Merge pull request #634 from shr-project/jansa/thud

Various simple fixes
speech-tools: use S instead of ${WORKDIR}/speech_tools in speechtools_sysroot_preprocess
2019-07-04 08:56:52 +02:00 · 2019-07-03 22:22:22 +00:00 · 2019-07-03 22:21:18 +00:00 · 2019-07-03 22:21:09 +00:00 · 2019-07-03 19:52:51 +00:00 · 2019-07-03 19:52:51 +00:00
49 changed files with 424 additions and 217 deletions
--- a/README.md
+++ b/README.md
@ -1,20 +1,28 @@
-This is a layer to provide ROS Indigo Igloo in an OpenEmbedded Linux system.
-It provides a stable cross-compilation build system for many common ROS packages. 
-Currently, this layer is still under continuous development.
+# Branch `legacy`
+
+This branch contains the legacy layer version 1 implementation of `meta-ros`
+that provides ROS 1 Indigo Igloo (and a few initial bits of ROS 2 Ardent Apalone
+from #538, see the `recipes-ros2` directory) in an OpenEmbedded Linux system.
+This branch might work better with older OpenEmbedded releases prior to **thud**
+than the other layer version 2 branches.
+
+It supplies a cross-compilation build system for many common ROS packages.
+
+It is no longer under active development and is not being tested, but will be
+retained until it is no longer needed by the community. The only criterion for
+acceptance of a pull request for it is that it's based off its current HEAD and
+merges cleanly.

 ## IMPORTANT RESOURCES ##

-  * Source Code Repository: https://github.com/bmwcarit/meta-ros.git
-  * Issue Tracker: https://github.com/bmwcarit/meta-ros/issues
-  * Discussion Forum: http://discourse.ros.org/c/openembedded
-  * Installation Guide: http://wiki.ros.org/hydro/Installation/OpenEmbedded
-  * Development Guides:
-    * https://github.com/bmwcarit/meta-ros/wiki/Guidelines-for-ROS-recipes
-    * https://github.com/bmwcarit/meta-ros/wiki/Developer-Guidelines
+  * Source Code Repository: https://github.com/ros/meta-ros.git
+  * Issue Tracker: https://github.com/ros/meta-ros/issues
+  * Discussion Forum: https://discourse.ros.org/c/openembedded
+  * Installation Guide: https://wiki.ros.org/hydro/Installation/OpenEmbedded

 Note: In October 2016, the mailing list at
 https://groups.google.com/forum/#!forum/meta-ros has been discontinued and
-discussion has moved to http://discourse.ros.org/c/openembedded.
+discussion has moved to https://discourse.ros.org/c/openembedded.
 However, the mailing list is still a good resource on issues that have been
 resolved in the past.

@ -64,33 +72,33 @@ resolved in the past.

  This layer depends on:

-  **openembedded-core**  
-  URI: git://git.openembedded.org/openembedded-core  
-  subdirectory: meta  
-  branch: master  
-  revision: HEAD  
+  **openembedded-core**
+  URI: git://git.openembedded.org/openembedded-core
+  subdirectory: meta
+  branch: thud
+  revision: HEAD

-  **meta-openembedded (meta-oe)**  
-  URI: git://git.openembedded.org/meta-openembedded  
-  subdirectory: meta-oe  
-  branch: master  
-  revision: HEAD  
+  **meta-openembedded (meta-oe)**
+  URI: git://git.openembedded.org/meta-openembedded
+  subdirectory: meta-oe
+  branch: thud
+  revision: HEAD

-  **meta-python** (since a6d7ba92645a112af358efd94ff3aa0c74985a51@meta-openembedded)  
-  URI: git://git.openembedded.org/meta-openembedded  
-  subdirectory: meta-python  
-  branch: master  
-  revision: HEAD  
-  
-  **meta-multimedia** (since fe44ac167a2a76531af3519f3889fce92024567b@meta-openembedded)  
-  URI: git://git.openembedded.org/meta-openembedded  
-  subdirectory: meta-multimedia  
-  branch: master  
-  revision: HEAD  
+  **meta-python** (since a6d7ba92645a112af358efd94ff3aa0c74985a51@meta-openembedded)
+  URI: git://git.openembedded.org/meta-openembedded
+  subdirectory: meta-python
+  branch: thud
+  revision: HEAD
+
+  **meta-multimedia** (since fe44ac167a2a76531af3519f3889fce92024567b@meta-openembedded)
+  URI: git://git.openembedded.org/meta-openembedded
+  subdirectory: meta-multimedia
+  branch: thud
+  revision: HEAD

  **meta-intel-realsense** (since 4a5ba0f20094dd3d07c0a0c1dede2ba40e9d6abf)
  URI: https://github.com/IntelRealSense/meta-intel-realsense
-  branch: master
+  branch: thud
  revision: HEAD
  This layer is required only if you need to build realsense-camera driver.

@ -116,7 +124,7 @@ resolved in the past.
  462ccb35a5de32b52ddb733d1868df6ac5426f20@openembedded-core and
  800753069f667cd1664d70b3779150c467e3b3fe@openembedded-core simple
  bbappend as shown in:
-  https://github.com/bmwcarit/meta-ros/pull/607#pullrequestreview-143981126
+  https://github.com/ros/meta-ros/pull/607#pullrequestreview-143981126
  is enough to resolve this if you're using old pyro unsupported
  release.

@ -172,7 +180,7 @@ resolved in the past.

    source oe-init-build-env

-  Add the required layers (see **DEPENDENCIES**) by modifying ``./conf/bblayers.conf`` (adjust ``/home/me/devel`` as necessary): 
+  Add the required layers (see **DEPENDENCIES**) by modifying ``./conf/bblayers.conf`` (adjust ``/home/me/devel`` as necessary):

    BBLAYERS ?= " \
    /home/me/devel/openembedded-core/meta \
@ -201,9 +209,9 @@ resolved in the past.
  Then for example, you start this system in the qemu virtual machine with

    runqemu <MACHINE> core-image-ros-roscore
-  
+
  On the Linux system, ensure that the own host's name in resolved by adding
-  
+
    127.0.0.1	<HOSTNAME>.localdomain		<HOSTNAME>

  to the /etc/hosts file, and set up the environment with
@ -238,16 +246,16 @@ resolved in the past.


 ## CROSS-COMPILING ALL ROS PACKAGES IN meta-ros
-  
+
  The meta-ros layers only includes a subset of the officially released ROS
  packages, available from packages.ros.org. The here provided ROS packages
  are mainly driven by the current users' needs.
-  
+
  For ROS packages that depend on cv-bridge, the commercial license flag
  must be whitelisted, as cv-bridge depends on opencv, and opencv by
  default depends on libav that has special terms and conditions when used
  commercially.
-  This can be done by adding to the local.conf the line: 
+  This can be done by adding to the local.conf the line:

    LICENSE_FLAGS_WHITELIST = "commercial"

@ -261,8 +269,8 @@ resolved in the past.
  in tree for individual recipes is under the LICENSE stated in each recipe
  (.bb file) unless otherwise stated.
  The descriptions in the recipes of ROS packages have been extracted from
-  the ROS wiki (http://www.ros.org/wiki/) and are licensed under 
-  Creative Commons Attribution 3.0 (http://creativecommons.org/licenses/by/3.0/)
+  the ROS wiki (https://www.ros.org/wiki/) and are licensed under
+  Creative Commons Attribution 3.0 (https://creativecommons.org/licenses/by/3.0/)
  unless otherwise noted.

  This README document is Copyright (C) 2012 BMW Car IT GmbH.
@ -279,15 +287,15 @@ resolved in the past.
  licensed with the MIT License.

