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Add rko_lio - #119
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Ports RoboStack/ros-kilted#104: rko_lio (PRBonn's KISS-ICP-based LiDAR-inertial odometry). It's released as 0.4.2 in humble, jazzy, lyrical and rolling, so no additional recipe is needed. Maps robin-map-dev to conda-forge's tsl_robin_map, and drops rko_lio's Eigen 3.4 minimum version, which Eigen 5's config (SameMajorVersion) rejects. Co-authored-by: Sattwik Kumar Sahu <98335434+sattwik-sahu@users.noreply.github.com> Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Turns the local checks of this PR into a recipe test, so later rebuilds keep them. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Human Tobi: looks good to go once the sync PRs are in |
Tobias-Fischer
added
build:humble
online_node throws UninitializedStaticallyTypedParameterException without imu_topic, lidar_topic and base_frame (CI, linux-64 and osx-arm64). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Tobias-Fischer
added
the
build:win
Tobias-Fischer
added
build:rolling
On macOS the test ran for hours: after SIGTERM the node kept running and held the test's output open, so rattler-build waited for it. Kill it after 3 s and wait. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Ports RoboStack/ros-kilted#104 by @sattwik-sahu: adds
rko_lio(PRBonn's KISS-ICP-based LiDAR-inertial odometry) to the shared selection.rko_lio0.4.2 is released in the humble, jazzy, lyrical and rolling rosdistros, so the PR's additional recipe (0.4.0) isn't needed.robostack.yaml:robin-map-dev→ conda-forgetsl_robin_map(as in the PR).shared/patch/ros2-rko-lio.patch:find_package(Eigen3 3.4 REQUIRED CONFIG)without the minimum version. Eigen 5's config (SameMajorVersion) rejects a 3.x request; kilted didn't notice because it's still on Eigen 3.4.Recipe test:
online_nodestarts and keeps running (shared/tests/ros2-rko-lio.yaml); afterwards it's killed if SIGTERM doesn't stop it (on macOS it kept running and the test waited for hours). Unix only (it starts the node by itslib/path).Built locally
rko_lioincl. its recipe test; installed,online_node,offline_nodeandonline_imu_rate_nodestart.rko_lioincl. its recipe test.CI (run): humble, jazzy, lyrical and rolling build
rko_lioon all platforms incl. win-64. The syncs it was prepared on are merged.🤖 Generated with Claude Code