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Add aruco_ros (not on Windows) #107

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55441a0
Add aruco_ros (not on Windows) [skip ci]
Tobias-Fischer Oct 18, 2026
7fb5146
aruco_ros: recipe test that the marker detector node starts [skip ci]
Tobias-Fischer Oct 19, 2026
e991efd
aruco_ros: select it once [skip ci]
Tobias-Fischer Oct 19, 2026
2f65bac
aruco, aruco_ros: shared patches instead of one copy per distribution…
Tobias-Fischer Oct 19, 2026
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149 changes: 149 additions & 0 deletions distros/jazzy/patch/ros2-aruco-ros.patch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,149 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5f6f4a9..d2d1190 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,6 +28,20 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()

+set(THIS_PACKAGE_TARGETS
+ cv_bridge::cv_bridge
+ ${geometry_msgs_TARGETS}
+ image_transport::image_transport
+ rclcpp::rclcpp
+ tf2::tf2
+ tf2_ros::tf2_ros
+ tf2_geometry_msgs::tf2_geometry_msgs
+ ${aruco_LIBRARIES}
+ ${aruco_msgs_TARGETS}
+ ${sensor_msgs_TARGETS}
+ ${visualization_msgs_TARGETS}
+)
+
#generate_dynamic_reconfigure_options(
# cfg/ArucoThreshold.cfg
#)
@@ -40,8 +54,9 @@ target_include_directories(aruco_ros_utils
target_include_directories(aruco_ros_utils
SYSTEM PUBLIC
${OpenCV_INCLUDE_DIRS}
+ ${aruco_INCLUDE_DIRS}
)
-ament_target_dependencies(aruco_ros_utils ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(aruco_ros_utils ${THIS_PACKAGE_TARGETS})
target_link_libraries(aruco_ros_utils ${OpenCV_LIBRARIES})

add_executable(single src/simple_single.cpp
@@ -54,8 +69,9 @@ target_include_directories(single
target_include_directories(single
SYSTEM PUBLIC
${OpenCV_INCLUDE_DIRS}
+ ${aruco_INCLUDE_DIRS}
)
-ament_target_dependencies(single ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(single ${THIS_PACKAGE_TARGETS})
target_link_libraries(single ${OpenCV_LIBRARIES})

add_executable(double src/simple_double.cpp
@@ -67,8 +83,9 @@ target_include_directories(double
target_include_directories(double
SYSTEM PUBLIC
${OpenCV_INCLUDE_DIRS}
+ ${aruco_INCLUDE_DIRS}
)
-ament_target_dependencies(double ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(double ${THIS_PACKAGE_TARGETS})
target_link_libraries(double ${OpenCV_LIBRARIES})

add_executable(marker_publisher src/marker_publish.cpp
@@ -80,8 +97,9 @@ target_include_directories(marker_publisher
target_include_directories(marker_publisher
SYSTEM PUBLIC
${OpenCV_INCLUDE_DIRS}
+ ${aruco_INCLUDE_DIRS}
)
-ament_target_dependencies(marker_publisher ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(marker_publisher ${THIS_PACKAGE_TARGETS})
target_link_libraries(marker_publisher ${OpenCV_LIBRARIES})

if(BUILD_TESTING)
diff --git a/include/aruco_ros/aruco_ros_utils.hpp b/include/aruco_ros/aruco_ros_utils.hpp
index b030211..7586a53 100644
--- a/include/aruco_ros/aruco_ros_utils.hpp
+++ b/include/aruco_ros/aruco_ros_utils.hpp
@@ -9,8 +9,8 @@
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "sensor_msgs/msg/camera_info.hpp"
#include "sensor_msgs/msg/image.hpp"
-#include "tf2/LinearMath/Transform.h"
-#include "tf2/transform_datatypes.h"
+#include "tf2/LinearMath/Transform.hpp"
+#include "tf2/transform_datatypes.hpp"
#include "visualization_msgs/msg/marker.hpp"

namespace aruco_ros
diff --git a/src/aruco_ros_utils.cpp b/src/aruco_ros_utils.cpp
index c501b61..392b154 100644
--- a/src/aruco_ros_utils.cpp
+++ b/src/aruco_ros_utils.cpp
@@ -8,9 +8,9 @@
#else
#include "cv_bridge/cv_bridge.h"
#endif
-#include "opencv4/opencv2/calib3d.hpp"
+#include "opencv2/calib3d.hpp"
#include "rclcpp/logging.hpp"
-#include "tf2/transform_datatypes.h"
+#include "tf2/transform_datatypes.hpp"

