Upstream patches

[Tobias-Fischer]

Many of the patches in https://github.com/RoboStack/ros-noetic/tree/master/patch are not conda/robostack specific and should be upstreamed. If someone would want to do that, that would be great.

[traversaro]

Some recent PRs:

• Fix compilation on Windows by exporting all symbols with CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS pal-robotics/pal_statistics#17
• Remove unused unistd.h include from route_tool.cpp ros-navigation/navigation2#5292
• Fix link to Boost::thread imported target moveit/random_numbers#52
• Use && in place of and keyword in action_based_controller_handle.hpp moveit/moveit2#3510
• Fix compilation on Windows by exporting all symbols with CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS  ros-perception/laser_filters#224
• moveit_ros_benchmarks: Require cxx_std_20 compile feature moveit/moveit2#3509
• Fix link to fmt::fmt imported target moveit/moveit2#3507
• ur_robot_driver: Fix compilation on Windows UniversalRobots/Universal_Robots_ROS2_Driver#1421
• Fix compilation of nav2_smac_planner on Windows ros-navigation/navigation2#5291
• Add symbol visibility macros to make*Palette public functions ros2/rviz#1492
• [ros2] Actully search for octomap in CMakeLists.txt OctoMap/octomap_rviz_plugins#50
• Fix compilation and loading of shared libraries on Windows ros-misc-utilities/apriltag_detector#7
• ur_controllers: Fix compilation on Windows UniversalRobots/Universal_Robots_ROS2_Driver#1402
• ur_calibration: Fix compilation with BUILD_SHARED_LIBS:BOOL=ON on Windows UniversalRobots/Universal_Robots_ROS2_Driver#1400
• Add missing include of algorithm in differential_motion_model.cpp ros-navigation/navigation2#5293

Some of these are probably based on work of @Tobias-Fischer or @wep21, sorry if I was not always able to track the actual author.

[traversaro]

An update of the current patches on kilted/rolling and the related upstreaming status to avoid getting lost.

Grouped by current status. Patch names link to the RoboStack patch when available, preferring ros-rolling and falling back to ros-kilted.

