Cleanup overrides

Move some ROS 1 specific overrides out of distro-overlay.nix, get rid of
some that have been fixed upstream and remove some for packages that
only exist in ancient distros.

distros/distro-overlay.nix

@@ -72,69 +72,16 @@ let
   overrides = rosSelf: rosSuper: with rosSelf.lib; {
     # ROS package overrides/fixups
 
-    camera-calibration-parsers = patchBoostPython rosSuper.camera-calibration-parsers;
-
-    cob-light = patchBoostSignals rosSuper.cob-light;
-
-    cv-bridge = patchBoostPython rosSuper.cv-bridge;
-
-    dynamic-reconfigure = rosSuper.dynamic-reconfigure.overrideAttrs ({
-      postPatch ? "", ...
-    }: {
-      postPatch = postPatch + ''
-        substituteInPlace cmake/setup_custom_pythonpath.sh.in \
-          --replace-fail '#!/usr/bin/env sh' '#!${self.stdenv.shell}'
-      '';
-    });
-
-    fake-localization = patchBoostSignals rosSuper.fake-localization;
-
     gazebo-ros = rosSuper.gazebo-ros.overrideAttrs ({ ... }:{
       setupHook = ./gazebo-ros-setup-hook.sh;
     });
 
-    gmapping = patchBoostSignals rosSuper.gmapping;
-
-    image-cb-detector = patchBoostSignals rosSuper.image-cb-detector;
-
-    laser-cb-detector = patchBoostSignals rosSuper.laser-cb-detector;
-
-    libfranka = rosSuper.libfranka.overrideAttrs ({
-      cmakeFlags ? [], ...
-    }: {
-      # Uses custom flag to disable tests. Attempts to download GTest without
-      # this.
-      cmakeFlags = cmakeFlags ++ [ "-DBUILD_TESTS=OFF" ];
-    });
-
-    libpcan = patchVendorUrl rosSuper.libpcan {
-      url = "http://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-8.3.tar.gz";
-      sha256 = "0f6v3vjszyg1xp99jx48hyv8p32iyq4j18a4ir4x5p6f3b0z3r34";
-    };
-
-    librealsense = rosSuper.librealsense.overrideAttrs ({
-      patches ? [], ...
-    }: {
-      patches = patches ++ [ (self.fetchpatch {
-        url = "https://github.com/IntelRealSense/librealsense/commit/86e434c86096b91a722f22bd039c2b6eeb8174ab.patch";
-        sha256 = "1kcvm32cx9zzd56k9yglnyxizmfgar3a6cybjdwpyf6ljrxjlpp5";
-      }) ];
-    });
-
     librealsense2 = rosSuper.librealsense2.overrideAttrs ({
       buildInputs ? [], ...
     }: {
       buildInputs = buildInputs ++ [ self.glfw self.libGLU ];
     });
 
-    libuvc-camera = rosSuper.libuvc-camera.overrideAttrs ({
-      postPatch ? "", ...
-    }: {
-      postPatch = postPatch + ''
-        substituteInPlace cfg/UVCCamera.cfg --replace-fail python2 python
-      '';
-    });
-
     mapviz = rosSuper.mapviz.overrideAttrs ({
       nativeBuildInputs ? [],
       postFixup ? "", ...
@@ -156,16 +103,6 @@ let
       ROS_PYTHON_VERSION = if rosSelf.python.isPy3k then 3 else 2;
     });
 
-    message-filters = patchBoostSignals rosSuper.message-filters;
-
-    message-relay = rosSuper.message-relay.overrideAttrs ({
-      postPatch ? "", ...
-    }: {
-      postPatch = postPatch + ''
-        patchShebangs scripts
-      '';
-    });
-
     osqp-vendor = pipe rosSuper.osqp-vendor [
       (pkg: pkg.overrideAttrs ({
         preInstall ? "", ...
@@ -203,16 +140,6 @@ let
       ];
     });
 
-    open-manipulator-control-gui = rosSuper.open-manipulator-control-gui.overrideAttrs ({
-      nativeBuildInputs ? [], ...
-    }: {
-      dontWrapQtApps = false;
-      nativeBuildInputs = nativeBuildInputs ++ [ self.qt5.wrapQtAppsHook ];
-      postFixup = ''
-        wrapQtApp "$out/lib/open_manipulator_control_gui/open_manipulator_control_gui"
-      '';
-    });
-
     plotjuggler = rosSuper.plotjuggler.overrideAttrs ({
       nativeBuildInputs ? [], ...
     }: {
@@ -223,8 +150,6 @@ let
       '';
     });
 
-    pr2-tilt-laser-interface = patchBoostSignals rosSuper.pr2-tilt-laser-interface;
-
     python-qt-binding = (rosSuper.python-qt-binding.override {
       python3Packages = rosSelf.python3Packages.overrideScope (pyFinal: pyPrev: {
         pyqt5 = pyPrev.pyqt5.overrideAttrs ({
@@ -405,30 +330,6 @@ let
       '';
     });
 