  The python-ecdsa recipe originated from the recipe in the OpenStack Yocto layer
-  (cf. http://git.yoctoproject.org/clean/cgit.cgi/meta-cloud-services/tree/meta-openstack/recipes-devtools/python/python-ecdsa_0.13.bb?id=38973e8bc393a4ca36090c58c8b6eb6d093ea69a)
+  (cf. https://git.yoctoproject.org/clean/cgit.cgi/meta-cloud-services/tree/meta-openstack/recipes-devtools/python/python-ecdsa_0.13.bb?id=38973e8bc393a4ca36090c58c8b6eb6d093ea69a)
  licensed with the MIT License.

  The python-pbr recipe originated from the recipe in the meta-python layer
-  (cf. http://git.openembedded.org/meta-openembedded/tree/meta-python/recipes-devtools/python/python-pbr_3.1.1.bb?id=b3eb3c647dc86306d9346bea621fb4b6994ec461)
+  (cf. https://git.openembedded.org/meta-openembedded/tree/meta-python/recipes-devtools/python/python-pbr_3.1.1.bb?id=b3eb3c647dc86306d9346bea621fb4b6994ec461)
  licensed with the MIT License.

  The core-image-ros-* recipes originated from the core-image-minimal recipe in OpenEmbedded Core
-  (cf. http://cgit.openembedded.org/openembedded-core/tree/meta/recipes-core/images/core-image-minimal.bb)
+  (cf. https://cgit.openembedded.org/openembedded-core/tree/meta/recipes-core/images/core-image-minimal.bb)
  licensed with the MIT License.

  The original or modified files are redistributed here under the same MIT License.
--- a/conf/layer.conf
+++ b/conf/layer.conf
@ -10,6 +10,9 @@ BBFILE_PRIORITY_ros-layer = "7"

 LICENSE_PATH += "${LAYERDIR}/licenses"

-LAYERSERIES_COMPAT_ros-layer = "rocko sumo thud"
+# Version 1 is the manually created meta-ros, prior to the introduction of superflore.
+LAYERVERSION_ros-layer = "1"
+
+LAYERSERIES_COMPAT_ros-layer = "rocko sumo thud warrior"

 ROSDISTRO := "indigo"
--- a/recipes-devtools/python/python-bson_0.4.3.bb
+++ b/recipes-devtools/python/python-bson_0.4.3.bb
@ -1,12 +0,0 @@
-DESCRIPTION = "Independent BSON codec for Python that doesn't depend on MongoDB"
-SECTION = "devel"
-LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://LICENSE;md5=db7a1eab1d8b38da1e06abbf08d2498d"
-
-SRC_URI = "https://github.com/py-bson/bson/archive/${PV}.tar.gz;downloadfilename=py-bson_${PV}.tar.gz"
-SRC_URI[md5sum] = "989acb13782d20c71b8bae03d600a6da"
-SRC_URI[sha256sum] = "dcdcf3e8a01ac13375faf791e1ed47ee178c0ec19332252ba539a3a131ca7739"
-
-S = "${WORKDIR}/bson-${PV}"
-
-inherit setuptools
--- a/recipes-devtools/python/python-pyproj.inc
+++ b/recipes-devtools/python/python-pyproj.inc
@ -1,12 +1,12 @@
+inherit pypi
+PYPI_PACKAGE = "pyproj"
+
 DESCRIPTION = "Python interface to PROJ.4 library"
 SECTION = "devel/python"
 LICENSE = "ISC & MIT"
 LIC_FILES_CHKSUM = "file://LICENSE;md5=77d9726a341183ab262b28b3d66dfd94 \
-                    file://LICENSE_proj4;md5=74d9aaec5fa0cd734341e8c4dc91b608"
-SRCNAME = "pyproj"
+    file://LICENSE_proj4;md5=74d9aaec5fa0cd734341e8c4dc91b608 \
+"

-SRC_URI = "http://pypi.python.org/packages/source/p/pyproj/pyproj-${PV}.tar.gz"
-SRC_URI[md5sum] = "027345e3c033fa400e0e64a1c80d34c9"
-SRC_URI[sha256sum] = "53fa54c8fa8a1dfcd6af4bf09ce1aae5d4d949da63b90570ac5ec849efaf3ea8"
-
-S = "${WORKDIR}/${SRCNAME}-${PV}"
+SRC_URI[md5sum] = "0f02376d59f796108e6e36db42f773c8"
+SRC_URI[sha256sum] = "e0c02b1554b20c710d16d673817b2a89ff94738b0b537aead8ecb2edc4c4487b"
--- a/recipes-devtools/python/python-pyproj_1.9.5.1.bb
+++ b/recipes-devtools/python/python-pyproj_1.9.5.1.bb
--- a/recipes-devtools/python/python-wstool_0.1.13.bb
+++ b/recipes-devtools/python/python-wstool_0.1.13.bb
@ -13,3 +13,7 @@ S = "${WORKDIR}/${SRCNAME}-${PV}"
 RDEPENDS_${PN} += "python-vcstools python-pyyaml python-rosinstall"

 inherit setuptools
+
+PACKAGES =+ "${PN}-zsh-completion"
+FILES_${PN}-zsh-completion += "${datadir}/zsh/"
+RDEPENDS_${PN}-zsh-completion += "zsh"
--- a/recipes-devtools/python/python3-pyproj_1.9.5.1.bb
+++ b/recipes-devtools/python/python3-pyproj_1.9.5.1.bb
--- a/recipes-extended/cmusphinx/pocketsphinx_0.8.bb
+++ b/recipes-extended/cmusphinx/pocketsphinx_0.8.bb
@ -28,3 +28,5 @@ FILES_gstreamer0.10-${PN} += "${libdir}/gstreamer-0.10/libgstpocketsphinx.so"
 FILES_gstreamer0.10-${PN}-staticdev += "${libdir}/gstreamer-0.10/libgstpocketsphinx.a \
 					${libdir}/gstreamer-0.10/libgstpocketsphinx.la"
 FILES_gstreamer0.10-${PN}-dbg += "${libdir}/gstreamer-0.10/.debug"
+
+PNBLACKLIST[pocketsphinx] ?= "Depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
--- a/recipes-extended/festival/festival_2.4.bb
+++ b/recipes-extended/festival/festival_2.4.bb
@ -3,30 +3,39 @@ multi-lingual speech synthesis workbench that runs on multiple-platforms offerin
 as well as an open architecture for research in speech synthesis. \
 It designed as a component of large speech technology systems."
 LICENSE = "MIT"
-LIC_FILES_CHKSUM = "file://COPYING;md5=566f852956cd542e6a0587df0354f673"
+LIC_FILES_CHKSUM = "file://COPYING;md5=929d21c5ebf729ca3fa206e0b64ff0c7"

 DEPENDS = "speech-tools"

