Do not use dummy packages for RoboPlan

patch/dependencies.yaml

@@ -304,6 +304,10 @@ mujoco_ros2_control_plugins:
   add_host:
     - if: linux
       then: ["libegl-devel"]
+roboplan_example_models:
+  # src/resources.cpp uses dladdr() from dlfcn.h, which is POSIX-only.
+  # On Windows we need to depend on dlfcn-win32 instead.
+  add_host: ["${{ 'dlfcn-win32' if win }}"]
 roboplan_ros_examples:
   add_host: ["ros-rolling-ament-cmake"]
 yasmin_pcl:

patch/ros-rolling-ouster-ros.patch

@@ -156,17 +156,22 @@ index 7867e3a..6994f3d 100644
  namespace sdk {
  namespace core {
 diff --git a/ouster-sdk/ouster_client/src/logging.cpp b/ouster-sdk/ouster_client/src/logging.cpp
-index bf0fc72..09f5077 100644
+index bf0fc72..eed53e6 100644
 --- a/ouster-sdk/ouster_client/src/logging.cpp
 +++ b/ouster-sdk/ouster_client/src/logging.cpp
-@@ -1,6 +1,6 @@
+@@ -1,10 +1,11 @@
  #include "ouster/impl/logging.h"
 
 -#include <spdlog/fmt/bundled/args.h>
 +#include <fmt/args.h>
  #include <spdlog/sinks/basic_file_sink.h>
  #include <spdlog/sinks/ringbuffer_sink.h>
  #include <spdlog/sinks/rotating_file_sink.h>
+ #include <spdlog/sinks/stdout_sinks.h>
++#include <spdlog/pattern_formatter.h>
+ #include <spdlog/spdlog.h>
+
+ #include <iostream>
 diff --git a/src/os_static_transforms_broadcaster.h b/src/os_static_transforms_broadcaster.h
 index 94d50eb..b1e05ce 100644
 --- a/src/os_static_transforms_broadcaster.h