Open upstream PRs

Patch	Status / notes
apriltag-ros.osx.patch	christianrauch/apriltag_ros#66
async-web-server-cpp.patch	fkie/async_web_server_cpp#10
autoware-cmake.win.patch	autowarefoundation/autoware_cmake#51
autoware-ekf-localizer.patch	autowarefoundation/autoware_core#1274
autoware-ground-filter.patch	autowarefoundation/autoware_core#1275
autoware-interpolation.patch	autowarefoundation/autoware_core#1266
autoware-kalman-filter.patch	autowarefoundation/autoware_core#1267
autoware-map-loader.osx.patch	autowarefoundation/autoware_core#1270
autoware-ndt-scan-matcher.patch	autowarefoundation/autoware_core#1273
autoware-osqp-interface.patch	autowarefoundation/autoware_core#1268
autoware-qp-interface.patch	autowarefoundation/autoware_core#1269
autoware-route-handler.osx.patch	autowarefoundation/autoware_core#1271
autoware-test-utils.patch	autowarefoundation/autoware_core#1272
autoware-utils-system.win.patch	autowarefoundation/autoware_utils#116
backward-ros.patch	pal-robotics/backward_ros#28
cm-executors.patch	cellumation/cm_executors#16
depth-image-proc.patch	ros-perception/image_pipeline#1195
diagnostic-remote-logging.win.patch	ros/diagnostics#659
fastdds.osx.patch	eProsima/Fast-DDS#6477
fastdds.win.patch	eProsima/Fast-DDS#6478
foxglove-bridge.osx.patch	foxglove/foxglove-sdk#1387
geometric-shapes.win.patch	moveit/geometric_shapes#273
grid-map-core.osx.patch	ANYbotics/grid_map#541
grid-map-core.patch	ANYbotics/grid_map#540
grid-map-pcl.osx.patch	ANYbotics/grid_map#542
gz-ros2-control-demos.win.patch	ros-controls/gz_ros2_control#884
gz-ros2-control.osx.patch	ros-controls/gz_ros2_control#882
gz-ros2-control.win.patch	ros-controls/gz_ros2_control#883
hardware-interface.osx.patch	ros-controls/ros2_control#3485
hardware-interface.win.patch	ros-controls/ros2_control#3486
image-proc.win.patch	ros-perception/image_pipeline#1193
image-publisher.win.patch	ros-perception/image_pipeline#1196; older math-define hunk is obsolete on current rolling.
image-view.win.patch	ros-perception/image_pipeline#1194
io-context.patch	ros-drivers/transport_drivers#117
lanelet2-core.win.patch	fzi-forschungszentrum-informatik/Lanelet2#432
lanelet2-examples.win.patch	fzi-forschungszentrum-informatik/Lanelet2#431
lanelet2-io.win.patch	fzi-forschungszentrum-informatik/Lanelet2#426
lanelet2-matching.win.patch	fzi-forschungszentrum-informatik/Lanelet2#430
lanelet2-projection.win.patch	fzi-forschungszentrum-informatik/Lanelet2#428
lanelet2-python.win.patch	fzi-forschungszentrum-informatik/Lanelet2#425
lanelet2-routing.win.patch	fzi-forschungszentrum-informatik/Lanelet2#424
lanelet2-traffic-rules.win.patch	fzi-forschungszentrum-informatik/Lanelet2#429
lanelet2-validation.win.patch	fzi-forschungszentrum-informatik/Lanelet2#427
laser-filters.win.patch	ros-perception/laser_filters#262
mocap4r2-control.patch	MOCAP4ROS2-Project/mocap4r2#20
mocap4r2-dummy-driver.patch	MOCAP4ROS2-Project/mocap4r2#21
mocap4r2-marker-publisher.patch	MOCAP4ROS2-Project/mocap4r2#22
mocap4r2-marker-viz.patch	MOCAP4ROS2-Project/mocap4r2#23
mocap4r2-robot-gt.patch	MOCAP4ROS2-Project/mocap4r2#24
moveit-core.patch	Partial: moveit/moveit2#3793 covers C++20 shared_ptr::unique() replacements; moveit/moveit2#3467 covers much of the target-link migration; remaining collision-distance/API and ConfigExtras pieces need maintainer/API review.
