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

Various simple fixes

README.md

@@ -1,14 +1,301 @@
-# UNDER CONSTRUCTION!
+# Branch `legacy`
 
-The original implementation of `meta-ros` for ROS 1 Indigo Igloo
-(<https://github.com/bmwcarit/meta-ros> was transferred here on 2019-06-25. It
-is in the process of being upgraded to be able to build current ROS 1 and ROS 2
-distros (Crystal Clemmys, Dashing Diademata, and eventually Melodic Morenia and
-Bouncy Bolson) from recipes generated by
-[superflore](https://github.com/ros-infrastructure/superflore/) and might not be
-usable for a little while. Please see this
-[wiki page](https://github.com/ros/meta-ros/wiki/Superflore-OE-Recipe-Generation-Scheme)
-for details of what is being done. Draft versions of these changes are in the
-[`thud-draft`](https://github.com/ros/meta-ros/tree/thud-draft) branch.
+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.
 
-The original implementation has been retained in the [`legacy`](https://github.com/ros/meta-ros/tree/legacy) branch.
+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/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 https://discourse.ros.org/c/openembedded.
+However, the mailing list is still a good resource on issues that have been
+resolved in the past.
+
+
+## MAINTAINERS ##
+
+  * Lukas Bulwahn, BMW Car IT GmbH <lukas.bulwahn@oss.bmw-carit.de>
+  * Stefan Herbrechtsmeier, Bielefeld University <stefan@herbrechtsmeier.net>
+  * Kristof Robot <krirobo@gmail.com>
+  * Dmitry Rozhkov, Intel <dmitry.rozhkov@linux.intel.com>
+
+
+## CONTRIBUTORS ##
+
+  * Lukas Bulwahn, BMW Car IT GmbH <lukas.bulwahn@oss.bmw-carit.de>
+  * Stefan Herbrechtsmeier, Bielefeld University <stefan@herbrechtsmeier.net>
+  * Tobias Weigl, BMW Car IT GmbH <tobias.weigl@bmw-carit.de>
+  * Kartik Mohta <kartikmohta@gmail.com>
+  * Koen Kooi <koen@dominion.thruhere.net>
+  * Victor Mayoral Vilches <v.mayoralv@gmail.com>
+  * Sergey 'Jin' Bostandzhyan <jin@dev.digitalstrom.org>
+  * Andreas Hildisch, BMW Car IT GmbH <andreas.hildisch@bmw-carit.de>
+  * William <william@friedcircuits.us>
+  * Kristof Robot <krirobo@gmail.com>
+  * Khem Raj <raj.khem@gmail.com>
+  * Esteve Fernandez <esteve@apache.org>
+  * Jonas Sticha <jonas.sticha@bmw-carit.de>
+  * Pascal Bach <pascal.bach@siemens.com>
+  * Andreas Galauner <andreas@galauner.de>
+  * Peter S. Housel <housel@acm.org>
+  * Gauthier Monserand <simkim@simkim.net>
+  * Timo Mueller <timo.mueller@bmw-carit.de>
+  * Andreas Baak <andreas.baak@bmw-carit.de>
+  * Dmitry Rozhkov, Intel <dmitry.rozhkov@linux.intel.com>
+
+
+## HOW TO CONTRIBUTE ##
+
+  We are still working on this development and are interested in other use cases.
+  If you are interested in this project, please contact us via email.
+  The more people are interested, the more we will be pushing this project.
+  If you want to contribute, please contact us and we can discuss open issues
+  and how to join forces.
+
+
+## DEPENDENCIES ##
+
+  This layer depends on:
+
+  **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: thud
+  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: thud
+  revision: HEAD
+  This layer is required only if you need to build realsense-camera driver.
+
+  **bitbake** > 1.20
+
+
+## DEPENDENCIES ON RECENT COMMITS ##
+
+  Here, we list which parts of this layer depend on recent commits in the
+  bitbake, openembedded-core and meta-openembedded repositories. Using
+  `git blame` on the lines below, you can find the commits in meta-ros that
+  rely on the remote commits. In case of porting to other versions, you must
+  possibly revert some of those commits.
+
+  ament-cmake-core depends on python3-pyparsing which is available in
+  meta-python since pyro
+  1a373a033f482981eb59ff8d9eb7a9437fa18cd4@meta-openembedded and native
+  version since rocko
+  06eb9d658e71b6a61f2589d9618ae2ca35eaaf8b@meta-openembedded
+  python3-pyparsing-native depends on python3-datetime-native,
+  python3-debugger-native and python3-stringold-native which were added
+  in oe-core python3-native in pyro:
+  462ccb35a5de32b52ddb733d1868df6ac5426f20@openembedded-core and
+  800753069f667cd1664d70b3779150c467e3b3fe@openembedded-core simple
+  bbappend as shown in:
+  https://github.com/ros/meta-ros/pull/607#pullrequestreview-143981126
+  is enough to resolve this if you're using old pyro unsupported
+  release.
+
+  ros2topic (and few more recipes when ROS_USE_PYTHON3 is set to yes)
+  depends on python3-pyyaml which was added in
+  1161ab8f8dda272eb5d09917446cc5b971be1335@meta-openembedded.
+
+  cv-bridge and dependent recipes, e.g., the image-transport recipes, depend on
+  7568bfdd114597956a1da68746f207ec7f93a48d@openembedded-core.
+  For native python-numpy support, these recipes also depend on
+  c13c5f40160d289bb62538a16900fed30621cb22@meta-openembedded or on
+  9bf355cceaec6ebacdcbcc35f9713ff73e1c85da@openembedded-core.
+
+  Some recipes that need the Eigen library, e.g., the pcl-ros recipe, depend on
+  424e3c1b930c0103c2cedfd4df1671e84a5256d5@meta-openembedded.
+
+  Using wildcards in bbappend versions part in name depends on
+  31bc9af9cd56e7b318924869970e850993fafc5f@bitbake and
+  991cbeedbde8bd25ce08c669b1bfac8b99e33149@bitbake.
+
+  octomap-ros and collada-urdf depend on
+  43073569cb67d98c11aa71211d77b566b64f9145@openembedded-core and
+  783fb88f476c94d5d4f4b954f7053464d9a6dff5@openembedded-core.
+
+  urdfdom-py depends on the meta-python layer since
+  a6d7ba92645a112af358efd94ff3aa0c74985a51@meta-openembedded.
+
+  Since 3edf08b38b0af93cef0933b061349264dc86d54c@openembedded-core,
+  recipes relying on opencv need to activate the DISTRO\_FEATURE
+  opengl.
+
+  rosbridge-library depends on python-six, which is provided in meta-python
+  since a36869c700bed940f7f0aa4b9703ae630dc84eac@meta-openembedded.
+
+## INSTALLATION ##
+
+  The repository contains a layer for ROS that builds on top of the
+  OpenEmbedded Core layer and the meta-oe layer.
+
+  We try our best to keep up with the development of the current HEAD
+  of the layers mentioned above. If you notice any problems with the
+  current HEAD, please report this in our issue tracker.
