From 91f9dde2228f03028014ca089515a17b8cb0fce3 Mon Sep 17 00:00:00 2001
From: wentywenty <2321901849@qq.com>
Date: Wed, 30 Jul 2025 15:18:38 +0800
Subject: [PATCH 1/5] Add imu-related packages and polygon-related packages.

---
 patch/dependencies.yaml              |  3 +++
 patch/ros-humble-color-util.patch    | 14 ++++++++++++++
 patch/ros-humble-polygon-utils.patch | 14 ++++++++++++++
 vinca.yaml                           | 11 +++++++++++
 4 files changed, 42 insertions(+)
 create mode 100644 patch/ros-humble-color-util.patch
 create mode 100644 patch/ros-humble-polygon-utils.patch

diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index ad156fd11..a3ab3aec3 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -264,3 +264,6 @@ wasm_cpp:
 aws_sdk_cpp_vendor:
   add_host: ["aws-sdk-cpp"]
   add_run: ["aws-sdk-cpp"]
+polygon_rviz_plugins:
+  add_host: ["libgl-devel"]
+  add_run: ["libgl-devel"]
diff --git a/patch/ros-humble-color-util.patch b/patch/ros-humble-color-util.patch
new file mode 100644
index 000000000..c0696770c
--- /dev/null
+++ b/patch/ros-humble-color-util.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index bc98189..71ce465 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -19,6 +19,9 @@ find_package(ament_cmake REQUIRED)
+ find_package(std_msgs REQUIRED)
+ 
+ add_library(color_util src/convert.cpp)
++if(WIN32 AND MSVC)
++  set_target_properties(color_util PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
+ target_include_directories(color_util PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+   $<INSTALL_INTERFACE:include>
diff --git a/patch/ros-humble-polygon-utils.patch b/patch/ros-humble-polygon-utils.patch
new file mode 100644
index 000000000..8aa58ac41
--- /dev/null
+++ b/patch/ros-humble-polygon-utils.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index bc98189..71ce465 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -19,6 +19,9 @@ find_package(geometry_msgs REQUIRED)
+ find_package(polygon_msgs REQUIRED)
+ 
+ add_library(polygon_utils src/polygon_utils.cpp)
++if(WIN32 AND MSVC)
++  set_target_properties(polygon_utils PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
+ target_include_directories(polygon_utils PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+   $<INSTALL_INTERFACE:include>
diff --git a/vinca.yaml b/vinca.yaml
index 95382eda0..c373dd028 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -315,6 +315,17 @@ packages_select_by_deps:
       - imu_tools
       - rplidar_ros
       - vector_pursuit_controller
+      - imu_transformer
+      - imu_calib
+      - polygon_msgs
+      - polygon_utils
+      - color_util
+      - polygon_demos
+      - rclc_parameter
+      - ros_humble_rclc_lifecycle
+      - ros_humble_rclc_examples
+      - ptz_action_server_msgs
+      - py_trees
   
   # These packages are only built on Linux as they depend on Linux-specific API
   - if: linux

From f7410bb942b66542d5cbdeb2d7762fa0429f40a5 Mon Sep 17 00:00:00 2001
From: wentywenty <2321901849@qq.com>
Date: Wed, 30 Jul 2025 15:49:10 +0800
Subject: [PATCH 2/5] remove polygon_demos

---
 vinca.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/vinca.yaml b/vinca.yaml
index c373dd028..cdc17ed17 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -320,7 +320,6 @@ packages_select_by_deps:
       - polygon_msgs
       - polygon_utils
       - color_util
-      - polygon_demos
       - rclc_parameter
       - ros_humble_rclc_lifecycle
       - ros_humble_rclc_examples

From a96ec86e026b6f8fad008076e392d35b14d54802 Mon Sep 17 00:00:00 2001
From: wentywenty <63338034+wentywenty@users.noreply.github.com>
Date: Wed, 30 Jul 2025 17:11:38 +0800
Subject: [PATCH 3/5] Update vinca.yaml

Co-authored-by: Silvio Traversaro <silvio@traversaro.it>
---
 vinca.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/vinca.yaml b/vinca.yaml
index cdc17ed17..6a4593363 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -321,8 +321,8 @@ packages_select_by_deps:
       - polygon_utils
       - color_util
       - rclc_parameter
-      - ros_humble_rclc_lifecycle
-      - ros_humble_rclc_examples
+      - rclc_lifecycle
+      - rclc_examples
       - ptz_action_server_msgs
       - py_trees
   

From 66ea6b937a5aaaa3271e606aad7725695cbf9239 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Wed, 30 Jul 2025 11:25:06 +0200
Subject: [PATCH 4/5] Add poetry-core dependency for py_trees

---
 patch/dependencies.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index a3ab3aec3..874e0b25a 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -267,3 +267,5 @@ aws_sdk_cpp_vendor:
 polygon_rviz_plugins:
   add_host: ["libgl-devel"]
   add_run: ["libgl-devel"]
+py_trees:
+  add_build: ["poetry-core"]

From 80075b43cef9dd8a8e9b654598de8d10b507b64c Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Wed, 30 Jul 2025 11:30:18 +0200
Subject: [PATCH 5/5] Update dependencies.yaml

---
 patch/dependencies.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index 874e0b25a..c77cd9f9d 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -268,4 +268,4 @@ polygon_rviz_plugins:
   add_host: ["libgl-devel"]
   add_run: ["libgl-devel"]
 py_trees:
-  add_build: ["poetry-core"]
+  add_host: ["poetry-core"]