moveit-planners-ompl.patch	Partial: moveit/moveit2#3793 covers the shared_ptr::unique() replacement; moveit/moveit2#3467 covers the target-link migration; remaining test/CMake details need review.
moveit-ros-benchmarks.win.patch	moveit/moveit2#3509
moveit-ros-move-group.patch	moveit/moveit2#3507
moveit-ros-planning.patch	Partial: moveit/moveit2#3793 covers the kinematics plugin shared_ptr::unique() replacement; moveit/moveit2#3467 covers much of the target-link migration; remaining umbrella-target/ConfigExtras changes need review.
moveit-ros-robot-interaction.patch	moveit/moveit2#3792
moveit-ros-warehouse.win.patch	moveit/moveit2#3507
nav2-map-server.win.patch	ros-navigation/navigation2#6275
nav2-smac-planner.win.patch	ros-navigation/navigation2#6276; amended to fix the vendored robin_hood.h MSVC macro-continuation issue while preserving robin_hood::unordered_node_map; ODE packaging hunk intentionally omitted; kilted patch/build-number PR RoboStack/ros-kilted#92 is green.
ouster-ros.patch	Partial: ouster-lidar/ouster-ros#559 covers the packet buffer swap; CMake target modernization overlaps ouster-lidar/ouster-ros#553; SDK version.h macro hunk belongs in the ouster-sdk submodule.
ouster-ros.win.patch	ouster-lidar/ouster-ros#560; may need a small rebase depending on ouster-lidar/ouster-ros#553.
persist-parameter-server.win.patch	fujitatomoya/ros2_persist_parameter_server#126
plotjuggler.osx.patch	PlotJuggler/PlotJuggler#1402
point-cloud-msg-wrapper.patch	ros2middleware/point_cloud_msg_wrapper#1
rcl-yaml-param-parser.patch	ros2/rcl#1325
rclcpp.win.patch	ros2/rclcpp#3208
rcutils.patch	Partial: ros2/rcutils#579 covers the explicit Threads link/export; the atomic fault-injection initializer hunk appears already present on rcutils:rolling.
realtime-tools.osx.patch	ros-controls/realtime_tools#370
rmw-stats-shim.patch	ros-tooling/graph-monitor#52
rmw-test-fixture.patch	ros2/ament_cmake_ros#65
robot-localization.win.patch	cra-ros-pkg/robot_localization#975
ros-gz-sim.win.patch	gazebosim/ros_gz#781
rosidl-runtime-cpp.osx.patch	ros2/rosidl#981
rosx-introspection.patch	facontidavide/rosx_introspection#45
rplidar-ros.patch	allenh1/rplidar_ros#41
rqt-mocap4r2-control.patch	MOCAP4ROS2-Project/mocap4r2#25
rsl.patch	PickNikRobotics/RSL#175
rviz-visual-tools.patch	Partial: PickNikRobotics/rviz_visual_tools#298 covers the tf2 header hunk; remaining CMake target-link modernization needs separate review.
sbg-driver.patch	SBG-Systems/sbg_ros2_driver#84
sbg-driver.win.patch	SBG-Systems/sbg_ros2_driver#83
sdformat-urdf.patch	ros/sdformat_urdf#45
serial-driver.patch	ros-drivers/transport_drivers#116
slam-toolbox.win.patch	SteveMacenski/slam_toolbox#874
turtlebot3-node.win.patch	ROBOTIS-GIT/turtlebot3#1148
ublox-gps.patch	Partial: KumarRobotics/ublox#283 covers Windows portability; Asio io_context migration is already covered by KumarRobotics/ublox#273.
ublox-msgs.win.patch	KumarRobotics/ublox#282
ublox-serialization.win.patch	KumarRobotics/ublox#281
ur-calibration.win.patch	UniversalRobots/Universal_Robots_ROS2_Driver#1892
ur-client-library.osx.patch	UniversalRobots/Universal_Robots_Client_Library#540
urdf-parser-plugin.win.patch	ros2/urdf#56
usb-cam.patch	Partial: ros-drivers/usb_cam#388 covers the ROS 2 API call updates; warning-policy and FFmpeg compatibility hunks still need separate review.
warehouse-ros-sqlite.patch	moveit/warehouse_ros_sqlite#62
zenoh-cpp-vendor.patch	ros2/rmw_zenoh#695

