fix: update patch for kilted

patch/dependencies.yaml

@@ -172,53 +172,53 @@ gz_cmake_vendor:
   # https://github.com/gazebo-release/gz_cmake_vendor/blob/kilted/CMakeLists.txt#L6 for select the right major version
   # (this is true for all gz-* vendor packages) or https://github.com/gazebo-tooling/gazebodistro/blob/master/collection-harmonic.yaml
   # See https://gazebosim.org/docs/latest/ros_installation/#summary-of-compatible-ros-and-gazebo-combinations for mapping between ROS2 and Gazebo distros
-  add_host: ["gz-cmake3"]
-  add_run: ["gz-cmake3"]
+  add_host: ["gz-cmake4"]
+  add_run: ["gz-cmake4"]
 gz_common_vendor:
-  add_host: ["gz-common5"]
-  add_run: ["gz-common5"]
+  add_host: ["gz-common6"]
+  add_run: ["gz-common6"]
 gz_fuel_tools_vendor:
-  add_host: ["gz-fuel-tools9"]
-  add_run: ["gz-fuel-tools9"]
+  add_host: ["gz-fuel-tools10"]
+  add_run: ["gz-fuel-tools10"]
 gz_sim_vendor:
-  add_host: ["gz-sim8"]
-  add_run: ["gz-sim8"]
+  add_host: ["gz-sim9"]
+  add_run: ["gz-sim9"]
 gz_gui_vendor:
-  add_host: ["gz-gui8"]
-  add_run: ["gz-gui8"]
+  add_host: ["gz-gui9"]
+  add_run: ["gz-gui9"]
 gz_launch_vendor:
-  add_host: ["gz-launch7"]
-  add_run: ["gz-launch7"]
+  add_host: ["gz-launch8"]
+  add_run: ["gz-launch8"]
 gz_math_vendor:
-  add_host: ["gz-math7"]
-  add_run: ["gz-math7"]
+  add_host: ["gz-math8"]
+  add_run: ["gz-math8"]
 gz_msgs_vendor:
-  add_host: ["gz-msgs10"]
-  add_run: ["gz-msgs10"]
+  add_host: ["gz-msgs11"]
+  add_run: ["gz-msgs11"]
 gz_physics_vendor:
-  add_host: ["gz-physics7"]
-  add_run: ["gz-physics7"]
+  add_host: ["gz-physics8"]
+  add_run: ["gz-physics8"]
 gz_plugin_vendor:
-  add_host: ["gz-plugin2"]
-  add_run: ["gz-plugin2"]
+  add_host: ["gz-plugin3"]
+  add_run: ["gz-plugin3"]
 gz_rendering_vendor:
-  add_host: ["gz-rendering8", "swig"]
-  add_run: ["gz-rendering8", "swig"]
+  add_host: ["gz-rendering9", "swig"]
+  add_run: ["gz-rendering9", "swig"]
 gz_sensors_vendor:
-  add_host: ["gz-sensors8"]
-  add_run: ["gz-sensors8"]
+  add_host: ["gz-sensors9"]
+  add_run: ["gz-sensors9"]
 gz_tools_vendor:
   add_host: ["gz-tools2"]
   add_run: ["gz-tools2"]
 gz_transport_vendor:
-  add_host: ["gz-transport13"]
-  add_run: ["gz-transport13"]
+  add_host: ["gz-transport14"]
+  add_run: ["gz-transport14"]
 gz_utils_vendor:
-  add_host: ["gz-utils2"]
-  add_run: ["gz-utils2"]
+  add_host: ["gz-utils3"]
+  add_run: ["gz-utils3"]
 sdformat_vendor:
-  add_host: ["sdformat14"]
-  add_run: ["sdformat14"]
+  add_host: ["sdformat15"]
+  add_run: ["sdformat15"]
 gz_dartsim_vendor:
   add_host: ["dartsim-cpp"]
   add_run: ["dartsim-cpp"]
@@ -243,3 +243,6 @@ autoware_utils_pcl:
   add_host: ["REQUIRE_OPENGL"]
 autoware_utils_debug:
   add_host: ["fmt"]
+rclpy:
+  add_host: ["typing_extensions"]
+  add_run: ["typing_extensions"]