aruco::CameraParameters aruco_ros::rosCameraInfo2ArucoCamParams(
const sensor_msgs::msg::CameraInfo & cam_info,
diff --git a/src/marker_publish.cpp b/src/marker_publish.cpp
index a578e77..4765f19 100644
--- a/src/marker_publish.cpp
+++ b/src/marker_publish.cpp
@@ -50,8 +50,8 @@
#include "rcpputils/asserts.hpp"
#include "sensor_msgs/image_encodings.hpp"
#include "std_msgs/msg/u_int32_multi_array.hpp"
-#include "tf2_ros/transform_listener.h"
-#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.hpp"
+#include "tf2_ros/buffer.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"

using namespace std::chrono_literals;
diff --git a/src/simple_double.cpp b/src/simple_double.cpp
index afb7ada..3f41cba 100644
--- a/src/simple_double.cpp
+++ b/src/simple_double.cpp
@@ -52,9 +52,9 @@
#include "rclcpp/rclcpp.hpp"
#include "rcpputils/asserts.hpp"
#include "sensor_msgs/image_encodings.hpp"
-#include "tf2_ros/transform_broadcaster.h"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/transform_listener.h"
+#include "tf2_ros/transform_broadcaster.hpp"
+#include "tf2_ros/buffer.hpp"
+#include "tf2_ros/transform_listener.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "visualization_msgs/msg/marker.hpp"

diff --git a/src/simple_single.cpp b/src/simple_single.cpp
index 6a4035d..bc7c784 100644
--- a/src/simple_single.cpp
+++ b/src/simple_single.cpp
@@ -50,9 +50,9 @@
#include "rclcpp/rclcpp.hpp"
#include "rcpputils/asserts.hpp"
#include "sensor_msgs/image_encodings.hpp"
-#include "tf2_ros/transform_broadcaster.h"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/transform_listener.h"
+#include "tf2_ros/transform_broadcaster.hpp"
+#include "tf2_ros/buffer.hpp"
+#include "tf2_ros/transform_listener.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "visualization_msgs/msg/marker.hpp"

149 changes: 149 additions & 0 deletions distros/lyrical/patch/ros2-aruco-ros.patch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,149 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5f6f4a9..d2d1190 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,6 +28,20 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()

+set(THIS_PACKAGE_TARGETS
+ cv_bridge::cv_bridge
+ ${geometry_msgs_TARGETS}
+ image_transport::image_transport
+ rclcpp::rclcpp
+ tf2::tf2
+ tf2_ros::tf2_ros
+ tf2_geometry_msgs::tf2_geometry_msgs
+ ${aruco_LIBRARIES}
+ ${aruco_msgs_TARGETS}
+ ${sensor_msgs_TARGETS}
+ ${visualization_msgs_TARGETS}
+)
+
#generate_dynamic_reconfigure_options(
# cfg/ArucoThreshold.cfg
#)
@@ -40,8 +54,9 @@ target_include_directories(aruco_ros_utils
target_include_directories(aruco_ros_utils
SYSTEM PUBLIC
${OpenCV_INCLUDE_DIRS}
+ ${aruco_INCLUDE_DIRS}
)
-ament_target_dependencies(aruco_ros_utils ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(aruco_ros_utils ${THIS_PACKAGE_TARGETS})
target_link_libraries(aruco_ros_utils ${OpenCV_LIBRARIES})

add_executable(single src/simple_single.cpp
@@ -54,8 +69,9 @@ target_include_directories(single
target_include_directories(single
SYSTEM PUBLIC
${OpenCV_INCLUDE_DIRS}
+ ${aruco_INCLUDE_DIRS}
)
-ament_target_dependencies(single ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(single ${THIS_PACKAGE_TARGETS})
target_link_libraries(single ${OpenCV_LIBRARIES})

add_executable(double src/simple_double.cpp
@@ -67,8 +83,9 @@ target_include_directories(double
target_include_directories(double
SYSTEM PUBLIC
${OpenCV_INCLUDE_DIRS}
+ ${aruco_INCLUDE_DIRS}
)
-ament_target_dependencies(double ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(double ${THIS_PACKAGE_TARGETS})
target_link_libraries(double ${OpenCV_LIBRARIES})