Upstreamed / merged / release check

Patch	Status / notes
angles.win.patch	Merged / release pending: ros/angles#44, merged but unreleased; re-check release state before carrying the patch.
autoware-downsample-filters.patch	Already upstream / obsolete: Already absorbed in current autoware_core/main; re-check against the next RoboStack snapshot before keeping the local patch.
autoware-path-generator.osx.patch	Already upstream / obsolete: Current autoware_core/main no longer has the old lanelet ID logging hunk.
autoware-utils-debug.patch	Already upstream / obsolete: Already absorbed in current autoware_utils/main; re-check against the next RoboStack snapshot before keeping the local patch.
chomp-motion-planner.patch	Already upstream / obsolete: Already absorbed in current moveit2/main; re-check against the next RoboStack snapshot before keeping the local patch.
class-loader.patch	Already upstream / obsolete: Already absorbed in current ros/class_loader:rolling; re-check against the next RoboStack snapshot before keeping the local patch.
ffmpeg-encoder-decoder.unix.patch	Merged / release pending: ros-misc-utilities/ffmpeg_encoder_decoder#13, merged on 2026-07-20; re-check release state before carrying the patch.
filters.win.patch	Merged / release pending: ros/filters#88, merged, needs release; re-check release state before carrying the patch.
geometric-shapes.patch	Already upstream / no-op: check_isometry.h already includes <assert.h> where ASSERT_ISOMETRY is defined; moveit/geometric_shapes#272 was closed as unnecessary.
image-rotate.win.patch	Already upstream / obsolete: Current image_pipeline:rolling no longer matches the old math-define hunk and appears obsolete.
lanelet2-core.patch	Already upstream / obsolete: Current Lanelet2 already contains the Boost 1.87 guard and const-iterator fix; re-check the Eigen link hunk before keeping it.
moveit-core.win.patch	Already upstream / obsolete: Current moveit2/main no longer has the old online_signal_smoothing acceleration_filter.cpp hunk.
moveit-planners-chomp.patch	Already upstream / obsolete: Current moveit2/main already has the modern target_link_libraries hunk.
moveit-py.patch	Already upstream / obsolete: Current moveit2/main already has the modern target_link_libraries hunk.
moveit-resources-prbt-ikfast-manipulator-plugin.patch	Already upstream / obsolete: Current moveit2/main already has the modern target_link_libraries hunk.
moveit-ros-benchmarks.patch	Already upstream / obsolete: Current moveit2/main already has the target-link and hunks.
moveit-setup-core-plugins.win.patch	Already upstream / obsolete: Current moveit2/main no longer has the old start_screen_widget.cpp hunk; the file only exists on older release branches.
moveit-simple-controller-manager.patch	Already upstream / obsolete: Current moveit2/main already has the modern target_link_libraries hunk.
moveit-simple-controller-manager.win.patch	Merged / release pending: moveit/moveit2#3510, merged, needs release
moveit-visual-tools.patch	Already upstream / release check: the ROS 2 compatibility branch already has the imported-target target_link_libraries conversion; no separate PR opened.
nav2-behavior-tree.patch	Already upstream / obsolete: Current navigation2/main no longer has the old loop_rate.hpp hunk.
nav2-costmap-2d.patch	Already upstream / obsolete: Current navigation2/main already has the plugin_container_layer override annotations.
nav2-mppi-controller.osx.patch	Already upstream / obsolete: Current navigation2/main no longer contains the old nav2_mppi_controller/fconcepts hunk.
nav2-route.osx.patch	Already upstream / obsolete: Current navigation2/main no longer has the old default ReroutingState() hunk.
nav2-util.patch	Already upstream / obsolete: Current navigation2/main no longer has the old setSoftRealTimePriority/sched_setscheduler hunk.
omni-wheel-drive-controller.win.patch	Already upstream / obsolete: Current ros2_controllers/master already has the omni_wheel_drive_controller _USE_MATH_DEFINES fix.
pal-statistics.win.patch	Already upstream / remove after refresh: pal-robotics/pal_statistics#18, merged and released; remove locally after the relevant snapshot/release refresh.
plotjuggler-ros.patch	Already upstream / obsolete: Current PlotJuggler/main already uses rclcpp typesupport helpers instead of rosbag2_cpp helpers.
random-numbers.win.patch	Merged / release pending: moveit/random_numbers#52 merged, requires release; re-check release state before carrying the patch.
ros-gz-bridge.win.patch	Already upstream / release check: gazebosim/ros_gz#781; re-check release state before carrying the patch.
ros-gz-image.patch	Already upstream / obsolete: I think this is actually unneeded.
rosbag2-transport.patch	Already upstream / release check: Known upstream/merged or already handled upstream; re-check release state before carrying the patch.
rqt-gui-cpp.patch	Already upstream / release check: rqt:rolling already includes <unistd.h> in nodelet_plugin_provider.cpp; kilted-only local patch should be re-checked after release refresh.
rsl.win.patch	Already upstream / remove after refresh: PickNikRobotics/RSL#119, merged and released; remove locally after the relevant snapshot/release refresh.
rviz-imu-plugin.patch	Already upstream / release check: Known upstream/merged or already handled upstream; re-check release state before carrying the patch.
srdfdom.win.patch	Merged / release pending: moveit/srdfdom#136, merged but needs a release
steering-controllers-library.win.patch	Already upstream / remove after refresh: ros-controls/ros2_controllers#1536, merged and released; remove locally after the relevant snapshot/release refresh.
tinyxml2-vendor.patch	Already upstream / release check: ros2/tinyxml2_vendor#22; re-check release state before carrying the patch.
v4l2-camera.patch	Already upstream in proper GitLab upstream rolling: https://gitlab.com/boldhearts/ros2_v4l2_camera/-/commit/213ea31dd179fbd8fba2ad0cb692544c14bef03d; mistaken GitHub fork PR tier4/ros2_v4l2_camera#41 was closed.
zstd-point-cloud-transport.patch	Already upstream / obsolete: Current point_cloud_transport_plugins:rolling already uses zstd_cmake_module, zstd::zstd, and the subscriber cleanup.