patch/ros-rolling-rmf-traffic.patch

@@ -1,15 +1,134 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index ad05ac1..b677893 100644
+index ad05ac1..08822fa 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -97,6 +97,7 @@ endif()
+@@ -28,6 +28,10 @@ if(fcl_FOUND)
+   message(STATUS "Using installed FCL version: ${FCL_VERSION}")
+ else()
+   message(STATUS "Using in-source FCL")
++  # RoboStack: rmf_traffic never uses FCL octrees, and leaving this ON lets a
++  # system-wide octomap (e.g. liboctomap-dev on Debian/Ubuntu) leak into the
++  # conda build, which then fails to find <octomap/octomap.h>.
++  set(FCL_WITH_OCTOMAP OFF CACHE BOOL "OctoMap library support" FORCE)
+   add_subdirectory(thirdparty/fcl)
+ endif()
+ # TODO(MXG): Remove everything related to maintaining compatibility with 0.5,
+@@ -97,6 +101,7 @@ endif()
  target_link_libraries(rmf_traffic
    PUBLIC
      rmf_utils::rmf_utils
 +    Eigen3::Eigen
      Threads::Threads
    PRIVATE
      ${FCL_LIBRARIES}
+diff --git a/include/rmf_traffic/DetectConflict.hpp b/include/rmf_traffic/DetectConflict.hpp
+index e0aa706..64f0d61 100644
+--- a/include/rmf_traffic/DetectConflict.hpp
++++ b/include/rmf_traffic/DetectConflict.hpp
+@@ -18,6 +18,7 @@
+ #ifndef RMF_TRAFFIC__DETECTCONFLICT_HPP
+ #define RMF_TRAFFIC__DETECTCONFLICT_HPP
+
++#include <cstdint>
+ #include <rmf_traffic/Trajectory.hpp>
+ #include <rmf_traffic/Route.hpp>
+ #include <rmf_traffic/Profile.hpp>
+diff --git a/include/rmf_traffic/Route.hpp b/include/rmf_traffic/Route.hpp
+index c3825ed..840aa84 100644
+--- a/include/rmf_traffic/Route.hpp
++++ b/include/rmf_traffic/Route.hpp
+@@ -18,6 +18,7 @@
+ #ifndef RMF_TRAFFIC__ROUTE_HPP
+ #define RMF_TRAFFIC__ROUTE_HPP
+
++#include <cstdint>
+ #include <rmf_traffic/Trajectory.hpp>
+
+ #include <rmf_utils/impl_ptr.hpp>
+diff --git a/include/rmf_traffic/agv/VehicleTraits.hpp b/include/rmf_traffic/agv/VehicleTraits.hpp
+index 416ee30..325e902 100644
+--- a/include/rmf_traffic/agv/VehicleTraits.hpp
++++ b/include/rmf_traffic/agv/VehicleTraits.hpp
+@@ -18,6 +18,7 @@
+ #ifndef RMF_TRAFFIC__AGV__VEHICLETRAITS_HPP
+ #define RMF_TRAFFIC__AGV__VEHICLETRAITS_HPP
+
++#include <cstdint>
+ #include <rmf_traffic/Profile.hpp>
+ #include <rmf_traffic/Trajectory.hpp>
+
+diff --git a/include/rmf_traffic/schedule/Change.hpp b/include/rmf_traffic/schedule/Change.hpp
+index bca4c5d..2328183 100644
+--- a/include/rmf_traffic/schedule/Change.hpp
++++ b/include/rmf_traffic/schedule/Change.hpp
+@@ -18,6 +18,7 @@
+ #ifndef RMF_TRAFFIC__SCHEDULE__CHANGE_HPP
+ #define RMF_TRAFFIC__SCHEDULE__CHANGE_HPP
