Merge pull request #253 from traversaro/addzenoh

 Add rmw_zenoh_cpp and de-vendor zenoh_cpp_vendor

conda_build_config.yaml

@@ -41,3 +41,8 @@ cxx_compiler:
 cxx_compiler_version:          # [unix]
   - 13                         # [linux]
   - 18                         # [osx]
+
+libzenohc:
+  - 1.1.1
+libzenohcxx:
+  - 1.1.1

patch/dependencies.yaml

@@ -179,4 +179,8 @@ rosx_introspection:
 octomap_ros:
   add_host: ["octomap"]
 octomap_rviz_plugins:
-  add_host: ["octomap"]
+  add_host: ["octomap"]
+zenoh_cpp_vendor:
+  add_host: ["libzenohc", "libzenohcxx"]
+rmw_zenoh_cpp:
+  add_host: ["libzenohc", "libzenohcxx"]

patch/ros-humble-zenoh-cpp-vendor.patch

@@ -0,0 +1,42 @@
+diff --git a/zenoh_cpp_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt
+index 2d3ae046..de971841 100644
+--- a/zenoh_cpp_vendor/CMakeLists.txt
++++ b/zenoh_cpp_vendor/CMakeLists.txt
+@@ -10,35 +10,10 @@ endif()
+ find_package(ament_cmake REQUIRED)
+ find_package(ament_cmake_vendor_package REQUIRED)
+
+-# Disable default features and enable only the most useful ones. This reduces build time and footprint.
+-# For a complete list of features see: https://github.com/eclipse-zenoh/zenoh/blob/main/zenoh/Cargo.toml
+-# Note: We separate the two args needed for cargo with "$<SEMICOLON>" and not ";" as the
+-# latter is a list separater in cmake and hence the string will be split into two
+-# when expanded.
+-set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
+-
+-ament_vendor(zenoh_c_vendor
+-  VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
+-  VCS_VERSION 57d5e4d31d9b38fef34d7bcad3d3e54869c4ce73
+-  CMAKE_ARGS
+-    "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
+-    "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
+-    "-DZENOHC_CUSTOM_TARGET=${ZENOHC_CUSTOM_TARGET}"
+-)
+-
++find_package(zenohc REQUIRED)
+ ament_export_dependencies(zenohc)
+
+-# Set VCS_VERSION to include latest changes from zenoh-c to benefit from :
+-# - https://github.com/eclipse-zenoh/zenoh-cpp/pull/342 (Fix include what you use)
+-ament_vendor(zenoh_cpp_vendor
+-  VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
+-  VCS_VERSION 964b64dc8b935a43147287199e7bb12da7b141e6
+-  CMAKE_ARGS
+-    -DZENOHCXX_ZENOHC=OFF
+-)
+-
+-externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)
+-
++find_package(zenohcxx REQUIRED)
+ ament_export_dependencies(zenohcxx)
+
+ ament_package()

robostack.yaml

@@ -43,6 +43,8 @@ cartographer:
   robostack: [cartographer]
 ca-certificates:
   robostack: [ca-certificates]
+cargo:
+  robostack: [rust]
 clang-format:
   robostack: [clang-format]
 clang-tidy:

vinca_linux_64.yaml

@@ -181,6 +181,9 @@ packages_select_by_deps:
   # requested in https://github.com/RoboStack/ros-humble/issues/249
   - twist_mux
 
+  # requested in https://github.com/RoboStack/ros-humble/issues/252
+  - rmw_zenoh_cpp
+
   # ----- end of package support -----
 
   # - rtabmap

vinca_linux_aarch64.yaml

@@ -110,6 +110,9 @@ packages_select_by_deps:
   # requested in https://github.com/RoboStack/ros-humble/issues/249
   - twist_mux
 
+  # requested in https://github.com/RoboStack/ros-humble/issues/252
+  - rmw_zenoh_cpp
+
   # Used to work, now needs fixes
   # - rtabmap
   # - webots-ros2

vinca_osx.yaml

@@ -132,5 +132,8 @@ packages_select_by_deps:
   # requested in https://github.com/RoboStack/ros-humble/issues/249
   - twist_mux
 
+  # requested in https://github.com/RoboStack/ros-humble/issues/252
+  - rmw_zenoh_cpp
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_osx_arm64.yaml

@@ -122,5 +122,8 @@ packages_select_by_deps:
   # requested in https://github.com/RoboStack/ros-humble/issues/249
   - twist_mux
 
+  # requested in https://github.com/RoboStack/ros-humble/issues/252
+  - rmw_zenoh_cpp
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_win.yaml

@@ -246,5 +246,8 @@ packages_select_by_deps:
   # requested in https://github.com/RoboStack/ros-humble/issues/249
   - twist_mux
 
+  # requested in https://github.com/RoboStack/ros-humble/issues/252
+  - rmw_zenoh_cpp
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml