Rebase from 'debian/humble/apriltag'

.github/workflows/bloom.yml

@@ -0,0 +1,53 @@
+name: bloom
+
+on: [push, pull_request]
+
+jobs:
+  build_linux:
+    name: "Ubuntu (${{ matrix.ros_distribution }})"
+
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        include:
+          - docker_image: ubuntu:20.04
+            ros_distribution: noetic
+
+          - docker_image: ubuntu:22.04
+            ros_distribution: humble
+
+          - docker_image: ubuntu:24.04
+            ros_distribution: jazzy
+
+    container:
+      image: ${{ matrix.docker_image }}
+
+    env:
+      DEBIAN_FRONTEND: noninteractive
+
+    steps:
+      - name: install core dependencies
+        run: |
+          apt update
+          apt install -y --no-install-recommends git ca-certificates
+
+      - uses: actions/checkout@v4
+
+      - uses: ros-tooling/setup-ros@v0.7
+
+      - name: install build tool dependencies
+        run: |
+          apt install -y --no-install-recommends devscripts equivs python3-bloom
+
+      - name: bloom
+        run: |
+          rosdep update
+          bloom-generate rosdebian --ros-distro ${{ matrix.ros_distribution }}
+          mk-build-deps
+          apt install -y --no-install-recommends ./ros-${{ matrix.ros_distribution }}-apriltag-build-deps_*_all.deb
+          dpkg-buildpackage -b
+
+      - name: install bloomed packages
+        run: |
+          apt install -y --no-install-recommends ../ros-${{ matrix.ros_distribution }}-apriltag_*.deb ../ros-${{ matrix.ros_distribution }}-apriltag-dbgsym_*.ddeb

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16)
-project(apriltag VERSION 3.4.1 LANGUAGES C)
+project(apriltag VERSION 3.4.2 LANGUAGES C)
 
 if(POLICY CMP0077)
     cmake_policy(SET CMP0077 NEW)

common/matd.c

@@ -1148,7 +1148,7 @@ static matd_svd_t matd_svd_tall(matd_t *A, int flags)
     assert(maxiters > 0); // reassure clang
     int iter;
 
-    double maxv; // maximum non-zero value being reduced this iteration
+    double maxv = 0; // maximum non-zero value being reduced this iteration
 
     double tol = 1E-10;
 

debian/changelog.em

@@ -0,0 +1,7 @@
+@[for change_version, change_date, changelog, main_name, main_email in changelogs]@(Package) (@(change_version)@(DebianInc)@(Distribution)) @(Distribution); urgency=high
+
+@(changelog)
+
+ -- @(main_name) <@(main_email)>  @(change_date)
+
+@[end for]

debian/compat.em

@@ -0,0 +1 @@
+@(debhelper_version)

debian/control.em

@@ -0,0 +1,14 @@
+Source: @(Package)
+Section: misc
+Priority: optional
+Maintainer: @(Maintainer)
+Build-Depends: debhelper (>= @(debhelper_version).0.0), @(', '.join(BuildDepends))
+Homepage: @(Homepage)
+Standards-Version: 3.9.2
+
+Package: @(Package)
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(Depends))
+@[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
+@[if Replaces]Replaces: @(', '.join(Replaces))@\n@[end if]@
+Description: @(Description)

debian/copyright → debian/copyright.em

@@ -1,7 +1,11 @@
 Format: Bloom subset of https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
-Upstream-Name: apriltag
+Upstream-Name: @(Name)
+@[if BugTracker]Upstream-Contact: @(BugTracker)@\n@[end if]@
+@[if Source]Source: @(Source)@\n@[end if]@
+@[for License, Text in Licenses]@
 
 Files: See file headers in repository for details
 Copyright: See package copyright in source code for details
-License: BSD
- See repository for full license text
+License: @(License)
+ @(Text)
+@[end for]@

debian/gbp.conf.em

@@ -0,0 +1,3 @@
+[git-buildpackage]
+upstream-tag=@(release_tag)
+upstream-tree=tag

debian/rules → debian/rules.em

@@ -13,7 +13,7 @@ export DH_VERBOSE=1
 #  https://code.ros.org/trac/ros/ticket/2977
 #  https://code.ros.org/trac/ros/ticket/3842
 export LDFLAGS=
-export PKG_CONFIG_PATH=/opt/ros/humble/lib/pkgconfig
+export PKG_CONFIG_PATH=@(InstallationPrefix)/lib/pkgconfig
 # Explicitly enable -DNDEBUG, see:
 # 	https://github.com/ros-infrastructure/bloom/issues/327
 export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG
@@ -27,43 +27,43 @@ export DEB_HOST_MULTIARCH := $(shell dpkg-architecture -qDEB_HOST_MULTIARCH)
 DEB_HOST_GNU_TYPE ?= $(shell dpkg-architecture -qDEB_HOST_GNU_TYPE)
 
 %:
-	dh $@ -v --buildsystem=cmake --builddirectory=.obj-$(DEB_HOST_GNU_TYPE)
+	dh $@@ -v --buildsystem=cmake --builddirectory=.obj-$(DEB_HOST_GNU_TYPE)
 
 override_dh_auto_configure:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_configure -- \
-		-DCMAKE_INSTALL_PREFIX="/opt/ros/humble" \
-		-DCMAKE_PREFIX_PATH="/opt/ros/humble" \
+		-DCMAKE_INSTALL_PREFIX="@(InstallationPrefix)" \
+		-DCMAKE_PREFIX_PATH="@(InstallationPrefix)" \
 		$(BUILD_TESTING_ARG)
 
 override_dh_auto_build:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_build
 
 override_dh_auto_test:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
 	echo -- Running tests. Even if one of them fails the build is not canceled.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_test || true
 
 override_dh_shlibdeps:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
-	dh_shlibdeps -l$(CURDIR)/debian/ros-humble-apriltag//opt/ros/humble/lib/:$(CURDIR)/debian/ros-humble-apriltag//opt/ros/humble/lib/${DEB_HOST_MULTIARCH}
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
+	dh_shlibdeps -l$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/lib/:$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/lib/${DEB_HOST_MULTIARCH}
 
 override_dh_auto_install:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_install

debian/source/format.em

@@ -0,0 +1 @@
+3.0 (@(format))

debian/source/options → debian/source/options.em

@@ -1,5 +1,6 @@
+@[if format and format == 'quilt']@
 # Automatically add upstream changes to the quilt overlay.
 # http://manpages.ubuntu.com/manpages/trusty/man1/dpkg-source.1.html
 # This supports reusing the orig.tar.gz for debian increments.
 auto-commit
-
+@[end if]

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>apriltag</name>
-  <version>3.4.1</version>
+  <version>3.4.2</version>
   <description>AprilTag detector library</description>
 
   <maintainer email="mkrogius@umich.edu">Max Krogius</maintainer>