+
++#include <cstdint>
+ #include <rmf_traffic/schedule/Itinerary.hpp>
+ #include <rmf_traffic/schedule/Participant.hpp>
+ #include <rmf_traffic/schedule/Version.hpp>
+diff --git a/include/rmf_traffic/schedule/Itinerary.hpp b/include/rmf_traffic/schedule/Itinerary.hpp
+index eb6a0ab..fbf25e9 100644
+--- a/include/rmf_traffic/schedule/Itinerary.hpp
++++ b/include/rmf_traffic/schedule/Itinerary.hpp
+@@ -18,6 +18,7 @@
+ #ifndef RMF_TRAFFIC__SCHEDULE__ITINERARY_HPP
+ #define RMF_TRAFFIC__SCHEDULE__ITINERARY_HPP
+
++#include <cstdint>
+ #include <rmf_traffic/Route.hpp>
+ #include <rmf_traffic/schedule/Version.hpp>
+
+diff --git a/include/rmf_traffic/schedule/ParticipantDescription.hpp b/include/rmf_traffic/schedule/ParticipantDescription.hpp
+index 74d272c..3ce72cd 100644
+--- a/include/rmf_traffic/schedule/ParticipantDescription.hpp
++++ b/include/rmf_traffic/schedule/ParticipantDescription.hpp
+@@ -18,6 +18,7 @@
+ #ifndef RMF_TRAFFIC__SCHEDULE__PARTICIPANTDESCRIPTION_HPP
+ #define RMF_TRAFFIC__SCHEDULE__PARTICIPANTDESCRIPTION_HPP
+
++#include <cstdint>
+ #include <string>
+ #include <unordered_map>
+
+diff --git a/include/rmf_traffic/schedule/Query.hpp b/include/rmf_traffic/schedule/Query.hpp
+index aa6d3ab..bb3a924 100644
+--- a/include/rmf_traffic/schedule/Query.hpp
++++ b/include/rmf_traffic/schedule/Query.hpp
+@@ -18,6 +18,7 @@
+ #ifndef RMF_TRAFFIC__SCHEDULE__QUERY_HPP
+ #define RMF_TRAFFIC__SCHEDULE__QUERY_HPP
+
++#include <cstdint>
+ #include <rmf_traffic/detail/bidirectional_iterator.hpp>
+
+ #include <rmf_traffic/schedule/Version.hpp>
+diff --git a/include/rmf_traffic/schedule/Writer.hpp b/include/rmf_traffic/schedule/Writer.hpp
+index f536114..473b2db 100644
+--- a/include/rmf_traffic/schedule/Writer.hpp
++++ b/include/rmf_traffic/schedule/Writer.hpp
+@@ -18,6 +18,7 @@
+ #ifndef RMF_TRAFFIC__SCHEDULE__WRITER_HPP
+ #define RMF_TRAFFIC__SCHEDULE__WRITER_HPP
+
++#include <cstdint>
+ #include <rmf_traffic/schedule/Itinerary.hpp>
+ #include <rmf_traffic/schedule/ParticipantDescription.hpp>
+
+diff --git a/src/rmf_traffic/Route.cpp b/src/rmf_traffic/Route.cpp
+index debd648..de68354 100644
+--- a/src/rmf_traffic/Route.cpp
++++ b/src/rmf_traffic/Route.cpp
+@@ -15,6 +15,7 @@
+  *
+ */
+
++#include <cstdint>
+ #include "internal_Route.hpp"
+
+ #include <rmf_utils/Modular.hpp>
 diff --git a/src/rmf_traffic/blockade/geometry.cpp b/src/rmf_traffic/blockade/geometry.cpp
 index 049351e..d69a999 100644
 --- a/src/rmf_traffic/blockade/geometry.cpp
@@ -22,6 +141,51 @@ index 049351e..d69a999 100644
  #include <cmath>
 
