Merge pull request #240 from Ericsii/feat/grid_map

Add grid_map and its dependencies

patch/dependencies.yaml

@@ -176,3 +176,7 @@ gz_utils_vendor:
   add_build: ["vcstool"]
 rosx_introspection:
   add_host: ["rapidjson"]
+octomap_ros:
+  add_host: ["octomap"]
+octomap_rviz_plugins:
+  add_host: ["octomap"]

patch/ros-humble-grid-map-cv.patch

@@ -0,0 +1,17 @@
+diff --git a/include/grid_map_cv/GridMapCvConverter.hpp b/include/grid_map_cv/GridMapCvConverter.hpp
+index 233c28a..6f785ba 100644
+--- a/include/grid_map_cv/GridMapCvConverter.hpp
++++ b/include/grid_map_cv/GridMapCvConverter.hpp
+@@ -262,8 +262,10 @@ public:
+             imageIndex(0),
+             imageIndex(1))[++channel] = imageValue;
+         }
+-        if (hasAlpha) {
+-          image.at<cv::Vec<Type_, NChannels_>>(imageIndex(0), imageIndex(1))[++channel] = imageMax;
++        if constexpr (NChannels_ >= 4) {
++          if (hasAlpha) {
++            image.at<cv::Vec<Type_, NChannels_>>(imageIndex(0), imageIndex(1))[++channel] = imageMax;
++          }
+         }
+       }
+     }

pixi.toml

@@ -36,8 +36,8 @@ vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "8295f8f9b0fade22
 generate-recipes = { cmd = "vinca -m", depends_on = ["rename-file"] }
 remove-file = { cmd = "rm vinca.yaml; rm -rf recipes" }
 build_additional_recipes = { cmd = "rattler-build build --recipe-dir ./additional_recipes -m ./conda_build_config.yaml --skip-existing" }
-build = { cmd = "rattler-build build --recipe-dir ./recipes -m ./conda_build_config.yaml --skip-existing", depends_on = ["build_additional_recipes", "generate-recipes"] }
-build_one_package = { cmd = "cp ./patch/$PACKAGE.*patch ./recipes/$PACKAGE/patch/; rattler-build build --recipe ./recipes/$PACKAGE/recipe.yaml -m ./conda_build_config.yaml", env = { PACKAGE = "ros-humble-ros-workspace" } }
+build = { cmd = "rattler-build build --recipe-dir ./recipes -m ./conda_build_config.yaml -c robostack-staging -c https://repo.prefix.dev/conda-forge --skip-existing", depends_on = ["build_additional_recipes", "generate-recipes"] }
+build_one_package = { cmd = "cp ./patch/$PACKAGE.*patch ./recipes/$PACKAGE/patch/; rattler-build build --recipe ./recipes/$PACKAGE/recipe.yaml -m ./conda_build_config.yaml -c robostack-staging -c https://repo.prefix.dev/conda-forge", env = { PACKAGE = "ros-humble-ros-workspace" } }
 
 [environments]
 beta = ["beta"]

vinca_linux_64.yaml

@@ -36,7 +36,6 @@ skip_existing:
 
 packages_select_by_deps:
   # only subset of packages to reduce maintainer load
-  # trigger
 
   # build 7 reselect
   - ros_workspace
@@ -169,6 +168,8 @@ packages_select_by_deps:
   - turtle_tf2_py
   - turtle_tf2_cpp
 
+  - grid_map
+
   # ----- end of package support -----
 
   # - rtabmap