feat: add foxglove packages

patch/ros-jazzy-ffmpeg-encoder-decoder.unix.patch

@@ -0,0 +1,96 @@
+diff --git a/include/ffmpeg_encoder_decoder/decoder.hpp b/include/ffmpeg_encoder_decoder/decoder.hpp
+index 0e2521c..94625e5 100644
+--- a/include/ffmpeg_encoder_decoder/decoder.hpp
++++ b/include/ffmpeg_encoder_decoder/decoder.hpp
+@@ -81,7 +81,7 @@ private:
+   AVFrame * colorFrame_{NULL};
+   SwsContext * swsContext_{NULL};
+   enum AVPixelFormat hwPixFormat_;
+-  AVPacket packet_;
++  // AVPacket packet_;
+   AVBufferRef * hwDeviceContext_{NULL};
+ };
+ }  // namespace ffmpeg_encoder_decoder
+diff --git a/src/decoder.cpp b/src/decoder.cpp
+index 0a12d25..9737ffe 100644
+--- a/src/decoder.cpp
++++ b/src/decoder.cpp
+@@ -38,7 +38,11 @@ Decoder::~Decoder() { reset(); }
+ void Decoder::reset()
+ {
+   if (codecContext_) {
++#if LIBAVFORMAT_VERSION_MAJOR < 59
+     avcodec_close(codecContext_);
++#else
++    avcodec_free_context(&codecContext_);
++#endif
+     av_free(codecContext_);
+     codecContext_ = NULL;
+   }
+@@ -255,7 +259,7 @@ bool Decoder::decodePacket(
+       image->header.stamp = it->second;
+       ptsToStamp_.erase(it);
+ #ifdef USE_AV_FLAGS
+-      callback_(image, decodedFrame_->flags || AV_FRAME_FLAG_KEY);  // deliver callback
++      callback_(image, decodedFrame_->flags | AV_FRAME_FLAG_KEY);  // deliver callback
+ #else
+       callback_(image, decodedFrame_->key_frame);  // deliver callback
+ #endif
+diff --git a/src/encoder.cpp b/src/encoder.cpp
+index a4b6de6..8a3f40a 100644
+--- a/src/encoder.cpp
++++ b/src/encoder.cpp
+@@ -54,7 +54,11 @@ static void free_frame(AVFrame ** frame)
+ void Encoder::closeCodec()
+ {
+   if (codecContext_) {
++#if LIBAVFORMAT_VERSION_MAJOR < 59
+     avcodec_close(codecContext_);
++#else
++    avcodec_free_context(&codecContext_);
++#endif
+     codecContext_ = nullptr;
+   }
+   free_frame(&frame_);
+@@ -207,11 +211,19 @@ void Encoder::doOpenCodec(int width, int height)
+   setAVOption("preset", preset_);
+   setAVOption("tune", tune_);
+   setAVOption("delay", delay_);
++#ifdef __APPLE__
++  RCLCPP_DEBUG(
++    logger_,
++    "codec: %10s, profile: %10s, preset: %10s,"
++    " bit_rate: %10lld qmax: %2d",
++    encoder_.c_str(), profile_.c_str(), preset_.c_str(), bitRate_, qmax_);
++#else
+   RCLCPP_DEBUG(
+     logger_,
+     "codec: %10s, profile: %10s, preset: %10s,"
+     " bit_rate: %10ld qmax: %2d",
+     encoder_.c_str(), profile_.c_str(), preset_.c_str(), bitRate_, qmax_);
++#endif
+
+   err = avcodec_open2(codecContext_, codec, NULL);
+   utils::check_for_err("cannot open codec", err);
+diff --git a/src/utils.cpp b/src/utils.cpp
+index da089e4..01e8eea 100644
+--- a/src/utils.cpp
++++ b/src/utils.cpp
+@@ -104,8 +104,15 @@ enum AVPixelFormat get_preferred_pixel_format(
+ std::vector<enum AVPixelFormat> get_encoder_formats(const AVCodec * c)
+ {
+   std::vector<enum AVPixelFormat> formats;
+-  if (c && c->pix_fmts) {
+-    for (const auto * p = c->pix_fmts; *p != AV_PIX_FMT_NONE; ++p) {
++#if LIBAVUTIL_VERSION_MAJOR > 59 || (LIBAVUTIL_VERSION_MAJOR == 59 && LIBAVUTIL_VERSION_MINOR >= 39)
++  const enum AVPixelFormat *pix_fmts = NULL;
++  avcodec_get_supported_config(NULL, c, AV_CODEC_CONFIG_PIX_FORMAT, 0, (const void **) &pix_fmts, NULL);
++  if (c && pix_fmts) {
++#else
++  const enum AVPixelFormat *pix_fmts = c->pix_fmts;
++  if (c && pix_fmts) {
++#endif
++    for (const auto * p = pix_fmts; *p != AV_PIX_FMT_NONE; ++p) {
+       formats.push_back(*p);
+     }
+   }