add_executable(marker_publisher src/marker_publish.cpp
@@ -80,8 +97,9 @@ target_include_directories(marker_publisher
target_include_directories(marker_publisher
SYSTEM PUBLIC
${OpenCV_INCLUDE_DIRS}
+ ${aruco_INCLUDE_DIRS}
)
-ament_target_dependencies(marker_publisher ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(marker_publisher ${THIS_PACKAGE_TARGETS})
target_link_libraries(marker_publisher ${OpenCV_LIBRARIES})

if(BUILD_TESTING)
diff --git a/include/aruco_ros/aruco_ros_utils.hpp b/include/aruco_ros/aruco_ros_utils.hpp
index b030211..7586a53 100644
--- a/include/aruco_ros/aruco_ros_utils.hpp
+++ b/include/aruco_ros/aruco_ros_utils.hpp
@@ -9,8 +9,8 @@
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "sensor_msgs/msg/camera_info.hpp"
#include "sensor_msgs/msg/image.hpp"
-#include "tf2/LinearMath/Transform.h"
-#include "tf2/transform_datatypes.h"
+#include "tf2/LinearMath/Transform.hpp"
+#include "tf2/transform_datatypes.hpp"
#include "visualization_msgs/msg/marker.hpp"

namespace aruco_ros
diff --git a/src/aruco_ros_utils.cpp b/src/aruco_ros_utils.cpp
index c501b61..392b154 100644
--- a/src/aruco_ros_utils.cpp
+++ b/src/aruco_ros_utils.cpp
@@ -8,9 +8,9 @@
#else
#include "cv_bridge/cv_bridge.h"
#endif
-#include "opencv4/opencv2/calib3d.hpp"
+#include "opencv2/calib3d.hpp"
#include "rclcpp/logging.hpp"
-#include "tf2/transform_datatypes.h"
+#include "tf2/transform_datatypes.hpp"

aruco::CameraParameters aruco_ros::rosCameraInfo2ArucoCamParams(
const sensor_msgs::msg::CameraInfo & cam_info,
diff --git a/src/marker_publish.cpp b/src/marker_publish.cpp
index a578e77..4765f19 100644
--- a/src/marker_publish.cpp
+++ b/src/marker_publish.cpp
@@ -50,8 +50,8 @@
#include "rcpputils/asserts.hpp"
#include "sensor_msgs/image_encodings.hpp"
#include "std_msgs/msg/u_int32_multi_array.hpp"
-#include "tf2_ros/transform_listener.h"
-#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.hpp"
+#include "tf2_ros/buffer.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"

using namespace std::chrono_literals;
diff --git a/src/simple_double.cpp b/src/simple_double.cpp
index afb7ada..3f41cba 100644
--- a/src/simple_double.cpp
+++ b/src/simple_double.cpp
@@ -52,9 +52,9 @@
#include "rclcpp/rclcpp.hpp"
#include "rcpputils/asserts.hpp"
#include "sensor_msgs/image_encodings.hpp"
-#include "tf2_ros/transform_broadcaster.h"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/transform_listener.h"
+#include "tf2_ros/transform_broadcaster.hpp"
+#include "tf2_ros/buffer.hpp"
+#include "tf2_ros/transform_listener.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "visualization_msgs/msg/marker.hpp"

diff --git a/src/simple_single.cpp b/src/simple_single.cpp
index 6a4035d..bc7c784 100644
--- a/src/simple_single.cpp
+++ b/src/simple_single.cpp
@@ -50,9 +50,9 @@
#include "rclcpp/rclcpp.hpp"
#include "rcpputils/asserts.hpp"
#include "sensor_msgs/image_encodings.hpp"
-#include "tf2_ros/transform_broadcaster.h"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/transform_listener.h"
+#include "tf2_ros/transform_broadcaster.hpp"
+#include "tf2_ros/buffer.hpp"
+#include "tf2_ros/transform_listener.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "visualization_msgs/msg/marker.hpp"

13 changes: 13 additions & 0 deletions shared/patch/ros2-aruco-ros.patch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
diff --git a/src/aruco_ros_utils.cpp b/src/aruco_ros_utils.cpp
index 707ea97..392b154 100644
--- a/src/aruco_ros_utils.cpp
+++ b/src/aruco_ros_utils.cpp
@@ -8,7 +8,7 @@
#else
#include "cv_bridge/cv_bridge.h"
#endif
-#include "opencv4/opencv2/calib3d.hpp"
+#include "opencv2/calib3d.hpp"
#include "rclcpp/logging.hpp"
#include "tf2/transform_datatypes.hpp"

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