Add fuse (not on Windows)

distros/lyrical/patch/ros2-fuse-viz.patch

@@ -0,0 +1,29 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 5a24db7..540d97e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -23,13 +23,13 @@ find_package(tf2_geometry_msgs REQUIRED)
+
+ find_package(Eigen3 REQUIRED)
+ find_package(gtest_vendor)
+-find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
++find_package(Qt6 COMPONENTS Core Widgets REQUIRED)
+
+ ###########
+ ## Build ##
+ ###########
+
+-qt5_wrap_cpp(moc_files
++qt6_wrap_cpp(moc_files
+   include/fuse_viz/mapped_covariance_property.hpp
+   include/fuse_viz/pose_2d_stamped_property.hpp
+   include/fuse_viz/relative_pose_2d_stamped_constraint_property.hpp
+@@ -61,7 +61,7 @@ target_link_libraries(${PROJECT_NAME} PRIVATE
+ target_include_directories(${PROJECT_NAME} PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+-  ${Qt5Widgets_INCLUDE_DIRS}
++  ${Qt6Widgets_INCLUDE_DIRS}
+ )
+
+ #############

distros/rolling/patch/ros2-fuse-viz.patch

@@ -0,0 +1,29 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 5a24db7..540d97e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -23,13 +23,13 @@ find_package(tf2_geometry_msgs REQUIRED)
+
+ find_package(Eigen3 REQUIRED)
+ find_package(gtest_vendor)
+-find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
++find_package(Qt6 COMPONENTS Core Widgets REQUIRED)
+
+ ###########
+ ## Build ##
+ ###########
+
+-qt5_wrap_cpp(moc_files
++qt6_wrap_cpp(moc_files
+   include/fuse_viz/mapped_covariance_property.hpp
+   include/fuse_viz/pose_2d_stamped_property.hpp
+   include/fuse_viz/relative_pose_2d_stamped_constraint_property.hpp
+@@ -61,7 +61,7 @@ target_link_libraries(${PROJECT_NAME} PRIVATE
+ target_include_directories(${PROJECT_NAME} PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+-  ${Qt5Widgets_INCLUDE_DIRS}
++  ${Qt6Widgets_INCLUDE_DIRS}
+ )
+
+ #############

shared/patch/ros2-fuse-graphs.patch

@@ -0,0 +1,16 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1b0ac27..43fab5b 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -45,7 +45,10 @@ include(boost-extras.cmake)
+ # /nix/store/b7hvml0m3qmqraz1022fwvyyg6fc1vdy-gcc-12.2.0/include/c++/12.2.0/bits/std_function.h:267:7: note: by argument 2 of type ‘const std::_Any_data&’ to ‘static bool std::_Function_handler<_Res(_ArgTypes ...), _Functor>::_M_manager(std::_Any_data&, const std::_Any_data&, std::_Manager_operation) [with _Res = const fuse_core::Variable&; _Functor = fuse_graphs::HashGraph::getVariables() const::<lambda(const std::unordered_map<boost::uuids::uuid, std::shared_ptr<fuse_core::Variable>, boost::hash<boost::uuids::uuid> >::value_type&)>; _ArgTypes = {const std::pair<const boost::uuids::uuid, std::shared_ptr<fuse_core::Variable> >&}]’ declared here
+ #   267 |       _M_manager(_Any_data& __dest, const _Any_data& __source,
+ #       |       ^~~~~~~~~~
+-add_compile_options(-Wall -Werror -Wno-maybe-uninitialized)
++add_compile_options(-Wall -Werror)
++if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
++  add_compile_options(-Wno-maybe-uninitialized)
++endif()
+
+ ## fuse_graphs library
+ add_library(${PROJECT_NAME}

shared/tests/ros2-fuse-optimizers.yaml

@@ -0,0 +1,6 @@
+tests:
+  # Smoke test: `fuse_optimizers/fixed_lag_smoother_node` (fuse's optimizer node) starts (loads its libraries and the RMW) and is still running after 5 s.
+  - if: unix
+    then:
+      script:
+        - python -c "import os, subprocess, sys, time; p = subprocess.Popen([os.path.join(os.environ['PREFIX'], 'lib', 'fuse_optimizers', 'fixed_lag_smoother_node')]); time.sleep(5); r = p.poll(); p.terminate(); sys.exit(0 if r is None else 1)"

shared/vinca.yaml

@@ -542,6 +542,7 @@ packages_select_by_deps:
       - event_camera_renderer # doesn't support Windows shared library
       - ffmpeg_image_transport # TODO on windows: fix iconv link issue
       - foxglove_compressed_video_transport
+      - fuse # Windows: the fuse libraries export no symbols and add -Werror; requested in https://github.com/RoboStack/ros-lyrical/pull/85
       - grid_map # rviz linking problems on Windows, see https://github.com/RoboStack/ros-jazzy/pull/79#issuecomment-2993499990
       - grid_map_rviz_plugin # rviz linking problems on Windows, see https://github.com/RoboStack/ros-jazzy/pull/79#issuecomment-2993499990
       - ign_ros2_control