------------------------------------
+ #define MOLA_NARG(...) MOLA_NARG_I_(__VA_ARGS__, MOLA_RSEQ_N())
+-#define MOLA_NARG_I_(...) MOLA_ARG_N(__VA_ARGS__)
++// MSVC's traditional preprocessor passes __VA_ARGS__ on as one argument unless
++// it is rescanned through another macro:
++#define MOLA_EXPAND_(x) x
++#define MOLA_NARG_I_(...) MOLA_EXPAND_(MOLA_ARG_N(__VA_ARGS__))
+
+ /** Picks the 11th argument - used internally by MOLA_NARG. */
+ #define MOLA_ARG_N(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10, N, ...) N
+@@ -80,4 +83,4 @@
+  * @param func  Base name of the macro family (without trailing digit).
+  * @param ...   Arguments forwarded verbatim to the selected overload.
+  */
+-#define VFUNC(func, ...) MOLA_VFUNC(func, MOLA_NARG(__VA_ARGS__))(__VA_ARGS__)
++#define VFUNC(func, ...) MOLA_EXPAND_(MOLA_VFUNC(func, MOLA_NARG(__VA_ARGS__))(__VA_ARGS__))