patch/ros-jazzy-foxglove-bridge.win.patch

@@ -0,0 +1,169 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 715ce29..f8b43d5 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -14,6 +14,11 @@ project(foxglove_bridge LANGUAGES CXX VERSION 0.8.3)
+ set(CMAKE_CXX_STANDARD 17)
+ set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
++if(MSVC)
++  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
++  set(BUILD_SHARED_LIBS TRUE)
++endif()
++
+ macro(enable_strict_compiler_warnings target)
+   if (MSVC)
+     target_compile_options(${target} PRIVATE /WX /W4)
+@@ -77,8 +82,9 @@ add_library(foxglove_bridge_base SHARED
+   ${CMAKE_CURRENT_BINARY_DIR}/foxglove_bridge_base/src/version.cpp
+ )
+ target_include_directories(foxglove_bridge_base
+-  PUBLIC
++  SYSTEM PUBLIC
+     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/foxglove_bridge_base/include>
++    $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
+     $<INSTALL_INTERFACE:include>
+ )
+ target_link_libraries(foxglove_bridge_base
+@@ -92,7 +98,12 @@ if(nlohmann_json_FOUND)
+ else()
+   message(STATUS "nlohmann_json not found, will search at compile time")
+ endif()
+-enable_strict_compiler_warnings(foxglove_bridge_base)
++# enable_strict_compiler_warnings(foxglove_bridge_base)
++if(MSVC)
++  target_compile_definitions(foxglove_bridge_base PUBLIC _WEBSOCKETPP_CPP11_STL_)
++  include(GenerateExportHeader)
++  generate_export_header(foxglove_bridge_base)
++endif()
+
+ message(STATUS "ROS_VERSION: " $ENV{ROS_VERSION})
+ message(STATUS "ROS_DISTRO: " $ENV{ROS_DISTRO})
+@@ -280,6 +291,9 @@ elseif(ROS_BUILD_TYPE STREQUAL "ament_cmake")
+       LIBRARY DESTINATION lib
+       RUNTIME DESTINATION bin
+     )
++    if(MSVC)
++      install(FILES ${CMAKE_CURRENT_BINARY_DIR}/foxglove_bridge_base_export.h DESTINATION include)
++    endif()
+     install(DIRECTORY ros2_foxglove_bridge/launch
+       DESTINATION share/${PROJECT_NAME}/
+     )
+diff --git a/foxglove_bridge_base/include/foxglove_bridge/foxglove_bridge.hpp b/foxglove_bridge_base/include/foxglove_bridge/foxglove_bridge.hpp
+index 4b85891..6a946ee 100644
+--- a/foxglove_bridge_base/include/foxglove_bridge/foxglove_bridge.hpp
++++ b/foxglove_bridge_base/include/foxglove_bridge/foxglove_bridge.hpp
+@@ -1,11 +1,13 @@
+ #pragma once
+
++#include <foxglove_bridge_base_export.h>
++
+ namespace foxglove {
+
+ const char* WebSocketUserAgent();
+
+-extern const char FOXGLOVE_BRIDGE_VERSION[];
++extern FOXGLOVE_BRIDGE_BASE_EXPORT const char FOXGLOVE_BRIDGE_VERSION[];
+
+-extern const char FOXGLOVE_BRIDGE_GIT_HASH[];
++extern FOXGLOVE_BRIDGE_BASE_EXPORT const char FOXGLOVE_BRIDGE_GIT_HASH[];
+
+ }  // namespace foxglove
+diff --git a/ros2_foxglove_bridge/src/generic_client.cpp b/ros2_foxglove_bridge/src/generic_client.cpp
+index 7c58801..3e0b015 100644
+--- a/ros2_foxglove_bridge/src/generic_client.cpp
++++ b/ros2_foxglove_bridge/src/generic_client.cpp
+@@ -11,17 +11,20 @@
+
+ // clang-format off
+ /* True if the version of RCLCPP is at least major.minor.patch */
+-#define RCLCPP_VERSION_GTE(major, minor, patch)        \
+-  (major < RCLCPP_VERSION_MAJOR                        \
+-     ? true                                            \
+-     : major > RCLCPP_VERSION_MAJOR                    \
+-         ? false                                       \
+-         : minor < RCLCPP_VERSION_MINOR                \
+-             ? true                                    \
+-             : minor > RCLCPP_VERSION_MINOR            \
+-                 ? false                               \
+-                 : patch < RCLCPP_VERSION_PATCH ? true \
+-                                                : patch > RCLCPP_VERSION_PATCH ? false : true)
++#define RCLCPP_VERSION_MAJOR_GT(major) ((major) < RCLCPP_VERSION_MAJOR)
++#define RCLCPP_VERSION_MAJOR_LT(major) ((major) > RCLCPP_VERSION_MAJOR)