patch/ros-kilted-fastdds.osx.patch

@@ -0,0 +1,17 @@
+diff --git a/src/cpp/utils/Host.cpp b/src/cpp/utils/Host.cpp
+index 4e7582b1..55801b85 100644
+--- a/src/cpp/utils/Host.cpp
++++ b/src/cpp/utils/Host.cpp
+@@ -46,7 +46,12 @@ fastcdr::string_255 Host::compute_machine_id()
+     }
+     return "";
+     #elif defined(__APPLE__)
++    #include <AvailabilityMacros.h>
++    #if (MAC_OS_X_VERSION_MIN_REQUIRED < 120000)
++    io_registry_entry_t ioRegistryRoot = IORegistryEntryFromPath(kIOMasterPortDefault, "IOService:/");
++    #else
+     io_registry_entry_t ioRegistryRoot = IORegistryEntryFromPath(kIOMainPortDefault, "IOService:/");
++    #endif
+     if (!ioRegistryRoot)
+     {
+         return "";

patch/ros-kilted-gz-fuel-tools-vendor.patch

@@ -1,15 +1,13 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a4df838..24be0df 100644
+index b16ac05..f32b0fb 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -4,8 +4,8 @@ project(gz_fuel_tools_vendor)
+@@ -40,7 +40,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
+   set(VERSION_MATCH "")
+ endif()
 
- # Project-specific settings
- set(LIB_VER_MAJOR 9)
--set(LIB_VER_MINOR 1)
--set(LIB_VER_PATCH 1)
-+set(LIB_VER_MINOR 0)
-+set(LIB_VER_PATCH 3)
- set(LIB_VER_SUFFIX "")
+-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
 
- # Derived variables
+ ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
+   SATISFIED ${${LIB_NAME_FULL}_FOUND}

patch/ros-kilted-gz-gui-vendor.patch

@@ -1,15 +1,13 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 94fd645..2a52f2c 100644
+index bdd8370..73d5147 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -4,8 +4,8 @@ project(gz_gui_vendor)
+@@ -43,7 +43,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
+   set(VERSION_MATCH "")
+ endif()
 
- # Project-specific settings
- set(LIB_VER_MAJOR 8)
--set(LIB_VER_MINOR 4)
--set(LIB_VER_PATCH 0)
-+set(LIB_VER_MINOR 1)
-+set(LIB_VER_PATCH 1)
- set(LIB_VER_SUFFIX "")
+-find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
++find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
 
- # Derived variables
+ ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
+   SATISFIED ${${LIB_NAME_FULL}_FOUND}

patch/ros-kilted-gz-ros2-control.osx.patch

@@ -1,8 +1,8 @@
-diff --git a/gz_ros2_control/CMakeLists.txt b/gz_ros2_control/CMakeLists.txt
-index 196f62d5..a7bdfd01 100644
---- a/gz_ros2_control/CMakeLists.txt
-+++ b/gz_ros2_control/CMakeLists.txt
-@@ -24,6 +24,12 @@ find_package(pluginlib REQUIRED)
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c0d54c9..9c70117 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -19,6 +19,12 @@ find_package(pluginlib REQUIRED)
  find_package(rclcpp REQUIRED)
  find_package(yaml_cpp_vendor REQUIRED)
 