  namespace rmf_traffic {
+diff --git a/src/rmf_traffic/internal_Route.hpp b/src/rmf_traffic/internal_Route.hpp
+index 8bb220b..112ed34 100644
+--- a/src/rmf_traffic/internal_Route.hpp
++++ b/src/rmf_traffic/internal_Route.hpp
+@@ -18,6 +18,7 @@
+ #ifndef SRC__RMF_TRAFFIC__INTERNAL_ROUTE_HPP
+ #define SRC__RMF_TRAFFIC__INTERNAL_ROUTE_HPP
+
++#include <cstdint>
+ #include <rmf_traffic/Route.hpp>
+
+ namespace rmf_traffic {
+diff --git a/src/rmf_traffic/schedule/Timeline.hpp b/src/rmf_traffic/schedule/Timeline.hpp
+index b190242..94f9719 100644
+--- a/src/rmf_traffic/schedule/Timeline.hpp
++++ b/src/rmf_traffic/schedule/Timeline.hpp
+@@ -18,6 +18,7 @@
+ #ifndef SRC__RMF_TRAFFIC__SCHEDULE__TIMELINE_HPP
+ #define SRC__RMF_TRAFFIC__SCHEDULE__TIMELINE_HPP
+
++#include <cstdint>
+ #include "../DetectConflictInternal.hpp"
+
+ #include <rmf_traffic/schedule/Query.hpp>
+diff --git a/thirdparty/fcl/CMakeLists.txt b/thirdparty/fcl/CMakeLists.txt
+index 3d76235..5e49560 100644
+--- a/thirdparty/fcl/CMakeLists.txt
++++ b/thirdparty/fcl/CMakeLists.txt
+@@ -156,11 +156,14 @@ set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH ON)
+ #
+ # If Eigen3 is not found, manually set the cache variable EIGEN3_INCLUDE_DIR
+ #===============================================================================
+-find_package(Eigen3 3.0.5 QUIET CONFIG)
++# RoboStack: do not pin a minimum version here. Eigen >= 5 ships a
++# SameMajorVersion config-version file, so requesting 3.0.5 rejects the conda
++# Eigen and silently falls back to a system-wide Eigen 3.x if one exists.
++find_package(Eigen3 QUIET CONFIG)
+
+ # If Eigen3Config.cmake is not found, use the FindEigen3.cmake module
+ if(NOT Eigen3_FOUND)
+-  find_package(Eigen3 3.0.5 QUIET MODULE)
++  find_package(Eigen3 QUIET MODULE)
+   set(Eigen3_FOUND ON)
+ endif()
+
 diff --git a/thirdparty/fcl/include/fcl/broadphase/default_broadphase_callbacks.h b/thirdparty/fcl/include/fcl/broadphase/default_broadphase_callbacks.h
 index 1c9b4fe..76f3bde 100644
 --- a/thirdparty/fcl/include/fcl/broadphase/default_broadphase_callbacks.h
@@ -154,135 +318,3 @@ index 115b710..7011975 100644
  #include "fcl/narrowphase/distance.h"
 