-SRC_URI = "http://tts.speech.cs.cmu.edu/awb/20130703/${PN}-${PV}-current.tar.gz;name=festival \
-	http://tts.speech.cs.cmu.edu/awb/20130703/festlex_CMU.tar.gz;name=CMU \
-	http://tts.speech.cs.cmu.edu/awb/20130703/festlex_POSLEX.tar.gz;name=POSLEX \
-	http://tts.speech.cs.cmu.edu/awb/20130703/festvox_kallpc16k.tar.gz;name=kallpc16k"
-SRC_URI[festival.md5sum] = "eddcce27b873048360aaf3ea51c0e9cf"
-SRC_URI[festival.sha256sum] = "8ea3a6f8ea301a37db5dbf4824e8e088adf4197f156a6c42e868af1b72d36488"
+SRC_URI = "http://www.cstr.ed.ac.uk/downloads/${BPN}/${PV}/${BP}-release.tar.gz;name=festival \
+    http://www.cstr.ed.ac.uk/downloads/${BPN}/${PV}/festlex_CMU.tar.gz;name=CMU \
+    http://www.cstr.ed.ac.uk/downloads/${BPN}/${PV}/festlex_OALD.tar.gz;name=OALD \
+    http://www.cstr.ed.ac.uk/downloads/${BPN}/${PV}/festlex_POSLEX.tar.gz;name=POSLEX \
+    http://www.cstr.ed.ac.uk/downloads/${BPN}/${PV}/voices/festvox_kallpc16k.tar.gz;name=kallpc16k \
+    http://www.cstr.ed.ac.uk/downloads/${BPN}/${PV}/voices/festvox_rablpc16k.tar.gz;name=rablpc16k \
+    "
+SRC_URI[festival.md5sum] = "49707d2f6744d5a67f81a96c36f7cb59"
+SRC_URI[festival.sha256sum] = "1e47f293e0857ffde2bccead97947c040ea0b35ea12dd5796edb51583e5e5d84"
 SRC_URI[CMU.md5sum] = "6a2ee4fed7c3ebedf197a3b8524ccb87"
 SRC_URI[CMU.sha256sum] = "c19430919bca45d5368cd4c82af6153fbcc96a487ebd30b78b5f3c08718b7c07"
+SRC_URI[OALD.md5sum] = "84af32a914d996f57bc4cb36fe8cdc97"
+SRC_URI[OALD.sha256sum] = "e33a345390d4c76f8b987b06a5332bcdd0b168cf67c95ddc3270f9163cbe61f8"
 SRC_URI[POSLEX.md5sum] = "aa80f9250065b318325f16fdad3a4484"
 SRC_URI[POSLEX.sha256sum] = "e7c6e3642dbd5b0d64942bc015a986fdd6244a79e51ec2e8309e63d569e49ea3"
 SRC_URI[kallpc16k.md5sum] = "3869af78f473b616601cac3fa83cc14e"
 SRC_URI[kallpc16k.sha256sum] = "7a357c34086fbba8b813f9750f6b5ba13e2a00478a0a2e78a97981cb76395578"
+SRC_URI[rablpc16k.md5sum] = "34cb2478f5b8fa1ed02f5cbb496c1dcd"
+SRC_URI[rablpc16k.sha256sum] = "a017ef70f6d3e64d51d3772ab438eb47a26b529b456dae3cea18936925ec20e8"

-S = "${WORKDIR}/${PN}"
+S = "${WORKDIR}/${BPN}"

 inherit autotools-brokensep

 #disable parallel make (make -j), as festival cannot handle that
 PARALLEL_MAKE = ""

+EXTRA_OEMAKE = "CC='${CC}' CXX='${CXX} ${LDFLAGS}'"
+
 do_configure_prepend() { 
    #point to speech-tools in sysroots
    sed -i 's:EST=$(TOP)/../speech_tools:EST=${STAGING_DIR_TARGET}${datadir}/speech-tools:g' ${S}/config/config.in
@ -70,6 +79,6 @@ do_install() {
    install -m 0755 -d ${D}${datadir}/festival/multisyn
    install -m 0644 ${S}/lib/multisyn/*scm ${D}${datadir}/festival/multisyn

-    cp -a ${S}/lib/dicts ${D}${datadir}/festival
-    cp -a ${S}/lib/voices ${D}${datadir}/festival
+    cp -R --no-dereference --preserve=mode,links -v ${S}/lib/dicts ${D}${datadir}/festival
+    cp -R --no-dereference --preserve=mode,links -v ${S}/lib/voices ${D}${datadir}/festival
 }
--- a/recipes-extended/freeglut/freeglut_2.8.1.bb
+++ b/recipes-extended/freeglut/freeglut_2.8.1.bb
@ -10,4 +10,7 @@ SRC_URI[sha256sum] = "dde46626a62a1cd9cf48a11951cdd592e7067c345cffe193a149dfd47a

 S = "${WORKDIR}/freeglut-${PV}"

-inherit autotools
+inherit autotools distro_features_check
+
+# Depends on libxi libglu which need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
--- a/recipes-extended/geographiclib/geographiclib_1.48.bb
+++ b/recipes-extended/geographiclib/geographiclib_1.48.bb
@ -12,3 +12,8 @@ SRC_URI[sha256sum] = "7203d56123b6f6fb31842295d57b2418f79fb0db9a06f2f65ee9e415c6
 S = "${WORKDIR}/GeographicLib-${PV}"

 inherit cmake
+
+PACKAGES =+ "${PN}-python ${PN}-node ${PN}-matlab"
+FILES_${PN}-python += "${libdir}/python/"
+FILES_${PN}-node += "${libdir}/node_modules/"
+FILES_${PN}-matlab += "${datadir}/matlab/"
--- a/recipes-extended/libfreenect/libfreenect_0.5.2.bb
+++ b/recipes-extended/libfreenect/libfreenect_0.5.2.bb
@ -8,7 +8,10 @@ SRC_URI = "https://github.com/OpenKinect/libfreenect/archive/v${PV}.tar.gz;downl
 SRC_URI[md5sum] = "4d683cffe79f741aeb777cacaa88fd44"
 SRC_URI[sha256sum] = "91af5c09b7eae217c4be69234ae5a6371f24da8ff6986f98c2db19f1993f2a71"

-inherit cmake
+inherit cmake distro_features_check
+
+# Depends on freeglut libxi libxmu which need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"

 #force libs always into /usr/lib, even when compiling on 64bit arch
 EXTRA_OECMAKE += " -DLIB_SUFFIX=''"
--- a/recipes-extended/pcl/pcl/0001-Dereference-shared_ptr-fix-for-GCC8.patch
+++ b/recipes-extended/pcl/pcl/0001-Dereference-shared_ptr-fix-for-GCC8.patch
@ -1,46 +0,0 @@
-From a0b3ce9ca5c69a945695c1c83dab7937a3d99b83 Mon Sep 17 00:00:00 2001
-From: Jochen Sprickerhof <git@jochen.sprickerhof.de>
-Date: Sat, 5 May 2018 23:58:13 +0200
-Subject: [PATCH] Dereference shared_ptr, fix for GCC8
-
-Upstream-Status: Accepted [https://github.com/PointCloudLibrary/pcl/commit/a0b3ce9ca5c69a945695c1c83dab7937a3d99b83]
-
-This patch has been generated with:
-  `git format-patch -1 a0b3ce9ca5c69a945695c1c83dab7937a3d99b83`
-in the pcl repository.
-
-Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
---
- segmentation/include/pcl/segmentation/ground_plane_comparator.h      | 2 +-
- segmentation/include/pcl/segmentation/plane_coefficient_comparator.h | 2 +-
- 2 files changed, 2 insertions(+), 2 deletions(-)
-
-diff --git a/segmentation/include/pcl/segmentation/ground_plane_comparator.h b/segmentation/include/pcl/segmentation/ground_plane_comparator.h
-index e39354d..f96f38b 100644
--- a/segmentation/include/pcl/segmentation/ground_plane_comparator.h
-+++ b/segmentation/include/pcl/segmentation/ground_plane_comparator.h
-@@ -147,7 +147,7 @@ namespace pcl
-       const std::vector<float>&
-       getPlaneCoeffD () const
-       {
-        return (plane_coeff_d_);
-+        return (*plane_coeff_d_);
-       }
- 
-       /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
-diff --git a/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h b/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
-index 9c94813..a21725a 100644
--- a/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
-+++ b/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
-@@ -141,7 +141,7 @@ namespace pcl
-       const std::vector<float>&
-       getPlaneCoeffD () const
-       {
-        return (plane_coeff_d_);
-+        return (*plane_coeff_d_);
-       }
- 
-       /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
-- 
-2.7.4
-
--- a/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch
+++ b/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch
@ -1,4 +1,4 @@
-From 19361abfa1bf21bc9be911f6ffa97f1c43174d8d Mon Sep 17 00:00:00 2001
+From 31f72094a309ef6845e5c6b0b989237b4b59973f Mon Sep 17 00:00:00 2001
 From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
 Date: Tue, 27 Sep 2016 14:05:22 +0200
 Subject: [PATCH] make the pcl library compile with gcc6
@ -58,23 +58,23 @@ Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
 6 files changed, 6 insertions(+), 6 deletions(-)

 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e5fd763..c658df5 100644
+index 0b4c1a33d..95e1d31e8 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -272,7 +272,7 @@ endif()
+@@ -277,7 +277,7 @@ endif()
 
 # Eigen (required)
 find_package(Eigen REQUIRED)
 -include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
 +include_directories(${EIGEN_INCLUDE_DIRS})
- add_definitions(-DEIGEN_USE_NEW_STDVECTOR
-                 -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET)
+ 
 # FLANN (required)
+ if(NOT PCL_SHARED_LIBS OR ((WIN32 AND NOT MINGW) AND NOT PCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32))
 diff --git a/cmake/Modules/FindOpenNI.cmake b/cmake/Modules/FindOpenNI.cmake
-index 9f772a4..bd36f3e 100644
+index 2c7b26eea..1e62c359b 100644
 --- a/cmake/Modules/FindOpenNI.cmake
 +++ b/cmake/Modules/FindOpenNI.cmake
-@@ -30,7 +30,7 @@ if(NOT WIN32)
+@@ -31,7 +31,7 @@ if(NOT WIN32)
     message(STATUS "OpenNI disabled because libusb-1.0 not found.")
     return()
   else()
@ -84,10 +84,10 @@ index 9f772a4..bd36f3e 100644
 endif(NOT WIN32)
 
 diff --git a/cmake/Modules/FindOpenNI2.cmake b/cmake/Modules/FindOpenNI2.cmake
-index 713099a..8226895 100644
+index 037a9a399..cc1855e0f 100644
 --- a/cmake/Modules/FindOpenNI2.cmake
 +++ b/cmake/Modules/FindOpenNI2.cmake
-@@ -30,7 +30,7 @@ if(NOT WIN32)
+@@ -31,7 +31,7 @@ if(NOT WIN32)
     message(STATUS "OpenNI 2 disabled because libusb-1.0 not found.")
     return()
   else()
@ -97,10 +97,10 @@ index 713099a..8226895 100644
 endif(NOT WIN32)
 
 diff --git a/cmake/pcl_find_boost.cmake b/cmake/pcl_find_boost.cmake
-index a3abe1c..c57b87d 100644
+index 6489f3954..0c170116d 100644
 --- a/cmake/pcl_find_boost.cmake
 +++ b/cmake/pcl_find_boost.cmake
-@@ -48,6 +48,6 @@ if(Boost_FOUND)
+@@ -49,6 +49,6 @@ if(Boost_FOUND)
   # Obtain diagnostic information about Boost's automatic linking outputted 
   # during compilation time.
   add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
@ -109,11 +109,11 @@ index a3abe1c..c57b87d 100644
   link_directories(${Boost_LIBRARY_DIRS})
 endif(Boost_FOUND)
 diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
-index 691ead0..f730743 100644
+index 30696346f..bede67ffa 100644
 --- a/cmake/pcl_targets.cmake
 +++ b/cmake/pcl_targets.cmake
-@@ -858,7 +858,7 @@ macro(PCL_ADD_GRABBER_DEPENDENCY _name _description)
-         message(WARNING "${_description}: not building because ${_name} not found")
+@@ -864,7 +864,7 @@ macro(PCL_ADD_GRABBER_DEPENDENCY _name _description)
+         message(STATUS "${_description}: not building because ${_name} not found")
       else()
         set(HAVE_${_name_capitalized} TRUE)
 -        include_directories(SYSTEM "${${_name_capitalized}_INCLUDE_DIRS}")
@ -122,10 +122,10 @@ index 691ead0..f730743 100644
     endif()
 endmacro(PCL_ADD_GRABBER_DEPENDENCY)
 diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
-index 3b3e2d7..342cb62 100644
+index 6a1d55d96..543c279ef 100644
 --- a/test/CMakeLists.txt
 +++ b/test/CMakeLists.txt
-@@ -17,7 +17,7 @@ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS
+@@ -9,7 +9,7 @@ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS
 if(build)
 
     find_package(Gtest REQUIRED)
@ -134,6 +134,3 @@ index 3b3e2d7..342cb62 100644
 
     add_library(pcl_gtest STATIC ${GTEST_SRC_DIR}/src/gtest-all.cc)
 	
-- 
-2.5.5
-
--- a/recipes-extended/pcl/pcl_1.8.0.bb
+++ b/recipes-extended/pcl/pcl_1.8.0.bb
@ -5,14 +5,13 @@ LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=5b8a2a1aa14e6de44b4273134946a34c"

 DEPENDS = "boost libflann libeigen qhull"

-SRC_URI = "https://github.com/PointCloudLibrary/${PN}/archive/${P}.tar.gz"
-SRC_URI[md5sum] = "8c1308be2c13106e237e4a4204a32cca"
-SRC_URI[sha256sum] = "9e54b0c1b59a67a386b9b0f4acb2d764272ff9a0377b825c4ed5eedf46ebfcf4"
+PV = "1.9.1+git${SRCPV}"
+SRCREV = "72f41b60a539cd1da67d1329b57222290122a0bb"
+SRC_URI = "git://github.com/PointCloudLibrary/pcl.git \
+    file://0001-make-the-pcl-library-compile-with-gcc6.patch \
+"

-SRC_URI += "file://0001-make-the-pcl-library-compile-with-gcc6.patch"
-SRC_URI += "file://0001-Dereference-shared_ptr-fix-for-GCC8.patch"
-
-S = "${WORKDIR}/pcl-${P}"
+S = "${WORKDIR}/git"

 EXTRA_OECMAKE += "\
  -DCMAKE_SKIP_RPATH=ON \
@ -39,9 +38,15 @@ CXXFLAGS += "${@bb.utils.contains("TARGET_CC_ARCH", "-mfpmath=sse", "", "-ffloat

 inherit cmake

-FILES_${PN}-dev += "${datadir}/${PN}-1.8/*.cmake"
+FILES_${PN}-dev += "${datadir}/${PN}-1.9/*.cmake ${datadir}/${PN}-1.9/Modules/*.cmake"

 # The build is really memory hungry (at least with gcc8), even with just -j 8 it triggers OOMK on system with 32GB ram
 # High memory needs mentioned in: https://github.com/PointCloudLibrary/pcl/issues/2284
 # Setting just empty doesn't work, ninja will by default use number of cores available
-PARALLEL_MAKE = "-j1"
+PARALLEL_MAKE = "-j4"
+
+# Disable thumb for armv[45] to resolve
+# pcl/1.9.1+gitAUTOINC+72f41b60a5-r0/git/features/include/pcl/features/impl/pfh.hpp:129: error: relocation overflow in R_ARM_THM_CALL
+# http://caprica.lgsvl.com:8080/Errors/Details/1510736
+ARM_INSTRUCTION_SET_armv4 = "arm"
+ARM_INSTRUCTION_SET_armv5 = "arm"
--- a/recipes-extended/realsense-camera/realsense-camera_1.8.0.bb
+++ b/recipes-extended/realsense-camera/realsense-camera_1.8.0.bb
@ -13,6 +13,8 @@ SRC_URI[sha256sum] = "18e2d3e847b3b1158c124b6167ea2751236a2749aca03532ca7d9f5b7b

 S = "${WORKDIR}/realsense-${PV}/realsense_camera"

-inherit catkin
+inherit catkin distro_features_check
+
+REQUIRED_DISTRO_FEATURES = "ros-realsense"