@@ -14,4 +14,66 @@ index 196f62d5..a7bdfd01 100644
 +set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
  find_package(gz_sim_vendor REQUIRED)
  find_package(gz-sim REQUIRED)
-
+
+diff --git a/src/gz_ros2_control_plugin.cpp b/src/gz_ros2_control_plugin.cpp
+index 7952e78..3464bf7 100644
+--- a/src/gz_ros2_control_plugin.cpp
++++ b/src/gz_ros2_control_plugin.cpp
+@@ -209,7 +209,7 @@ GazeboSimROS2ControlPluginPrivate::GetEnabledJoints(
+         {
+           RCLCPP_INFO(
+             node_->get_logger(),
+-            "[gz_ros2_control] Fixed joint [%s] (Entity=%lu)] is skipped",
++            "[gz_ros2_control] Fixed joint [%s] (Entity=%llu)] is skipped",
+             jointName.c_str(), jointEntity);
+           continue;
+         }
+@@ -220,7 +220,7 @@ GazeboSimROS2ControlPluginPrivate::GetEnabledJoints(
+         {
+           RCLCPP_WARN(
+             node_->get_logger(),
+-            "[gz_ros2_control] Joint [%s] (Entity=%lu)] is of unsupported type."
++            "[gz_ros2_control] Joint [%s] (Entity=%llu)] is of unsupported type."
+             " Only joints with a single axis are supported.",
+             jointName.c_str(), jointEntity);
+           continue;
+@@ -229,7 +229,7 @@ GazeboSimROS2ControlPluginPrivate::GetEnabledJoints(
+         {
+           RCLCPP_WARN(
+             node_->get_logger(),
+-            "[gz_ros2_control] Joint [%s] (Entity=%lu)] is of unknown type",
++            "[gz_ros2_control] Joint [%s] (Entity=%llu)] is of unknown type",
+             jointName.c_str(), jointEntity);
+           continue;
+         }
+@@ -271,7 +271,7 @@ void GazeboSimROS2ControlPlugin::Configure(
+   if (!model.Valid(_ecm)) {
+     RCLCPP_ERROR(
+       logger,
+-      "[Gazebo ROS 2 Control] Failed to initialize because [%s] (Entity=%lu)] is not a model."
++      "[Gazebo ROS 2 Control] Failed to initialize because [%s] (Entity=%llu)] is not a model."
+       "Please make sure that Gazebo ROS 2 Control is attached to a valid model.",
+       model.Name(_ecm).c_str(), _entity);
+     return;
+@@ -453,7 +453,7 @@ void GazeboSimROS2ControlPlugin::Configure(
+       this->dataPtr->node_->get_namespace(), options));
+   this->dataPtr->executor_->add_node(this->dataPtr->controller_manager_);
+
+-  this->dataPtr->update_rate = this->dataPtr->controller_manager_->get_update_rate();
++  this->dataPtr->update_rate = static_cast<int>(this->dataPtr->controller_manager_->get_update_rate());
+   this->dataPtr->control_period_ = rclcpp::Duration(
+     std::chrono::duration_cast<std::chrono::nanoseconds>(
+       std::chrono::duration<double>(1.0 / static_cast<double>(this->dataPtr->update_rate))));
+diff --git a/src/gz_system.cpp b/src/gz_system.cpp
+index f99ece9..17d659c 100644
+--- a/src/gz_system.cpp
++++ b/src/gz_system.cpp
+@@ -205,7 +205,7 @@ bool GazeboSimSystem::initSim(
+     this->nh_->get_logger(), "hold_joints (system): " << this->dataPtr->hold_joints_ << std::endl);
+
+
+-  RCLCPP_DEBUG(this->nh_->get_logger(), "n_dof_ %lu", this->dataPtr->n_dof_);
++  RCLCPP_DEBUG(this->nh_->get_logger(), "n_dof_ %llu", this->dataPtr->n_dof_);
+
+   this->dataPtr->joints_.resize(this->dataPtr->n_dof_);
+

patch/ros-kilted-gz-ros2-control.win.patch

@@ -1,7 +1,7 @@
-diff --git a/gz_ros2_control/CMakeLists.txt b/gz_ros2_control/CMakeLists.txt
+diff --git a/CMakeLists.txt b/CMakeLists.txt
 index 196f62d5..a7bdfd01 100644
---- a/gz_ros2_control/CMakeLists.txt
-+++ b/gz_ros2_control/CMakeLists.txt
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
 @@ -24,6 +24,12 @@ find_package(pluginlib REQUIRED)
  find_package(rclcpp REQUIRED)
  find_package(yaml_cpp_vendor REQUIRED)
@@ -15,21 +15,21 @@ index 196f62d5..a7bdfd01 100644
  find_package(gz_sim_vendor REQUIRED)
  find_package(gz-sim REQUIRED)
 