Duplicate or existing upstream work

Patch	Status / notes
ament-cmake-vendor-package.patch	Existing upstream work in ament/ament_cmake#592 and ament/ament_cmake#593, unmerged and unreleased; likely follow-up/rebase rather than a fresh PR.
autoware-trajectory.patch	Existing upstream PR autowarefoundation/autoware_core#1058 covers the libexpected migration.
hls-lfcd-lds-driver.patch	Existing upstream PR ROBOTIS-GIT/hls_lfcd_lds_driver#84 covers the Boost.Asio io_context change.
moveit-hybrid-planning.patch	Existing upstream PR moveit/moveit2#3467 covers the target-link migration for these CMakeLists.
moveit-planners-stomp.patch	Existing upstream PR moveit/moveit2#3467 covers the target-link migration.
moveit-py.osx.patch	Existing upstream PR moveit/moveit2#3467 covers the moveit_py target-link migration; kilted-only patch should be re-checked after release refresh.
moveit-ros-control-interface.patch	Existing upstream PR moveit/moveit2#3467 covers the target-link migration.
moveit-ros-occupancy-map-monitor.patch	Existing upstream PR moveit/moveit2#3467 covers the target-link migration.
moveit-ros-planning-interface.patch	Existing upstream PR moveit/moveit2#3467 covers the target-link migration.
moveit-ros-trajectory-cache.patch	Existing upstream PR moveit/moveit2#3467 covers the target-link migration.
moveit-ros-warehouse.patch	Existing upstream PR moveit/moveit2#3467 covers the target-link migration.
moveit-servo.patch	Existing upstream PR moveit/moveit2#3467 covers the target-link migration.
moveit-setup-app-plugins.patch	Existing upstream PR moveit/moveit2#3467 covers the target-link migration.
moveit-setup-assistant.patch	Existing upstream PR moveit/moveit2#3467 covers the target-link migration.
moveit-setup-controllers.patch	Existing upstream PR moveit/moveit2#3467 covers the target-link migration.
pilz-industrial-motion-planner-testutils.patch	Existing upstream PR moveit/moveit2#3467 covers the testutils target-link migration.
pilz-industrial-motion-planner.patch	Existing upstream PR moveit/moveit2#3467 covers the pilz target-link migration.
rosidl-generator-py.patch	Existing upstream PR ros2/rosidl_python#253 covers the Python3::Module link change.
rslidar-sdk.patch	Existing upstream PR RoboSense-LiDAR/rslidar_sdk#230.
velodyne-pointcloud.patch	Existing upstream PR ros-drivers/velodyne#574.

Potential PRs

Patch	Status / notes
apriltag.patch	Warning-policy/pedantic cleanup; needs a concrete current compiler failure to avoid looking like preference.
async-web-server-cpp.win.patch	Boost.Asio modernization and WebSocket bitfield portability; good candidate after API review.
autoware-lanelet2-extension.patch	Autoware build/portability fix; refresh against current main and likely split mixed concerns.
autoware-lanelet2-extension.win.patch	Autoware build/portability fix; refresh against current main and likely split mixed concerns.
autoware-simple-pure-pursuit.patch	Autoware build/portability fix; refresh against current main and likely split mixed concerns.
cartographer-ros.patch	Driver/library portability fix; check upstream hosting and current branch first.
foxglove-bridge.patch	Discussion: Platform/vendored-SDK work; probably needs upstream maintainer discussion before a PR.
foxglove-bridge.win.patch	Discussion: Platform/vendored-SDK work; probably needs upstream maintainer discussion before a PR.
iceoryx-binding-c.win.patch	Upstream project: Potential portability work, but likely belongs in the underlying iceoryx project or vendor branch.
iceoryx-hoofs.win.patch	Upstream project: Potential portability work, but likely belongs in the underlying iceoryx project or vendor branch.
iceoryx-posh.win.patch	Upstream project: Potential portability work, but likely belongs in the underlying iceoryx project or vendor branch.
livox-ros-driver2.patch	Driver/library portability fix; check upstream hosting and current branch first.
nav2-common.patch	Likely possible, but -Werror removal is policy-sensitive and should be separated from concrete portability fixes.