 EXTRA_OECMAKE = "-DUSE_SYSTEM_LIBREALSENSE:BOOL=ON"
--- a/recipes-extended/speech-tools/speech-tools_2.3.bb
+++ b/recipes-extended/speech-tools/speech-tools_2.3.bb
@ -1,43 +0,0 @@
-DESCRIPTION = "The Edinburgh Speech Tools Library"
-LICENSE = "MIT"
-LIC_FILES_CHKSUM = "file://README;md5=9fe1b4db906b7d75f821c72a358638fd"
-
-DEPENDS = "alsa-lib ncurses"
-
-SRC_URI = "http://tts.speech.cs.cmu.edu/awb/20130703/speech_tools-${PV}-current.tar.gz"
-SRC_URI[md5sum] = "02863b3ead04a0ade65982a1f34a60bb"
-SRC_URI[sha256sum] = "75e203402483b78de635943671aaf6f86cb6f9bf181fc84a931c2a560ade6a7c"
-
-S = "${WORKDIR}/speech_tools"
-
-inherit autotools-brokensep
-
-PARALLEL_MAKE = ""
-
-do_configure_prepend() { 
-    #force crosscompilation compiler
-    sed -i 's:CC=gcc:CC=${CC}:g' ${S}/config/compilers/gcc_defaults.mak
-    sed -i 's:CXX=gcc:CXX=${CC}:g' ${S}/config/compilers/gcc_defaults.mak
-}
-
-do_install() {
-    install -m 0755 -d ${D}${bindir}
-    install -m 0755 ${S}/bin/* ${D}${bindir}
-
-    install -m 0755 -d ${D}${libdir} 
-    install -m 0644 ${S}/lib/libestools.a ${D}${libdir} 
-    install -m 0644 ${S}/lib/libestbase.a ${D}${libdir} 
-    install -m 0644 ${S}/lib/libeststring.a ${D}${libdir} 
-}
-
-SYSROOT_PREPROCESS_FUNCS += "speechtools_sysroot_preprocess"
-
-#stage speech_tools directories for usage by festival
-speechtools_sysroot_preprocess() {
-    sysroot_stage_dir ${WORKDIR}/speech_tools/config ${STAGING_DIR_TARGET}${datadir}/${PN}/config
-    sysroot_stage_dir ${WORKDIR}/speech_tools/include ${STAGING_DIR_TARGET}${datadir}/${PN}/include
-    sysroot_stage_dir ${WORKDIR}/speech_tools/base_class ${STAGING_DIR_TARGET}${datadir}/${PN}/base_class
-    sysroot_stage_dir ${WORKDIR}/speech_tools/lib ${STAGING_DIR_TARGET}${datadir}/${PN}/lib
-}
-
-RDEPENDS_${PN} += "perl"
--- a/recipes-extended/speech-tools/speech-tools_2.4.bb
+++ b/recipes-extended/speech-tools/speech-tools_2.4.bb
@ -0,0 +1,44 @@
+DESCRIPTION = "The Edinburgh Speech Tools Library"
+LICENSE = "MIT"
+LIC_FILES_CHKSUM = "file://README;md5=5a04850e2bcfae66d6cae547274d72c3"
+
+DEPENDS = "alsa-lib ncurses"
+
+SRC_URI = "http://www.cstr.ed.ac.uk/downloads/festival/${PV}/speech_tools-${PV}-release.tar.gz"
+SRC_URI[md5sum] = "3d60e563135363eb2548d947f7ef4e14"
+SRC_URI[sha256sum] = "fbc2482c443919aa79d2e599d6a5faee4e793df55a79ef377f1dc7e8ba237010"
+
+S = "${WORKDIR}/speech_tools"
+
+inherit autotools-brokensep
+
+PARALLEL_MAKE = ""
+
+EXTRA_OEMAKE = "CC='${CC}' CXX='${CXX} ${LDFLAGS}'"
+
+do_configure_prepend() {
+    # respect CC and CXX from EXTRA_OEMAKE
+    sed -i '/^CC=gcc/d; /^CXX=gcc$/d' ${S}/config/compilers/gcc_defaults.mak
+}
+
+do_install() {
+    install -m 0755 -d ${D}${bindir}
+    install -m 0755 ${S}/bin/* ${D}${bindir}
+
+    install -m 0755 -d ${D}${libdir} 
+    install -m 0644 ${S}/lib/libestools.a ${D}${libdir} 
+    install -m 0644 ${S}/lib/libestbase.a ${D}${libdir} 
+    install -m 0644 ${S}/lib/libeststring.a ${D}${libdir} 
+}
+
+SYSROOT_PREPROCESS_FUNCS += "speechtools_sysroot_preprocess"
+
+#stage speech_tools directories for usage by festival
+speechtools_sysroot_preprocess() {
+    sysroot_stage_dir ${S}/config ${SYSROOT_DESTDIR}${datadir}/${PN}/config
+    sysroot_stage_dir ${S}/include ${SYSROOT_DESTDIR}${datadir}/${PN}/include
+    sysroot_stage_dir ${S}/base_class ${SYSROOT_DESTDIR}${datadir}/${PN}/base_class
+    sysroot_stage_dir ${S}/lib ${SYSROOT_DESTDIR}${datadir}/${PN}/lib
+}
+
+RDEPENDS_${PN} += "perl"
--- a/recipes-extended/wxwidgets/wxpython_2.9.5.0.bb
+++ b/recipes-extended/wxwidgets/wxpython_2.9.5.0.bb
@ -12,7 +12,10 @@ SRC_URI[sha256sum] = "1a5b7e771eff467538d0834136188e8a7506a4fe6e85d0a46c40158cdb

 S = "${WORKDIR}/wxPython-src-${PV}/wxPython"

-inherit pkgconfig pythonnative python-dir distutils
+inherit pkgconfig pythonnative python-dir distutils distro_features_check
+
+# Depends on wxwidgets which depends on libxinerama, libglu, gtk need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"

 CFLAGS += "-I${STAGING_INCDIR}/wx-2.9/ -I${STAGING_LIBDIR}/wx/include/${TARGET_PREFIX}gtk2-unicode-2.9/"
 CFLAGS += "-std=gnu++11"
@ -31,3 +34,5 @@ do_iinstall_append() {
    cp -a ${D}${STAGING_DIR_HOST}/* ${D}
    rm -rf ${D}${STAGING_DIR}	
 }
+
+PNBLACKLIST[wxpython] ?= "Depends on wxwidgets which depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
--- a/recipes-extended/wxwidgets/wxwidgets_2.9.5.bb
+++ b/recipes-extended/wxwidgets/wxwidgets_2.9.5.bb
@ -4,7 +4,7 @@ HOMEPAGE = "http://www.wxwidgets.org"
 LICENSE = "WXwindows"
 LIC_FILES_CHKSUM = "file://docs/licence.txt;md5=18346072db6eb834b6edbd2cdc4f109b"

-DEPENDS = "webkit-gtk gstreamer gtk+ jpeg tiff libpng zlib expat libxinerama libglu"
+DEPENDS = "webkitgtk gstreamer gtk+ jpeg tiff libpng zlib expat libxinerama libglu"

 SRC_URI = "${SOURCEFORGE_MIRROR}/wxwindows/wxWidgets-${PV}.tar.bz2"
 SRC_URI[md5sum] = "e98c5f92805493f150656403ffef3bb0"
@ -12,7 +12,10 @@ SRC_URI[sha256sum] = "b74ba96ca537cc5d049d21ec9ab5eb2670406a4aa9f1ea4845ea84a995

 S = "${WORKDIR}/wxWidgets-${PV}"

-inherit autotools-brokensep pkgconfig binconfig
+inherit autotools-brokensep pkgconfig binconfig distro_features_check
+
+# Depends on libxinerama, libglu, gtk need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"

 EXTRA_AUTORECONF = " -I ${S}/build/aclocal"
 EXTRA_OECONF = "  --with-opengl \
@ -53,3 +56,5 @@ wxwidgets_sysroot_preprocess () {

