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Fix teb-local-planner.

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Add OpenBLAS support to libg2o and add patch for teb-local-planner.
This commit is contained in:
Ben Wolsieffer 2023-10-05 21:50:39 -04:00
parent fa3067f54f
commit d37d5a670a
1 changed files with 24 additions and 0 deletions
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24
distros/ros1-overlay.nix
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@ -90,6 +90,13 @@ rosSelf: rosSuper: with rosSelf.lib; {
sha256 = "0lpaskqxpklm05050wwvdqwhw30f2hpzss8sgyvczdpvvqzjg4vk";
};
libg2o = rosSuper.libg2o.overrideAttrs ({
nativeBuildInputs ? [], ...
}: {
# Missing from package.xml; propagated by other dependencies in Ubuntu
nativeBuildInputs = nativeBuildInputs ++ [ self.openblas ];
});
map-server = rosSuper.map-server.overrideAttrs ({
nativeBuildInputs ? [], ...
}: {
@ -195,4 +202,21 @@ rosSelf: rosSuper: with rosSelf.lib; {
}: {
CXXFLAGS = CXXFLAGS + " -DACCEPT_USE_OF_DEPRECATED_PROJ_API_H";
});
teb-local-planner = rosSuper.teb-local-planner.overrideAttrs ({
patches ? [], cmakeFlags ? [], ...
}: {
patches = patches ++ [
# fix: undefined reference to `int boost::math::sign<double>(double const&)'
# https://github.com/rst-tu-dortmund/teb_local_planner/pull/413
(self.fetchpatch {
url = "https://github.com/rst-tu-dortmund/teb_local_planner/commit/c6e0990105811cba87747e87ec878d6610ee2ac5.patch";
hash = "sha256-td4yejakcXUH6b6wUa2d85R4dyegc5pbZLDEzTTz/x8=";
})
];
# FindSUITESPARSE.cmake uses find_path() to search for the directory
# containing libcholmod.so, but this is primarily designed to find include
# directories and doesn't search ${CMAKE_PREFIX_PATH}/lib.
cmakeFlags = cmakeFlags ++ [ "-DSUITESPARSE_LIBRARY_DIR=${self.suitesparse}/lib" ];
});
}