ros-humble-nav2-smac-planner.win.patch

diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt
index 79a77ce082..c0f90e5fe7 100644
--- a/nav2_smac_planner/CMakeLists.txt
+++ b/nav2_smac_planner/CMakeLists.txt
@@ -24,6 +24,9 @@ find_package(Eigen3 REQUIRED)
 find_package(angles REQUIRED)
 find_package(ompl REQUIRED)
 find_package(OpenMP REQUIRED)
+find_package(ode REQUIRED)
+list(REMOVE_ITEM OMPL_LIBRARIES "ode_double")
+list(APPEND OMPL_LIBRARIES "ODE::ODE")
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
@@ -33,6 +34,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
 
 if(MSVC)
   add_compile_definitions(_USE_MATH_DEFINES)
+  add_definitions(-DNOMINMAX)
 else()
   add_compile_options(-O3 -Wextra -Wdeprecated -fPIC)
 endif()
diff --git a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
index 4b4fe55111..2af454bb53 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
@@ -26,7 +26,6 @@
 
 #include "nav2_costmap_2d/costmap_2d.hpp"
 
-#include "nav2_smac_planner/thirdparty/robin_hood.h"
 #include "nav2_smac_planner/analytic_expansion.hpp"
 #include "nav2_smac_planner/node_2d.hpp"
 #include "nav2_smac_planner/node_hybrid.hpp"
@@ -47,7 +46,7 @@ class AStarAlgorithm
 {
 public:
   typedef NodeT * NodePtr;
-  typedef robin_hood::unordered_node_map<unsigned int, NodeT> Graph;
+  typedef std::unordered_map<unsigned int, NodeT> Graph;
   typedef std::vector<NodePtr> NodeVector;
   typedef std::pair<float, NodeBasic<NodeT>> NodeElement;
   typedef typename NodeT::Coordinates Coordinates;