 FILES_${PN} += "${bindir} ${libdir}/wx/config"
 FILES_${PN}-dev += "${libdir}/wx/include ${datadir}/bakefile"
+
+PNBLACKLIST[wxwidgets] ?= "Depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
--- a/recipes-ros/ar-track-alvar/ar-track-alvar/fix.missing.include.patch
+++ b/recipes-ros/ar-track-alvar/ar-track-alvar/fix.missing.include.patch
@ -0,0 +1,31 @@
+add missing include
+  
+* CV_RGB is defined in opencv2/imgproc.hpp
+* fixes:
+  ar-track-alvar/0.6.1-r0/ar_track_alvar-0.6.1/src/Marker.cpp: In member function 'virtual void alvar::MarkerData::VisualizeMarkerContent(IplImage*, alvar::Camera*, double*, double*) const':
+  ar-track-alvar/0.6.1-r0/ar_track_alvar-0.6.1/src/Marker.cpp:123:15: error: 'CV_RGB' was not declared in this scope
+  CvScalar rgb=CV_RGB(255,255,0);
+               ^~~~~~
+
+Upstream-Status: Pending
+
+--- a/include/ar_track_alvar/Draw.h     2019-07-03 16:28:16.540970593 +0000
+++ b/include/ar_track_alvar/Draw.h     2019-07-03 16:19:45.113388531 +0000
+@@ -36,6 +36,7 @@
+ #include "Camera.h"
+ #include "Line.h"
+ #include <sstream>
+#include <opencv2/imgproc.hpp>
+
+ namespace alvar {
+
+--- a/include/ar_track_alvar/Marker.h   2019-07-03 16:24:35.995976014 +0000
+++ b/include/ar_track_alvar/Marker.h   2019-07-03 16:24:52.396347425 +0000
+@@ -41,6 +41,7 @@
+ #include <vector>
+ #include "filter/kinect_filtering.h"
+ #include <Eigen/StdVector>
+#include <opencv2/imgproc.hpp>
+
+ namespace alvar {
+
--- a/recipes-ros/ar-track-alvar/ar-track-alvar_0.6.1.bb
+++ b/recipes-ros/ar-track-alvar/ar-track-alvar_0.6.1.bb
@ -12,3 +12,5 @@ SRC_URI[sha256sum] = "c34ff4358fb167edccc4357d74425e3370691f04be1f8971f5258aa25d
 S = "${WORKDIR}/${ROS_SP}"

 inherit catkin
+
+SRC_URI += "file://fix.missing.include.patch"
--- a/recipes-ros/audio-common/sound-play_0.2.13.bb
+++ b/recipes-ros/audio-common/sound-play_0.2.13.bb
@ -14,3 +14,5 @@ require audio-common.inc
 SRC_URI += "file://0002-sound_play-Fix-build-with-DCATKIN_ENABLE_TESTING-OFF.patch;striplevel=2"

 RRECOMMENDS_${PN} += "roscpp roslib audio-common-msgs diagnostic-msgs gst-plugins-base gst-plugins-ugly gst-plugins-good rospy festival python-gst gst-meta-audio"
+
+PNBLACKLIST[sound-play] ?= "Depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
--- a/recipes-ros/catkin/catkin_0.6.19.bb
+++ b/recipes-ros/catkin/catkin_0.6.19.bb
@ -1,6 +1,8 @@
 require catkin.inc

-SRC_URI += "file://environment.d-catkin.sh"
+SRC_URI += "file://environment.d-catkin.sh \
+    file://0001-strip-l-from-lpthread-library-to-fix-a-build-failure.patch \
+"

 DEPENDS_class-native += "catkin-runtime"

--- a/recipes-ros/catkin/files/0001-allow-proper-cross-compilation-with-catkin.patch
+++ b/recipes-ros/catkin/files/0001-allow-proper-cross-compilation-with-catkin.patch
@ -1,4 +1,4 @@
-From e6179255b99264a51f8733f52d92ca579fbacb61 Mon Sep 17 00:00:00 2001
+From 5de0fe25ec27bca4c593e06cdc0c3dff3d553e06 Mon Sep 17 00:00:00 2001
 From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
 Date: Sun, 15 Apr 2018 02:11:42 +0200
 Subject: [PATCH] allow proper cross-compilation with catkin
@ -17,11 +17,12 @@ Some of the context lines in patches were ignored. This can lead to incorrectly
 Upstream-Status: Pending

 Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+
 ---
 cmake/all.cmake                    |  1 +
- cmake/catkin_package.cmake         |  8 ++++++++
- cmake/catkin_strip_root_path.cmake | 32 +++++++++++++++++++++++++++++
- cmake/templates/pkgConfig.cmake.in | 42 ++++++++++++++++++++++++++++++++++----
+ cmake/catkin_package.cmake         |  8 ++++++
+ cmake/catkin_strip_root_path.cmake | 32 +++++++++++++++++++++++
+ cmake/templates/pkgConfig.cmake.in | 42 +++++++++++++++++++++++++++---
 4 files changed, 79 insertions(+), 4 deletions(-)
 create mode 100644 cmake/catkin_strip_root_path.cmake

@ -170,6 +171,3 @@ index d99b811..3af5c71 100644
         break()
       endif()
     endforeach()
-- 
-2.7.4
-
--- a/recipes-ros/catkin/files/0001-strip-l-from-lpthread-library-to-fix-a-build-failure.patch
+++ b/recipes-ros/catkin/files/0001-strip-l-from-lpthread-library-to-fix-a-build-failure.patch
@ -0,0 +1,26 @@
+From e19e2085e1aa58456ed94c529536df387e0ab340 Mon Sep 17 00:00:00 2001
+From: Jochen Sprickerhof <github@jochen.sprickerhof.de>
+Date: Sat, 26 Jan 2019 07:36:24 +0100
+Subject: [PATCH] strip "-l" from "-lpthread" library, to fix a build failure
+
+ on ros-ros-comm (#975)
+
+Upstream-Status: Backport from 0.17.15 [https://github.com/ros/catkin/commit/98f97ffcffbb7127d4a8aff0fcb26d1578557906]
+
+---
+ cmake/templates/pkgConfig.cmake.in | 2 ++
+ 1 file changed, 2 insertions(+)
+
+diff --git a/cmake/templates/pkgConfig.cmake.in b/cmake/templates/pkgConfig.cmake.in
+index 3af5c71..8bc8979 100644
+--- a/cmake/templates/pkgConfig.cmake.in
+++ b/cmake/templates/pkgConfig.cmake.in
+@@ -135,6 +135,8 @@ foreach(library ${libraries})
+   # keep build configuration keywords, target names and absolute libraries as-is
+   if("${library}" MATCHES "^(debug|optimized|general)$")
+     list(APPEND @PROJECT_NAME@_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND @PROJECT_NAME@_LIBRARIES ${library})
+   elseif(TARGET ${library})
+     list(APPEND @PROJECT_NAME@_LIBRARIES ${library})
+   elseif(IS_ABSOLUTE ${library} AND CMAKE_CROSSCOMPILING)
--- a/recipes-ros/catkin/files/0001-use-python-provided-by-environment-instead-of-the-ge.patch
+++ b/recipes-ros/catkin/files/0001-use-python-provided-by-environment-instead-of-the-ge.patch
@ -1,4 +1,4 @@
-From 7894487c0d749124c3b0d82fcebff2309a84024a Mon Sep 17 00:00:00 2001
+From 23972aa72e7364f6fd69cdd102274fc2a29fb395 Mon Sep 17 00:00:00 2001
 From: Lukas Bulwahn <lukas.bulwahn@bmw-carit.de>
 Date: Tue, 31 May 2016 15:38:05 +0200
 Subject: [PATCH] use python provided by environment instead of the generated
--- a/recipes-ros/freenect-stack/freenect-camera_0.4.1.bb
+++ b/recipes-ros/freenect-stack/freenect-camera_0.4.1.bb
@ -8,3 +8,8 @@ DEPENDS = "camera-info-manager diagnostic-updater dynamic-reconfigure \
    image-transport libfreenect nodelet roscpp sensor-msgs pluginlib"

 require freenect-stack.inc
+
+inherit distro_features_check
+
+# Depends on libfreenect which depends on freeglut libxi libxmu which need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
--- a/recipes-ros/freenect-stack/freenect-launch_0.4.1.bb
+++ b/recipes-ros/freenect-stack/freenect-launch_0.4.1.bb
@ -8,3 +8,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9de
 require freenect-stack.inc

