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Add beluga_amcl and beluga_ros (Linux) - #112
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Ports RoboStack/ros-jazzy#298 and #267. Beluga 2.1.1 is released for humble and jazzy, and conda-forge's sophus works (Eigen 5), so no additional recipes or dummy package are needed. The beluga patch includes <Eigen/Geometry> instead of an Eigen-internal header (rejected by Eigen 5) and defaults BUILD_TESTING to OFF (its tests hit a GCC 15 constexpr std::optional error). macOS: libc++ lacks std::execution::sequenced_policy. Co-authored-by: Griffin Tabor <14334346+gftabor@users.noreply.github.com> Co-authored-by: Tim Clephas <5036851+Timple@users.noreply.github.com> Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
GCC 15 fails to instantiate std::optional<Sophus::SE3> (union storage "initializations for multiple members"), which beluga_amcl's NDT 3D node hits through the on_motion policy, not only the tests. Store the latest pose as a flag plus the pose instead; same behaviour. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Tobias-Fischer
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October 19, 2026 01:42
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Ports RoboStack/ros-jazzy#298 by @gftabor (continuing RoboStack/ros-jazzy#267 by @Timple): adds
beluga_amclandbeluga_ros(withbeluga) to the shared selection on Linux. Beluga 2.1.1 is released for humble and jazzy.beluga(shared patch):<Eigen/Geometry>instead of the Eigen-internalEigen/src/Geometry/AngleAxis.h(rejected by Eigen 5),BUILD_TESTINGoff by default (beluga is a plain CMake package that builds its tests otherwise), and in theon_motionpolicy a flag plus the pose instead ofstd::optional<Pose>: GCC 15 fails to instantiatestd::optional<Sophus::SE3>("initializations for multiple members"), whichbeluga_amcl's NDT 3D node hits too, not only the tests.std::execution::sequenced_policy.Built locally
beluga,beluga_amcl,beluga_roswith the patch.beluga,beluga_amcl(with its recipe tests) andbeluga_ros. Compilingbeluga_amcl's 3D NDT node needs more than 6 GB of memory for a single compiler process; CI's runners have more.beluga,beluga_amcl,beluga_roswith their recipe tests. lyrical and rolling have no beluga release.Prepared and built on top of the current rosdistro syncs (#62 humble, #61 jazzy, #60 lyrical, #99 rolling) merged together, so it targets their package versions: merge after them. CI is held with
[skip ci]until the syncs are in.🤖 Generated with Claude Code