++#define RCLCPP_VERSION_MINOR_GT(minor) ((minor) < RCLCPP_VERSION_MINOR)
++#define RCLCPP_VERSION_MINOR_LT(minor) ((minor) > RCLCPP_VERSION_MINOR)
++#define RCLCPP_VERSION_PATCH_GT(patch) ((patch) < RCLCPP_VERSION_PATCH)
++#define RCLCPP_VERSION_PATCH_LT(patch) ((patch) > RCLCPP_VERSION_PATCH)
++
++#define RCLCPP_VERSION_GTE(major, minor, patch) \
++    (RCLCPP_VERSION_MAJOR_GT(major) || \
++    (!RCLCPP_VERSION_MAJOR_LT(major) && \
++     (RCLCPP_VERSION_MINOR_GT(minor) || \
++      (!RCLCPP_VERSION_MINOR_LT(minor) && \
++       (RCLCPP_VERSION_PATCH_GT(patch) || \
++        (!RCLCPP_VERSION_PATCH_LT(patch)))))))
+ // clang-format on
+
+ namespace {
+diff --git a/ros2_foxglove_bridge/src/message_definition_cache.cpp b/ros2_foxglove_bridge/src/message_definition_cache.cpp
+index 262c482..2d72a3a 100644
+--- a/ros2_foxglove_bridge/src/message_definition_cache.cpp
++++ b/ros2_foxglove_bridge/src/message_definition_cache.cpp
+@@ -234,7 +234,7 @@ const MessageSpec& MessageDefinitionCache::load_message_spec(
+   }
+
+   // Read the file
+-  const std::string full_path = share_dir + std::filesystem::path::preferred_separator + *it;
++  const std::string full_path = share_dir + std::string(1, std::filesystem::path::preferred_separator) + *it;
+   std::ifstream file{full_path};
+   if (!file.good()) {
+     throw DefinitionNotFoundError(definition_identifier.package_resource_name);
+@@ -283,11 +283,11 @@ const MessageSpec& MessageDefinitionCache::load_message_spec(
+     }
+
+     // Find the the subtype that was originally requested and return it.
+-    const auto it = msg_specs_by_definition_identifier_.find(definition_identifier);
+-    if (it == msg_specs_by_definition_identifier_.end()) {
++    const auto it_action = msg_specs_by_definition_identifier_.find(definition_identifier);
++    if (it_action == msg_specs_by_definition_identifier_.end()) {
+       throw DefinitionNotFoundError(definition_identifier.package_resource_name);
+     }
+-    return it->second;
++    return it_action->second;
+   } else if (subfolder == "srv") {
+     if (definition_identifier.format == MessageDefinitionFormat::IDL) {
+       RCUTILS_LOG_ERROR_NAMED("foxglove_bridge",
+@@ -319,11 +319,11 @@ const MessageSpec& MessageDefinitionCache::load_message_spec(
+     }
+
+     // Find the the subtype that was originally requested and return it.
+-    const auto it = msg_specs_by_definition_identifier_.find(definition_identifier);
+-    if (it == msg_specs_by_definition_identifier_.end()) {
++    const auto it_srv = msg_specs_by_definition_identifier_.find(definition_identifier);
++    if (it_srv == msg_specs_by_definition_identifier_.end()) {
+       throw DefinitionNotFoundError(definition_identifier.package_resource_name);
+     }
+-    return it->second;
++    return it_srv->second;
+   } else {
+     // Normal message type.
+     const MessageSpec& spec =
+diff --git a/ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp b/ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp
+index 0143674..d6876e3 100644
+--- a/ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp
++++ b/ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp
+@@ -20,7 +20,14 @@ using foxglove::isWhitelisted;
+
+ FoxgloveBridge::FoxgloveBridge(const rclcpp::NodeOptions& options)
+     : Node("foxglove_bridge", options) {
++#if defined(_MSC_VER)
++  char* rosDistro;
++  std::size_t size;
++  _dupenv_s(&rosDistro, &size, "ROS_DISTRO");
++  std::unique_ptr<char, decltype(&free)> release(rosDistro, &free);
++#else
+   const char* rosDistro = std::getenv("ROS_DISTRO");
++#endif
+   RCLCPP_INFO(this->get_logger(), "Starting foxglove_bridge (%s, %s@%s) with %s", rosDistro,
+               foxglove::FOXGLOVE_BRIDGE_VERSION, foxglove::FOXGLOVE_BRIDGE_GIT_HASH,
+               foxglove::WebSocketUserAgent());