-    rxcpp-vendor = patchVendorUrl rosSuper.rxcpp-vendor {
-      url = "https://github.com/ReactiveX/RxCpp/archive/v4.1.0.tar.gz";
-      sha256 = "1smxrcm0s6bz05185dx1i2xjgn47rq7m247pblil6p3bmk3lkfyk";
-    };
-
-    swri-profiler-tools = rosSuper.swri-profiler-tools.overrideAttrs ({
-      nativeBuildInputs ? [], ...
-    }: {
-      dontWrapQtApps = false;
-      nativeBuildInputs = nativeBuildInputs ++ [ self.qt5.wrapQtAppsHook ];
-      postFixup = ''
-        wrapQtApp "$out/lib/swri_profiler_tools/profiler"
-      '';
-    });
-
-    tf = patchBoostSignals rosSuper.tf;
-
-    tf2 = patchBoostSignals rosSuper.tf2;
-
-    tinydir-vendor = patchVendorUrl rosSuper.tinydir-vendor {
-      url = "https://github.com/cxong/tinydir/archive/1.2.4.tar.gz";
-      sha256 = "1qjwky7v4b9d9dmxzsybnhiz6xgx94grc67sdyvlp1d4kfkfsl4w";
-    };
-
     turtlesim = rosSuper.turtlesim.overrideAttrs ({
       nativeBuildInputs ? [], ...
     }: {
@@ -438,8 +339,6 @@ let
         wrapQtApp "$out/lib/turtlesim/turtlesim_node"
       '';
     });
-
-    urdf = patchBoostPython rosSuper.urdf;
   } // (mrptOverrides rosSelf rosSuper);
 
   otherSplices = {

distros/humble/overrides.nix

@@ -57,6 +57,14 @@ in with lib; {
     };
   };
 
+  libfranka = rosSuper.libfranka.overrideAttrs ({
+    cmakeFlags ? [], ...
+  }: {
+    # Uses custom flag to disable tests. Attempts to download GTest without
+    # this.
+    cmakeFlags = cmakeFlags ++ [ "-DBUILD_TESTS=OFF" ];
+  });
+
   libphidget22 = patchVendorUrl rosSuper.libphidget22 {
     url = "https://www.phidgets.com/downloads/phidget22/libraries/linux/libphidget22/libphidget22-1.19.20240304.tar.gz";
     hash = "sha256-GpzGMpQ02s/X/XEcGoozzMjigrbqvAu81bcb7QG+36E=";

distros/ros1-overlay.nix

@@ -73,11 +73,22 @@ rosSelf: rosSuper: with rosSelf.lib; {
     ];
   });
 
+  dynamic-reconfigure = rosSuper.dynamic-reconfigure.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    postPatch = postPatch + ''
+      substituteInPlace cmake/setup_custom_pythonpath.sh.in \
+        --replace-fail '#!/usr/bin/env sh' '#!${self.stdenv.shell}'
+    '';
+  });
+
   fcl-catkin = patchVendorUrl rosSuper.fcl-catkin {
     url = "https://github.com/flexible-collision-library/fcl/archive/v0.6.1.zip";
     sha256 = "0nryr4hg3lha1aaz35wbqr42lb6l8alfcy6slj2yn2dgb5syrmn2";
   };
 
+  image-cb-detector = patchBoostSignals rosSuper.image-cb-detector;
+
   jsk-recognition-msgs = rosSuper.jsk-recognition-msgs.overrideAttrs ({
     buildInputs ? [], postPatch ? "", ...
   }: {
@@ -91,6 +102,13 @@ rosSelf: rosSuper: with rosSelf.lib; {
     '';
   });
 
+  laser-cb-detector = patchBoostSignals rosSuper.laser-cb-detector;
+
+  libpcan = patchVendorUrl rosSuper.libpcan {
+    url = "http://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-8.3.tar.gz";
+    sha256 = "0f6v3vjszyg1xp99jx48hyv8p32iyq4j18a4ir4x5p6f3b0z3r34";
+  };
+
   libphidgets = patchVendorUrl rosSuper.libphidgets {
     url = "https://www.phidgets.com/downloads/phidget21/libraries/linux/libphidget/libphidget_2.1.8.20151217.tar.gz";
     sha256 = "0lpaskqxpklm05050wwvdqwhw30f2hpzss8sgyvczdpvvqzjg4vk";
@@ -103,6 +121,14 @@ rosSelf: rosSuper: with rosSelf.lib; {
     nativeBuildInputs = nativeBuildInputs ++ [ self.openblas ];
   });
 
+  libuvc-camera = rosSuper.libuvc-camera.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    postPatch = postPatch + ''
+      substituteInPlace cfg/UVCCamera.cfg --replace-fail python2 python
+    '';
+  });
+
   map-server = rosSuper.map-server.overrideAttrs ({
     nativeBuildInputs ? [], ...
   }: {
@@ -186,6 +212,16 @@ rosSelf: rosSuper: with rosSelf.lib; {
     '';
   });
 
+  swri-profiler-tools = rosSuper.swri-profiler-tools.overrideAttrs ({
+    nativeBuildInputs ? [], ...
+  }: {
+    dontWrapQtApps = false;
+    nativeBuildInputs = nativeBuildInputs ++ [ self.qt5.wrapQtAppsHook ];
+    postFixup = ''
+      wrapQtApp "$out/lib/swri_profiler_tools/profiler"
+    '';
+  });
+
   swri-transform-util = (rosSuper.swri-transform-util.override {
     # PROJ 8 finally removed the deprecated proj_api.h header
     proj = self.proj_7;

lib/default.nix

@@ -146,18 +146,6 @@
     '';
   });
 
-  patchBoostPython = pkg: pkg.overrideAttrs ({
-    postPatch ? "", ...
-  }: {
-    postPatch = let
-      pythonVersion = rosSelf.python.sourceVersion;
-      pythonLib = "python${pythonVersion.major}${pythonVersion.minor}";
-    in ''
-      sed -i CMakeLists.txt \
-        -e '/Boost [^)]*/s/python[^ )]*/${pythonLib}/'
-    '' + postPatch;
-  });
-
   # Many ROS packages claim to have a dependency on Boost signals when they
   # really don't or they actually depend on signals2. Boost 1.69 removed
   # signals causing these packages to fail to build.