 RRECOMMENDS_${PN} = "freenect-camera image-proc nodelet rgbd-launch tf"
+
+inherit distro_features_check
+
+# Depends on freenect-camera which depends on libfreenect which depends on freeglut libxi libxmu which need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
--- a/recipes-ros/geometry/tf/0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
+++ b/recipes-ros/geometry/tf/0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
@ -0,0 +1,24 @@
+From 65a6507591ba13333c4d79d119b3316a29e49f6a Mon Sep 17 00:00:00 2001
+From: =?UTF-8?q?Jo=C3=ABl=20Esponde?= <joel.esponde@easymile.com>
+Date: Wed, 27 Feb 2019 15:18:57 +0100
+Subject: [PATCH] cmake: remove boost signals search as it is removed since
+ 1.69
+
+Upstream-Status: Inappropriate [upstream source code changed]
+---
+ tf/CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/tf/CMakeLists.txt b/tf/CMakeLists.txt
+index 8429516..9fcdebd 100644
+--- a/tf/CMakeLists.txt
+++ b/tf/CMakeLists.txt
+@@ -13,7 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
+     std_msgs
+     tf2_ros
+ )
+-find_package(Boost REQUIRED COMPONENTS thread signals system)
+find_package(Boost REQUIRED COMPONENTS thread system)
+ 
+ catkin_python_setup()
+ 
--- a/recipes-ros/geometry/tf_1.11.9.bb
+++ b/recipes-ros/geometry/tf_1.11.9.bb
@ -9,6 +9,8 @@ require geometry.inc

 RDEPENDS_${PN} = "${PYTHON_PN}-numpy"

+SRC_URI += "file://0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch;striplevel=2"
+
 # This option disables python support in case of python3 flavour of ROS because
 # only python2 is supported by tf.
 EXTRA_OECMAKE =+ "${@'-DANDROID=ON' if d.getVar('PYTHON_PN', True) == 'python3' else ''}"
--- a/recipes-ros/geometry2/tf2/0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
+++ b/recipes-ros/geometry2/tf2/0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
@ -0,0 +1,24 @@
+From 075784dd6599521ee03b7103e0b13d1a4d229e0f Mon Sep 17 00:00:00 2001
+From: =?UTF-8?q?Jo=C3=ABl=20Esponde?= <joel.esponde@easymile.com>
+Date: Wed, 27 Feb 2019 14:24:38 +0100
+Subject: [PATCH] cmake: remove boost signals search as it is removed since
+ 1.69
+
+Upstream-Status: Inappropriate [upstream source code changed]
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/tf2/CMakeLists.txt b/tf2/CMakeLists.txt
+index 0d5754f..c9e2597 100644
+--- a/tf2/CMakeLists.txt
+++ b/tf2/CMakeLists.txt
+@@ -3,7 +3,7 @@ project(tf2)
+ 
+ find_package(console_bridge REQUIRED)
+ find_package(catkin REQUIRED COMPONENTS geometry_msgs rostime tf2_msgs)
+-find_package(Boost REQUIRED COMPONENTS signals system thread)
+find_package(Boost REQUIRED COMPONENTS system thread)
+ 
+ catkin_package(
+    INCLUDE_DIRS include
--- a/recipes-ros/geometry2/tf2_0.5.18.bb
+++ b/recipes-ros/geometry2/tf2_0.5.18.bb
@ -9,3 +9,5 @@ DEPENDS = "tf2-msgs geometry-msgs console-bridge rospy"
 RDEPENDS_${PN} += "tf2-msgs geometry-msgs console-bridge rostime"

 require geometry2.inc
+
+SRC_URI += "file://0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch;striplevel=2"
--- a/recipes-ros/gscam/gscam_0.2.0.bb
+++ b/recipes-ros/gscam/gscam_0.2.0.bb
@ -11,3 +11,5 @@ SRC_URI[md5sum] = "b0512882e06f5cdd4c6015f16dceb346"
 SRC_URI[sha256sum] = "84d02ed9a0bed769bebddfb67d27085ae779aaf9ab1311aaad94e9d17aa0fbc6"

 inherit catkin
+
+PNBLACKLIST[gscam] ?= "Depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
--- a/recipes-ros/image-pipeline/image-view/image-view-remove-unused-signals-boost-component.patch
+++ b/recipes-ros/image-pipeline/image-view/image-view-remove-unused-signals-boost-component.patch
@ -0,0 +1,14 @@
+Upstream-Status: Pending
+
+diff -uNr image_pipeline-1.12.23.orig/image_view/CMakeLists.txt image_pipeline-1.12.23/image_view/CMakeLists.txt
+--- image_pipeline-1.12.23.orig/image_view/CMakeLists.txt       2018-05-10 12:52:54.000000000 +0000
+++ image_pipeline-1.12.23/image_view/CMakeLists.txt    2019-07-03 17:02:21.775288064 +0000
+@@ -5,7 +5,7 @@
+ generate_dynamic_reconfigure_options(cfg/ImageView.cfg)
+
+ catkin_package(CATKIN_DEPENDS dynamic_reconfigure)
+-find_package(Boost REQUIRED COMPONENTS signals thread)
+find_package(Boost REQUIRED COMPONENTS thread)
+ find_package(OpenCV REQUIRED)
+
+ include_directories(${Boost_INCLUDE_DIRS}
--- a/recipes-ros/image-pipeline/image-view_1.12.23.bb
+++ b/recipes-ros/image-pipeline/image-view_1.12.23.bb
@ -3,6 +3,11 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"

-DEPENDS = "camera-calibration-parsers cv-bridge dynamic-reconfigure image-transport message-filters nodelet opencv rosconsole roscpp sensor-msgs std-srvs stereo-msgs"
+DEPENDS = "camera-calibration-parsers cv-bridge dynamic-reconfigure image-transport message-filters nodelet opencv rosconsole roscpp sensor-msgs std-srvs stereo-msgs gtk+"

 require image-pipeline.inc
+
+inherit distro_features_check
+ANY_OF_DISTRO_FEATURES = "${GTK2DISTROFEATURES}"
+
+SRC_URI += "file://image-view-remove-unused-signals-boost-component.patch;patchdir=.."
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@ -145,7 +145,6 @@ RDEPENDS_${PN} = "\
    depthimage-to-laserscan \
    diff-drive-controller \
    gripper-action-controller \
-    gscam \
    imu-processors \
    imu-transformer \
    joint-trajectory-controller \
@ -154,7 +153,6 @@ RDEPENDS_${PN} = "\
    move-base \
    robot-pose-ekf \
    roslint \
-    ros-pocketsphinx \
    rt-tests-support \
    communication-tests \
    cyclic-timer-tests \
--- a/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb
+++ b/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb
@ -9,3 +9,10 @@ DEPENDS = "rospy wxpython sensor-msgs"
 require robot-model.inc

