[Tobias-Fischer]

Ports RoboStack/ros-jazzy#298 by @gftabor (continuing RoboStack/ros-jazzy#267 by @Timple): adds beluga_amcl and beluga_ros (with beluga) to the shared selection, on Linux, macOS and Windows. Beluga 2.1.1 is released for humble and jazzy only, so lyrical and rolling build nothing.

• All platforms (shared/patch/ros2-beluga.patch):
  • <Eigen/Geometry> instead of the Eigen-internal Eigen/src/Geometry/AngleAxis.h, which Eigen 5 rejects;
  • BUILD_TESTING off by default;
  • in the on_motion policy, a flag plus the pose instead of std::optional<Pose>: GCC 15 fails to instantiate std::optional<Sophus::SE3> ("initializations for multiple members"), which beluga_amcl's 3D NDT node hits too.
  • The PRs' additional recipes and sophus dummy package aren't needed: the packages are in the rosdistro, and conda-forge's sophus is rebuilt for Eigen 5 (Increase Eigen compatibility conda-forge/sophus-feedstock#5).
• Windows (Beluga to windows as well #123 by @gftabor, merged into this branch):
  • CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS for beluga_amcl;
  • a static beluga_ros library;
  • path.string() for HDF5.
• macOS (ros2-beluga*.osx.patch): libc++ differs from libstdc++ in three ways.
  • Its execution policies need -fexperimental-library, set as an interface option of beluga so its users get it too.
  • spatial_hash checked is_same_v<size_t, uint64_t>, which is false on macOS (unsigned long vs unsigned long long); it compares sizeof instead.
  • libc++'s execution policies can't be copied. beluga's action closures, Amcl, and the policy variants of beluga_ros and beluga_amcl copied them; they now keep pointers to the standard policies (std::execution::seq, par).

Built locally

• jazzy, linux-64: beluga, beluga_amcl, beluga_ros.
• jazzy, linux-aarch64 (multipass VM): beluga, beluga_amcl (with its recipe tests) and beluga_ros. Compiling beluga_amcl's 3D NDT node needs more than 6 GB of memory for one compiler process; CI's runners have more.
• jazzy, osx-arm64: beluga, beluga_amcl, beluga_ros with the macOS patches.
• humble, linux-64: beluga, beluga_amcl, beluga_ros with their recipe tests.
• check-patches passes for humble and jazzy on linux-64, osx-arm64 and win-64.

Merged with main after the syncs (#60, #61, #62, #99). Not built in CI yet.

🤖 Generated with Claude Code

[Timple]

Suggested change

	- beluga_amcl # macOS: libc++ lacks std::execution::sequenced_policy; requested in https://github.com/RoboStack/ros-jazzy/pull/298
	- beluga_ros # macOS: libc++ lacks std::execution::sequenced_policy; requested in https://github.com/RoboStack/ros-jazzy/pull/298
	- beluga_amcl # macOS: libc++ lacks std::execution::sequenced_policy
	- beluga_ros # macOS: libc++ lacks std::execution::sequenced_policy

I don't think this is relevant information. And if one really wants to know, it's one search away..

[gftabor]

Ports RoboStack/ros-jazzy#298 by @gftabor (continuing RoboStack/ros-jazzy#267 by @Timple): adds beluga_amcl and beluga_ros (with beluga) to the shared selection on Linux. Beluga 2.1.1 is released for humble and jazzy.

• The PRs' additional recipes and sophus dummy package aren't needed: the packages are in the rosdistro, and conda-forge's sophus is rebuilt for Eigen 5 (Increase Eigen compatibility conda-forge/sophus-feedstock#5).
• beluga (shared patch): <Eigen/Geometry> instead of the Eigen-internal Eigen/src/Geometry/AngleAxis.h (rejected by Eigen 5), BUILD_TESTING off by default (beluga is a plain CMake package that builds its tests otherwise), and in the on_motion policy a flag plus the pose instead of std::optional<Pose>: GCC 15 fails to instantiate std::optional<Sophus::SE3> ("initializations for multiple members"), which beluga_amcl's NDT 3D node hits too, not only the tests.
• macOS: libc++ lacks std::execution::sequenced_policy.

Built locally

• jazzy, linux-64: beluga, beluga_amcl, beluga_ros with the patch.
• jazzy, linux-aarch64 (multipass VM): beluga, beluga_amcl (with its recipe tests) and beluga_ros. Compiling beluga_amcl's 3D NDT node needs more than 6 GB of memory for a single compiler process; CI's runners have more.
• humble, linux-64: beluga, beluga_amcl, beluga_ros with their recipe tests. lyrical and rolling have no beluga release.

Prepared and built on top of the current rosdistro syncs (#62 humble, #61 jazzy, #60 lyrical, #99 rolling) merged together, so it targets their package versions: merge after them. CI is held with [skip ci] until the syncs are in.

🤖 Generated with Claude Code

I had previously done a test build on windows of beluga and it succeeded. Here you only are building on Linux. Does Windows build? And what patch is required to get mac to build?

[gftabor]

I have a pull request to this branch adding windows support

[github-actions]

ABI check (linux-64)

About this check

Each package this pull request built, compared with its newest released build (tools/abi_check.py, libabigail):

• compatible / additions: the package can be bumped on its own;
• soname / incompatible: the packages that depend on it need a rebuild (build number bump) in the same pull request.

Exported symbols are compared (the released packages are stripped, so struct layouts aren't); unchanged installed headers rule out layout and inline changes, changed ones are listed for review. Dependents to rebuild are the released ones linking to a changed library. A changed pin is part of the comparison.