Needs triage / review

Patch	Status / notes
hardware-interface.unix.patch	Kilted-only patch: chrono/time conversion in async hardware components; no rolling patch found, so this needs current rolling evidence before an upstream PR.
parameter-traits.patch	Needs branch/dependency review: parameter_traits only exists on upstream humble; main/jazzy/kilted no longer contain the package, so this is not a clean rolling/main PR.
plotjuggler.patch	Partial already upstream / needs review: Current PlotJuggler/main already has the span deserialize hunk; the remaining cxx_std_20 hunk is unclear because rosx_introspection uses span-lite under C++17.
python-qt-binding.patch	Kilted-only patch: large SIP/pyproject/PyQt build-system rewrite; no rolling patch found and too invasive to upstream without maintainer direction.
qt-gui-cpp.patch	Kilted-only patch: SIP/Python/OpenGL/library-dir build-system changes; no rolling patch found and needs maintainer direction before a PR.

Needs deeper API review

Patch	Status / notes
moveit-kinematics.patch	Partial existing work: moveit/moveit2#3467 covers cached_ik/srv CMake target-link pieces; remaining GreedyKCenters include, ikfast template, KDL/plugin, and ConfigExtras changes need current-branch/API review.
moveit-ros-perception.osx.patch	macOS/OpenGL/RPATH-specific MoveIt perception patch; needs current failure evidence and maintainer review before upstreaming.
moveit-ros-perception.patch	Partial existing work: moveit/moveit2#3467 covers lazy_free_space, point_containment, and pointcloud CMake pieces; remaining depth_image, mesh_filter, semantic_world, and source/API changes need split/current review.
moveit-ros-visualization.patch	Partial existing work: moveit/moveit2#3467 covers the target-link migration; Qt6/MOC/umbrella-target pieces need separate current-branch review.
moveit-ros-visualization.win.patch	Windows plugin/export adjustments; some target-link work is covered by moveit/moveit2#3467, but the Windows source changes need a separate split and review.
moveit-setup-core-plugins.patch	Partial existing work: moveit/moveit2#3467 covers the CMake target-link piece; remaining Qt header/source changes need review.
moveit-setup-framework.patch	Partial existing work: moveit/moveit2#3467 covers the CMake target-link piece; remaining export visibility, get_package_share_path, fmt, and Qt changes need review.
moveit-setup-srdf-plugins.patch	Partial existing work: moveit/moveit2#3467 covers the CMake target-link piece; remaining model/Qt source changes need review.
plotjuggler.win.patch	Protobuf/ErrorCollector API plus Qt/XCB/Windows link changes; plausible but needs splitting and current upstream API review.
rviz-ogre-vendor.patch	Vendor OGRE patch touching macOS universal arch handling and char16_t/char32_t typedefs; needs upstream vendor-strategy discussion before a PR.
rviz-rendering.osx.patch	macOS Sonoma/OpenGL-on-Metal resize workaround; runtime behavior change needs maintainer review/evidence before upstreaming.

RoboStack-only / unsuitable

Patch	Status / notes
ament-cmake-core.patch	Conda/cross-prefix/environment-hook behavior specific to the RoboStack packaging model.
ament-package.patch	Conda/cross-prefix/environment-hook behavior specific to the RoboStack packaging model.
dependencies.yaml	RoboStack recipe dependency metadata, not an upstream source patch.
moveit-common.win.patch	Comments out backward_ros; should not be proposed upstream in that form.
mrt-cmake-modules.patch	Downstream release/build workaround with hard-coded ROS version behavior and dependency changes; not suitable as-is.
nobleo-socketcan-bridge.patch	Works around conda's old kernel headers; not an upstream source fix.
ompl.patch	Obsolete/downstream-only: OMPL is now unvendored, and this patch disables upstream tests rather than fixing the underlying issue.
ros-workspace.patch	Conda/cross-prefix/environment-hook behavior specific to the RoboStack packaging model.
theora-image-transport.win.patch	Works around the conda-forge libtheora/pkg-config situation rather than a clear upstream package bug.

[traversaro]

xref: OctoMap/octomap_rviz_plugins#51