-diff --git a/gz_ros2_control/src/gz_ros2_control_plugin.cpp b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
+diff --git a/src/gz_ros2_control_plugin.cpp b/src/gz_ros2_control_plugin.cpp
 index d38ce556..333d42a5 100644
---- a/gz_ros2_control/src/gz_ros2_control_plugin.cpp
-+++ b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
+--- a/src/gz_ros2_control_plugin.cpp
++++ b/src/gz_ros2_control_plugin.cpp
 @@ -15,5 +15,3 @@
 -#include <unistd.h>
 -
  #include <chrono>
  #include <map>
  #include <memory>
 
-diff --git a/gz_ros2_control/src/gz_system.cpp b/gz_ros2_control/src/gz_system.cpp
+diff --git a/src/gz_system.cpp b/src/gz_system.cpp
 index 5c9952b9..d5554d2c 100644
---- a/gz_ros2_control/src/gz_system.cpp
-+++ b/gz_ros2_control/src/gz_system.cpp
+--- a/src/gz_system.cpp
++++ b/src/gz_system.cpp
 @@ -51,3 +51,7 @@
 +#ifdef ERROR
 +#undef ERROR

patch/ros-kilted-hardware-interface.patch

@@ -0,0 +1,53 @@
+diff --git a/include/hardware_interface/types/statistics_types.hpp b/include/hardware_interface/types/statistics_types.hpp
+index ba22a47c9..8083b66f7 100644
+--- a/include/hardware_interface/types/statistics_types.hpp
++++ b/include/hardware_interface/types/statistics_types.hpp
+@@ -22,7 +22,12 @@
+
+ #include "libstatistics_collector/moving_average_statistics/moving_average.hpp"
+ #include "libstatistics_collector/moving_average_statistics/types.hpp"
++#if !defined(_WIN32) && !defined(__APPLE__)
+ #include "realtime_tools/mutex.hpp"
++#define DEFAULT_MUTEX realtime_tools::prio_inherit_mutex
++#else
++#define DEFAULT_MUTEX std::mutex
++#endif
+
+ namespace ros2_control
+ {
+@@ -49,7 +54,7 @@ public:
+    */
+   void update_statistics(const std::shared_ptr<MovingAverageStatisticsCollector> & statistics)
+   {
+-    std::unique_lock<realtime_tools::prio_inherit_mutex> lock(mutex_);
++    std::unique_lock<DEFAULT_MUTEX> lock(mutex_);
+     if (statistics->GetCount() > 0)
+     {
+       statistics_data.average = statistics->Average();
+@@ -71,7 +76,7 @@ public:
+    */
+   void set_reset_statistics_sample_count(unsigned int reset_sample_count)
+   {
+-    std::unique_lock<realtime_tools::prio_inherit_mutex> lock(mutex_);
++    std::unique_lock<DEFAULT_MUTEX> lock(mutex_);
+     reset_statistics_sample_count_ = reset_sample_count;
+   }
+
+@@ -90,7 +95,7 @@ public:
+    */
+   const StatisticData & get_statistics() const
+   {
+-    std::unique_lock<realtime_tools::prio_inherit_mutex> lock(mutex_);
++    std::unique_lock<DEFAULT_MUTEX> lock(mutex_);
+     return statistics_data;
+   }
+
+@@ -100,7 +105,7 @@ private:
+   /// Number of samples to reset the statistics
+   unsigned int reset_statistics_sample_count_ = std::numeric_limits<unsigned int>::max();
+   /// Mutex to protect the statistics data
+-  mutable realtime_tools::prio_inherit_mutex mutex_;
++  mutable DEFAULT_MUTEX mutex_;
+ };
+ }  // namespace ros2_control
+