+
+  You can use this layer with earlier versions of the layers mentioned above
+  and their release branches, dora and daisy, with a few minor adjustments.
+  The section "dependencies on recent commits" in this file provides a few
+  pointers to adjust this layer for other versions.
+
+
+## USAGE ##
+
+  Initialize the build environment:
+
+    source oe-init-build-env
+
+  Add the required layers (see **DEPENDENCIES**) by modifying ``./conf/bblayers.conf`` (adjust ``/home/me/devel`` as necessary):
+
+    BBLAYERS ?= " \
+    /home/me/devel/openembedded-core/meta \
+    /home/me/devel/meta-openembedded/meta-oe \
+    /home/me/devel/meta-openembedded/meta-python \
+    /home/me/devel/meta-openembedded/meta-multimedia \
+    /home/me/devel/meta-ros \
+    "
+
+  By default meta-ros uses python2 in all its recipes. If you want ROS packages
+  to use python3 then add the following line in your `./conf/local.conf` file:
+
+    ROS_USE_PYTHON3 = "yes"
+
+  Compile package:
+
+    bitbake <package-name>
+
+  The recipe core-image-ros-roscore provides a minimal Linux system that runs
+  roscore.
+
+  You can compile the minimal Linux system with
+
+    bitbake core-image-ros-roscore
+
+  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
+
+    export ROS_ROOT=/opt/ros
+    export ROS_DISTRO=indigo
+    export ROS_PACKAGE_PATH=/opt/ros/indigo/share
+    export PATH=$PATH:/opt/ros/indigo/bin
+    export LD_LIBRARY_PATH=/opt/ros/indigo/lib
+    export PYTHONPATH=/opt/ros/indigo/lib/python2.7/site-packages
+    export ROS_MASTER_URI=http://localhost:11311
+    export CMAKE_PREFIX_PATH=/opt/ros/indigo
+    touch /opt/ros/indigo/.catkin
+
+  Finally, you can start roscore with
+
+    roscore
+
+  If you want to use the roswtf utility for diagnostics and experience an
+  exception like
+
+    rospkg.os_detect.OsNotDetected: Could not detect OS, tried ['windows', 'ubuntu', 'slackware', 'rhel', 'qnx', 'osx', 'opensuse', 'opensuse', 'mint', 'linaro', 'gentoo', 'funtoo', 'freebsd', 'fedora', 'elementary', 'debian', 'cygwin', 'centos', 'arch']
+
+  then you need to set `ROS_OS_OVERRIDE` to one of the listed OS names, e.g.
+
+    export ROS_OS_OVERRIDE=ubuntu
+
+  And since Yocto-based distributions are not supported by the `rospkg`
+  library you have to interpret roswtf's output by translating Ubuntu
+  package names manually to their corresponding package/recipe names that
+  were chosen in the meta-ros layer.
+
+
+## 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:
+
+    LICENSE_FLAGS_WHITELIST = "commercial"
+
+  Alternatively, the dependency from opencv on libav can be explicit excluded
+  by modifying the PACKAGECONFIG setting.
+
+
+## LICENSE ##
+
+  All metadata is MIT licensed unless otherwise stated. Source code included
+  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 (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.
+
+
+## REDISTRIBUTIONS ##
+
+  The log4cxx recipe originated from the recipe in the OpenEmbedded (Classic) Development
+  (cf. http://cgit.openembedded.org/openembedded/tree/recipes/log4cxx)
+  licensed with the MIT License.
+
+  The yaml-cpp recipe originated from the recipe in Kartik Mohta's OpenEmbedded layer
+  (cf. https://github.com/kartikmohta/meta-km/blob/master/recipes-devtools/yaml-cpp/yaml-cpp_0.3.0.bb)
+  licensed with the MIT License.
+
+  The python-ecdsa recipe originated from the recipe in the OpenStack Yocto layer
+  (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. 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. 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.

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"

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

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"

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"

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"

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
 }

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"

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/"

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=''"

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
-

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
-

recipes-extended/pcl/pcl_git.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"

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"

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"

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"

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"

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"

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 {
+

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"

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"

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"
 

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
-

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)

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

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"

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"

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()
+ 

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 ''}"

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

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"

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"

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}

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=.."

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 \

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"

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})

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"

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})

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"
 

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"

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

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

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

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
 

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"