  #include "fcl/narrowphase/collision.h"
-diff --git a/include/rmf_traffic/DetectConflict.hpp b/include/rmf_traffic/DetectConflict.hpp
-index e0aa706..64f0d61 100644
---- a/include/rmf_traffic/DetectConflict.hpp
-+++ b/include/rmf_traffic/DetectConflict.hpp
-@@ -18,6 +18,7 @@
- #ifndef RMF_TRAFFIC__DETECTCONFLICT_HPP
- #define RMF_TRAFFIC__DETECTCONFLICT_HPP
-
-+#include <cstdint>
- #include <rmf_traffic/Trajectory.hpp>
- #include <rmf_traffic/Route.hpp>
- #include <rmf_traffic/Profile.hpp>
-diff --git a/include/rmf_traffic/Route.hpp b/include/rmf_traffic/Route.hpp
-index c3825ed..840aa84 100644
---- a/include/rmf_traffic/Route.hpp
-+++ b/include/rmf_traffic/Route.hpp
-@@ -18,6 +18,7 @@
- #ifndef RMF_TRAFFIC__ROUTE_HPP
- #define RMF_TRAFFIC__ROUTE_HPP
-
-+#include <cstdint>
- #include <rmf_traffic/Trajectory.hpp>
-
- #include <rmf_utils/impl_ptr.hpp>
-diff --git a/include/rmf_traffic/agv/VehicleTraits.hpp b/include/rmf_traffic/agv/VehicleTraits.hpp
-index 416ee30..325e902 100644
---- a/include/rmf_traffic/agv/VehicleTraits.hpp
-+++ b/include/rmf_traffic/agv/VehicleTraits.hpp
-@@ -18,6 +18,7 @@
- #ifndef RMF_TRAFFIC__AGV__VEHICLETRAITS_HPP
- #define RMF_TRAFFIC__AGV__VEHICLETRAITS_HPP
-
-+#include <cstdint>
- #include <rmf_traffic/Profile.hpp>
- #include <rmf_traffic/Trajectory.hpp>
-
-diff --git a/include/rmf_traffic/schedule/Change.hpp b/include/rmf_traffic/schedule/Change.hpp
-index bca4c5d..2328183 100644
---- a/include/rmf_traffic/schedule/Change.hpp
-+++ b/include/rmf_traffic/schedule/Change.hpp
-@@ -18,6 +18,7 @@
- #ifndef RMF_TRAFFIC__SCHEDULE__CHANGE_HPP
- #define RMF_TRAFFIC__SCHEDULE__CHANGE_HPP
-
-+#include <cstdint>
- #include <rmf_traffic/schedule/Itinerary.hpp>
- #include <rmf_traffic/schedule/Participant.hpp>
- #include <rmf_traffic/schedule/Version.hpp>
-diff --git a/include/rmf_traffic/schedule/Itinerary.hpp b/include/rmf_traffic/schedule/Itinerary.hpp
-index eb6a0ab..fbf25e9 100644
---- a/include/rmf_traffic/schedule/Itinerary.hpp
-+++ b/include/rmf_traffic/schedule/Itinerary.hpp
-@@ -18,6 +18,7 @@
- #ifndef RMF_TRAFFIC__SCHEDULE__ITINERARY_HPP
- #define RMF_TRAFFIC__SCHEDULE__ITINERARY_HPP
-
-+#include <cstdint>
- #include <rmf_traffic/Route.hpp>
- #include <rmf_traffic/schedule/Version.hpp>
-
-diff --git a/include/rmf_traffic/schedule/ParticipantDescription.hpp b/include/rmf_traffic/schedule/ParticipantDescription.hpp
-index 74d272c..3ce72cd 100644
---- a/include/rmf_traffic/schedule/ParticipantDescription.hpp
-+++ b/include/rmf_traffic/schedule/ParticipantDescription.hpp
-@@ -18,6 +18,7 @@
- #ifndef RMF_TRAFFIC__SCHEDULE__PARTICIPANTDESCRIPTION_HPP
- #define RMF_TRAFFIC__SCHEDULE__PARTICIPANTDESCRIPTION_HPP
-
-+#include <cstdint>
- #include <string>
- #include <unordered_map>
-
-diff --git a/include/rmf_traffic/schedule/Query.hpp b/include/rmf_traffic/schedule/Query.hpp
-index aa6d3ab..bb3a924 100644
---- a/include/rmf_traffic/schedule/Query.hpp
-+++ b/include/rmf_traffic/schedule/Query.hpp
-@@ -18,6 +18,7 @@
- #ifndef RMF_TRAFFIC__SCHEDULE__QUERY_HPP
- #define RMF_TRAFFIC__SCHEDULE__QUERY_HPP
-
-+#include <cstdint>
- #include <rmf_traffic/detail/bidirectional_iterator.hpp>
-
- #include <rmf_traffic/schedule/Version.hpp>
-diff --git a/include/rmf_traffic/schedule/Writer.hpp b/include/rmf_traffic/schedule/Writer.hpp
-index f536114..473b2db 100644
---- a/include/rmf_traffic/schedule/Writer.hpp
-+++ b/include/rmf_traffic/schedule/Writer.hpp
-@@ -18,6 +18,7 @@
- #ifndef RMF_TRAFFIC__SCHEDULE__WRITER_HPP
- #define RMF_TRAFFIC__SCHEDULE__WRITER_HPP
-
-+#include <cstdint>
- #include <rmf_traffic/schedule/Itinerary.hpp>
- #include <rmf_traffic/schedule/ParticipantDescription.hpp>
-
-diff --git a/src/rmf_traffic/Route.cpp b/src/rmf_traffic/Route.cpp
-index debd648..de68354 100644
---- a/src/rmf_traffic/Route.cpp
-+++ b/src/rmf_traffic/Route.cpp
-@@ -15,6 +15,7 @@
-  *
- */
-
-+#include <cstdint>
- #include "internal_Route.hpp"
-
- #include <rmf_utils/Modular.hpp>
-diff --git a/src/rmf_traffic/internal_Route.hpp b/src/rmf_traffic/internal_Route.hpp
-index 8bb220b..112ed34 100644
---- a/src/rmf_traffic/internal_Route.hpp
-+++ b/src/rmf_traffic/internal_Route.hpp
-@@ -18,6 +18,7 @@
- #ifndef SRC__RMF_TRAFFIC__INTERNAL_ROUTE_HPP
- #define SRC__RMF_TRAFFIC__INTERNAL_ROUTE_HPP
-
-+#include <cstdint>
- #include <rmf_traffic/Route.hpp>
-
- namespace rmf_traffic {
-diff --git a/src/rmf_traffic/schedule/Timeline.hpp b/src/rmf_traffic/schedule/Timeline.hpp
-index b190242..94f9719 100644
---- a/src/rmf_traffic/schedule/Timeline.hpp
-+++ b/src/rmf_traffic/schedule/Timeline.hpp
-@@ -18,6 +18,7 @@
- #ifndef SRC__RMF_TRAFFIC__SCHEDULE__TIMELINE_HPP
- #define SRC__RMF_TRAFFIC__SCHEDULE__TIMELINE_HPP
-
-+#include <cstdint>
- #include "../DetectConflictInternal.hpp"
-
- #include <rmf_traffic/schedule/Query.hpp>