 RDEPENDS_${PN} = "wxpython"
+
+inherit distro_features_check
+
+# Depends on wxpython which depends on wxwidgets which depends on libxinerama, libglu, gtk need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
+
+PNBLACKLIST[joint-state-publisher] ?= "Depends on wxpython which depends on wxwidgets which depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
--- a/recipes-ros/ros-comm/message-filters/0002-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
+++ b/recipes-ros/ros-comm/message-filters/0002-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
@ -0,0 +1,24 @@
+From 8fa4972c5059597f79265bc64af7e2f6f65d6d04 Mon Sep 17 00:00:00 2001
+From: =?UTF-8?q?Jo=C3=ABl=20Esponde?= <joel.esponde@easymile.com>
+Date: Wed, 27 Feb 2019 14:46:29 +0100
+Subject: [PATCH] cmake: remove boost signals search as it is removed since
+ 1.69
+
+Upstream-Status: Inappropriate [upstream source code changed]
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/utilities/message_filters/CMakeLists.txt b/utilities/message_filters/CMakeLists.txt
+index 03e906a1..2503cfae 100644
+--- a/utilities/message_filters/CMakeLists.txt
+++ b/utilities/message_filters/CMakeLists.txt
+@@ -13,7 +13,7 @@ catkin_package(
+ )
+ catkin_python_setup()
+ 
+-find_package(Boost REQUIRED COMPONENTS signals thread)
+find_package(Boost REQUIRED COMPONENTS thread)
+ 
+ include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+ link_directories(${catkin_LIBRARY_DIRS})
--- a/recipes-ros/ros-comm/message-filters_1.11.21.bb
+++ b/recipes-ros/ros-comm/message-filters_1.11.21.bb
@ -9,4 +9,6 @@ require ros-comm.inc

 ROS_PKG_SUBDIR = "utilities"

-SRC_URI += "file://0001-Changed-invocation-to-add-to-conform-template-syntax.patch;patchdir=../.."
+SRC_URI += "\
+    file://0001-Changed-invocation-to-add-to-conform-template-syntax.patch;striplevel=3\
+    file://0002-cmake-remove-boost-signals-search-as-it-is-removed-s.patch;striplevel=3"
--- a/recipes-ros/ros-comm/roscpp/0002-make-implicit-cast-explicit.patch
+++ b/recipes-ros/ros-comm/roscpp/0002-make-implicit-cast-explicit.patch
--- a/recipes-ros/ros-comm/roscpp/0003-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
+++ b/recipes-ros/ros-comm/roscpp/0003-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
@ -0,0 +1,23 @@
+From 80858e3ba7ea3d89cb745e79c50794edf7c568f8 Mon Sep 17 00:00:00 2001
+From: =?UTF-8?q?Jo=C3=ABl=20Esponde?= <joel.esponde@easymile.com>
+Date: Wed, 27 Feb 2019 13:15:13 +0100
+Subject: [PATCH] cmake: remove boost signals search as it is removed since
+ 1.69
+
+Upstream-Status: Inappropriate [upstream source code changed]
+---
+ CMakeLists.txt | 2 ++--
+ 1 file changed, 1 insertions(+), 1 deletions(-)
+
+diff --git a/clients/roscpp/CMakeLists.txt b/clients/roscpp/CMakeLists.txt
+index 91bd3113..c3a38487 100644
+--- a/clients/roscpp/CMakeLists.txt
+++ b/clients/roscpp/CMakeLists.txt
+@@ -22,7 +22,7 @@ list(GET roscpp_VERSION_LIST 2 roscpp_VERSION_PATCH)
+
+ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/ros/common.h.in ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/ros/common.h)
+
+-find_package(Boost REQUIRED COMPONENTS signals filesystem system)
+find_package(Boost REQUIRED COMPONENTS filesystem system)
+
+ include_directories(include ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/ros ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
--- a/recipes-ros/ros-comm/roscpp_1.11.21.bb
+++ b/recipes-ros/ros-comm/roscpp_1.11.21.bb
@ -12,7 +12,8 @@ require ros-comm.inc

 SRC_URI += "\
    file://0001-roscpp-add-missing-header-for-writev.patch;striplevel=3\
-    file://0001-make-implicit-cast-explicit.patch;striplevel=3"
+    file://0002-make-implicit-cast-explicit.patch;striplevel=3\
+    file://0003-cmake-remove-boost-signals-search-as-it-is-removed-s.patch;striplevel=3"

 ROS_PKG_SUBDIR = "clients"

--- a/recipes-ros/ros-pocketsphinx/ros-pocketsphinx_0.3.0.bb
+++ b/recipes-ros/ros-pocketsphinx/ros-pocketsphinx_0.3.0.bb
@ -27,3 +27,5 @@ RDEPENDS_${PN} = "std-srvs rospy gstreamer0.10-pocketsphinx"
 RRECOMMENDS_${PN} += "gst-plugins-good-gconfelements"

 ROS_SPN = "ros_pocketsphinx"
+
+PNBLACKLIST[ros-pocketsphinx] ?= "Depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
--- a/recipes-ros/rosbridge-suite/rosapi_0.7.16.bb
+++ b/recipes-ros/rosbridge-suite/rosapi_0.7.16.bb
@ -5,4 +5,6 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9de

 DEPENDS = "message-generation rospy rosservice"

+RDEPENDS_${PN} = "python-json"
+
 require rosbridge-suite.inc
--- a/recipes-ros/rosbridge-suite/rosbridge-library_0.7.16.bb
+++ b/recipes-ros/rosbridge-suite/rosbridge-library_0.7.16.bb
@ -3,6 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=68b329da9893e34099c7d8ad5cb9c940"

-DEPENDS = "message-generation std-msgs geometry-msgs rospy python-six python-bson"
+DEPENDS = "message-generation std-msgs geometry-msgs rospy python-six python-pymongo"
+
+RDEPENDS_${PN} = "python-pymongo python-imaging"

 require rosbridge-suite.inc
--- a/recipes-ros/rosbridge-suite/rosbridge-server_0.7.16.bb
+++ b/recipes-ros/rosbridge-suite/rosbridge-server_0.7.16.bb
@ -5,4 +5,6 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=9add477069b61

 DEPENDS = "rosbridge-library rosapi rospy rosauth"

+RDEPENDS_${PN} = "rosauth rosbridge-library python-twisted python-html python-json"
+
 require rosbridge-suite.inc
--- a/recipes-ros/velodyne/velodyne.inc
+++ b/recipes-ros/velodyne/velodyne.inc
@ -1,8 +1,8 @@
-SRC_URI = "https://github.com/ros-drivers/${ROS_SPN}/archive/${ROS_SP}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "f832dfb305fc68cc4214c706cc53428d"
-SRC_URI[sha256sum] = "7adfb3efaf89a6576f796e40ef32041175e911589cfc75cbf6d10e62fd66c3c2"
+SRC_URI = "https://github.com/ros-drivers/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${PV}.tar.gz"
+SRC_URI[md5sum] = "7ba576af37797b06147bbe951a3ff08f"
+SRC_URI[sha256sum] = "35e98096491d3c5d2a9e10a22536647b1da86b96445fe70c4ccfc931c2789b60"

-S = "${WORKDIR}/${ROS_SPN}-${ROS_SP}/${ROS_BPN}"
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"

 inherit catkin

--- a/recipes-ros2/ros2-demos/ros2-demo-nodes-cpp_git.bb
+++ b/recipes-ros2/ros2-demos/ros2-demo-nodes-cpp_git.bb
@ -10,3 +10,9 @@ DEPENDS = " \
 ROS_BPN = "demo_nodes_cpp"

 include ros2-demos.inc
+
+# FAILED: allocator_tutorial
+# /usr/include/c++/8.2.0/bits/atomic_base.h:514: error: undefined reference to '__atomic_fetch_add_8'
+# http://caprica.lgsvl.com:8080/Errors/Details/1510771
+LDFLAGS_append_armv4 = " -latomic"
+LDFLAGS_append_armv5 = " -latomic"