Update to the latest versions of everything

patch/ros-humble-cartographer-ros.patch

@@ -1,37 +1,15 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 1beca59..3b63beb 100644
+index 213770e..215ec45 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -49,6 +49,8 @@ find_package(tf2_ros REQUIRED)
+@@ -49,6 +49,7 @@ find_package(tf2_ros REQUIRED)
  find_package(urdf REQUIRED)
  find_package(urdfdom_headers REQUIRED)
  find_package(visualization_msgs REQUIRED)
 +find_package(Protobuf REQUIRED CONFIG)
-+
 
  include_directories(
    include
-@@ -59,20 +61,13 @@ include_directories(
- # Library
- add_library(${PROJECT_NAME}
-   src/assets_writer.cpp
--  src/assets_writer_main.cpp
-   src/map_builder_bridge.cpp
-   src/msg_conversion.cpp
-   src/node_constants.cpp
-   src/node.cpp
--  src/node_main.cpp
-   src/node_options.cpp
--  src/occupancy_grid_node_main.cpp
-   src/offline_node.cpp
--  src/offline_node_main.cpp
--  src/pbstream_map_publisher_main.cpp
--  src/pbstream_to_ros_map_main.cpp
-   src/playable_bag.cpp
--  src/rosbag_validate_main.cpp
-   src/ros_log_sink.cpp
-   src/ros_map.cpp
-   src/ros_map_writing_points_processor.cpp
 diff --git a/include/cartographer_ros/map_builder_bridge.h b/include/cartographer_ros/map_builder_bridge.h
 index b2c00b7..9c1befd 100644
 --- a/include/cartographer_ros/map_builder_bridge.h
@@ -125,10 +103,10 @@ index e603727..651305a 100644
 
    void WaitTillSent() override;
 diff --git a/src/occupancy_grid_node_main.cpp b/src/occupancy_grid_node_main.cpp
-index 324426b..443dac2 100644
+index 282b890..6139979 100644
 --- a/src/occupancy_grid_node_main.cpp
 +++ b/src/occupancy_grid_node_main.cpp
-@@ -73,10 +73,10 @@ class Node : public rclcpp::Node
+@@ -74,10 +74,10 @@ class Node : public rclcpp::Node
    absl::Mutex mutex_;
    rclcpp::CallbackGroup::SharedPtr callback_group_;
    rclcpp::executors::SingleThreadedExecutor::SharedPtr callback_group_executor_;
@@ -144,10 +122,10 @@ index 324426b..443dac2 100644
    std::string last_frame_id_;
    rclcpp::Time last_timestamp_;
 diff --git a/src/ros_log_sink.cpp b/src/ros_log_sink.cpp
-index d9b8ee2..2c688ea 100644
+index 1396381..77be4ce 100644
 --- a/src/ros_log_sink.cpp
 +++ b/src/ros_log_sink.cpp
-@@ -40,13 +40,13 @@ ScopedRosLogSink::~ScopedRosLogSink() { RemoveLogSink(this); }
+@@ -41,7 +41,7 @@ ScopedRosLogSink::~ScopedRosLogSink() { RemoveLogSink(this); }
  void ScopedRosLogSink::send(const ::google::LogSeverity severity,
                              const char* const filename,
                              const char* const base_filename, const int line,
@@ -156,10 +134,12 @@ index d9b8ee2..2c688ea 100644
                              const char* const message,
                              const size_t message_len) {
    (void) base_filename; // TODO: remove unused arg ?
-
+@@ -54,7 +54,7 @@ void ScopedRosLogSink::send(const ::google::LogSeverity severity,
+       severity, GetBasename(filename), line, tm_time, message, message_len);
+ #else
    const std::string message_string = ::google::LogSink::ToString(
--      severity, GetBasename(filename), line, tm_time, message, message_len);
-+      severity, GetBasename(filename), line, logmsgtime, message, message_len);
+-      severity, GetBasename(filename), line, ::google::LogMessageTime(*tm_time), message, message_len);
++      severity, GetBasename(filename), line, ::google::LogMessageTime(logmsgtime), message, message_len);
+ #endif
    switch (severity) {
      case ::google::GLOG_INFO:
-       RCLCPP_INFO_STREAM(logger_, message_string);

patch/ros-humble-gazebo-ros2-control.patch

@@ -1,42 +1,20 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index cfba129..d91c6a3 100644
+index 01a40ee..02e775c 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -30,6 +30,7 @@ link_directories(
+@@ -31,6 +31,7 @@ link_directories(
  add_library(${PROJECT_NAME} SHARED
    src/gazebo_ros2_control_plugin.cpp
  )
 +target_compile_definitions(${PROJECT_NAME} PRIVATE "_USE_MATH_DEFINES" "NO_STRICT")
  ament_target_dependencies(${PROJECT_NAME}
    angles
    controller_manager
-@@ -44,6 +45,7 @@ ament_target_dependencies(${PROJECT_NAME}
+@@ -43,6 +44,7 @@ ament_target_dependencies(${PROJECT_NAME}
+   yaml_cpp_vendor
+ )
+
++target_compile_definitions(gazebo_hardware_plugins PRIVATE "_USE_MATH_DEFINES" "NO_STRICT")
  add_library(gazebo_hardware_plugins SHARED
    src/gazebo_system.cpp
  )
-+target_compile_definitions(gazebo_hardware_plugins PRIVATE "_USE_MATH_DEFINES" "NO_STRICT")
- ament_target_dependencies(gazebo_hardware_plugins
-   angles
-   gazebo_dev
-diff --git a/src/gazebo_ros2_control_plugin.cpp b/src/gazebo_ros2_control_plugin.cpp
-index 82b7ba7..eee85e6 100644
---- a/src/gazebo_ros2_control_plugin.cpp
-+++ b/src/gazebo_ros2_control_plugin.cpp
-@@ -36,6 +36,8 @@
- #include <memory>
- #include <utility>
- #include <vector>
-+#include <chrono>
-+#include <thread>
-
- #include "gazebo_ros/node.hpp"
-
-@@ -465,7 +471,7 @@ std::string GazeboRosControlPrivate::getURDF(std::string param_name) const
-         model_nh_->get_logger(), "gazebo_ros2_control plugin is waiting for model"
-         " URDF in parameter [%s] on the ROS param server.", search_param_name.c_str());
-     }
--    usleep(100000);
-+    std::this_thread::sleep_for(std::chrono::microseconds(100000));
-   }
-   RCLCPP_INFO(
-     model_nh_->get_logger(), "Received urdf from param server, parsing...");