patch/ros-jazzy-rosx-introspection.unix.patch

@@ -0,0 +1,23 @@
+diff --git a/src/ros_parser.cpp b/src/ros_parser.cpp
+index 40c161b..8a1523c 100644
+--- a/src/ros_parser.cpp
++++ b/src/ros_parser.cpp
+@@ -581,8 +581,7 @@ bool Parser::serializeFromJson(const std::string_view json_string,
+             }
+             else
+             {
+-              rapidjson::Value next_value = value_field->GetObject();
+-              serializeImpl(msg_node_child.get(), &next_value);
++              serializeImpl(msg_node_child.get(), value_field);
+             }
+           }
+           break;
+@@ -600,7 +599,7 @@ bool Parser::serializeFromJson(const std::string_view json_string,
+   auto root_msg =
+       _schema->field_tree.croot()->value()->getMessagePtr(_schema->msg_library);
+
+-  rapidjson::Value json_root = json_document.GetObject();
++  rapidjson::Value& json_root = json_document;
+   serializeImpl(root_msg.get(), &json_root);
+
+   return true;

patch/ros-jazzy-rosx-introspection.win.patch

@@ -0,0 +1,42 @@
+diff --git a/src/ros_parser.cpp b/src/ros_parser.cpp
+index 40c161b..8a1523c 100644
+--- a/src/ros_parser.cpp
++++ b/src/ros_parser.cpp
+@@ -581,8 +581,7 @@ bool Parser::serializeFromJson(const std::string_view json_string,
+             }
+             else
+             {
+-              rapidjson::Value next_value = value_field->GetObject();
+-              serializeImpl(msg_node_child.get(), &next_value);
++              serializeImpl(msg_node_child.get(), value_field);
+             }
+           }
+           break;
+@@ -600,7 +599,7 @@ bool Parser::serializeFromJson(const std::string_view json_string,
+   auto root_msg =
+       _schema->field_tree.croot()->value()->getMessagePtr(_schema->msg_library);
+
+-  rapidjson::Value json_root = json_document.GetObject();
++  rapidjson::Value& json_root = json_document;
+   serializeImpl(root_msg.get(), &json_root);
+
+   return true;
+
+diff --git a/src/ros_utils/message_definition_cache.cpp b/src/ros_utils/message_definition_cache.cpp
+index 7c4da1f..41b8f5e 100644
+--- a/src/ros_utils/message_definition_cache.cpp
++++ b/src/ros_utils/message_definition_cache.cpp
+@@ -22,3 +22,4 @@
++#include <functional>
+ #include <regex>
+ #include <set>
+ #include <string>
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 005588b..16a8b50 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -7,2 +7,3 @@ project(rosx_introspection LANGUAGES CXX VERSION 1.0.2)
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+

vinca_linux_64.yaml

@@ -88,5 +88,9 @@ packages_select_by_deps:
 
   - grid_map
 
+  - foxglove_bridge
+  - foxglove_compressed_video_transport
+  - foxglove_msgs
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_linux_aarch64.yaml

@@ -88,5 +88,9 @@ packages_select_by_deps:
 
   - grid_map
 
+  - foxglove_bridge
+  - foxglove_compressed_video_transport
+  - foxglove_msgs
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_osx.yaml

@@ -97,5 +97,9 @@ packages_select_by_deps:
 
   - grid_map
 
+  - foxglove_bridge
+  - foxglove_compressed_video_transport
+  - foxglove_msgs
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_osx_arm64.yaml

@@ -97,5 +97,9 @@ packages_select_by_deps:
 
   - grid_map
 
+  - foxglove_bridge
+  - foxglove_compressed_video_transport
+  - foxglove_msgs
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_win.yaml

@@ -98,6 +98,9 @@ packages_select_by_deps:
   - ament_cmake_mypy
   - rosbridge_suite
 
+  - foxglove_bridge
+  # - foxglove_compressed_video_transport
+  - foxglove_msgs
 
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml