Sync cartographer patches with humble

Author: traversaro

patch/ros-jazzy-cartographer-ros.patch

@@ -1,8 +1,77 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index f7f476296..0725a05d5 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -50,6 +50,16 @@ find_package(urdf REQUIRED)
+ find_package(urdfdom_headers REQUIRED)
+ find_package(visualization_msgs REQUIRED)
+
++
++# glog is not linked, however we look for it to detect the glog version
++# and use a different code path if glog >= 0.7.0 is detected
++find_package(glog CONFIG QUIET)
++if(DEFINED glog_VERSION)
++  if(NOT glog_VERSION VERSION_LESS 0.7.0)
++    add_definitions(-DROS_CARTOGRAPHER_GLOG_GE_070)
++  endif()
++endif()
++
+ include_directories(
+   include
+   ${PCL_INCLUDE_DIRS}
+diff --git a/src/ros_log_sink.cpp b/src/ros_log_sink.cpp
+index 1396381d4..9e189c690 100644
+--- a/src/ros_log_sink.cpp
++++ b/src/ros_log_sink.cpp
+@@ -33,6 +33,11 @@ const char* GetBasename(const char* filepath) {
+   return base ? (base + 1) : filepath;
+ }
+
++std::chrono::system_clock::time_point ConvertTmToTimePoint(const std::tm& tm) {
++    std::time_t timeT = std::mktime(const_cast<std::tm*>(&tm)); // Convert std::tm to time_t
++    return std::chrono::system_clock::from_time_t(timeT);      // Convert time_t to time_point
++}
++
+ }  // namespace
+
+ ScopedRosLogSink::ScopedRosLogSink() : will_die_(false) { AddLogSink(this); }
+@@ -46,10 +51,13 @@ void ScopedRosLogSink::send(const ::google::LogSeverity severity,
+                             const size_t message_len) {
+   (void) base_filename; // TODO: remove unused arg ?
+
++#if defined(ROS_CARTOGRAPHER_GLOG_GE_070)
++  const std::string message_string = ::google::LogSink::ToString(
++      severity, GetBasename(filename), line, ::google::LogMessageTime(ConvertTmToTimePoint(*tm_time)), message, message_len);
+   // Google glog broke the ToString API, but has no way to tell what version it is using.
+   // To support both newer and older glog versions, use a nasty hack were we infer the
+   // version based on whether GOOGLE_GLOG_DLL_DECL is defined
+-#if defined(GOOGLE_GLOG_DLL_DECL)
++#elif defined(GOOGLE_GLOG_DLL_DECL)
+   const std::string message_string = ::google::LogSink::ToString(
+       severity, GetBasename(filename), line, tm_time, message, message_len);
+ #else
+
 diff --git a/include/cartographer_ros/map_builder_bridge.h b/include/cartographer_ros/map_builder_bridge.h
-index b2c00b7..bd91894 100644
+index b2c00b7..9c1befd 100644
 --- a/include/cartographer_ros/map_builder_bridge.h
 +++ b/include/cartographer_ros/map_builder_bridge.h
-@@ -113,7 +113,7 @@ class MapBuilderBridge {
+@@ -95,7 +95,7 @@ class MapBuilderBridge {
+   GetTrajectoryStates();
+   cartographer_ros_msgs::msg::SubmapList GetSubmapList(rclcpp::Time node_time);
+   std::unordered_map<int, LocalTrajectoryData> GetLocalTrajectoryData()
+-      LOCKS_EXCLUDED(mutex_);
++      ABSL_LOCKS_EXCLUDED(mutex_);
+   visualization_msgs::msg::MarkerArray GetTrajectoryNodeList(rclcpp::Time node_time);
+   visualization_msgs::msg::MarkerArray GetLandmarkPosesList(rclcpp::Time node_time);
+   visualization_msgs::msg::MarkerArray GetConstraintList(rclcpp::Time node_time);
+@@ -107,13 +107,13 @@ class MapBuilderBridge {
+                          const ::cartographer::common::Time time,
+                          const ::cartographer::transform::Rigid3d local_pose,
+                          ::cartographer::sensor::RangeData range_data_in_local)
+-      LOCKS_EXCLUDED(mutex_);
++      ABSL_LOCKS_EXCLUDED(mutex_);
+ 
+   absl::Mutex mutex_;
    const NodeOptions node_options_;
    std::unordered_map<int,
                       std::shared_ptr<const LocalTrajectoryData::LocalSlamData>>
@@ -62,10 +131,10 @@ index f3527ca..f9fb9fb 100644
    rclcpp::Node::SharedPtr node_;
    ::rclcpp::Publisher<::cartographer_ros_msgs::msg::SubmapList>::SharedPtr submap_list_publisher_;
 diff --git a/src/occupancy_grid_node_main.cpp b/src/occupancy_grid_node_main.cpp
-index 282b890..6139979 100644
+index 324426b..443dac2 100644
 --- a/src/occupancy_grid_node_main.cpp
 +++ b/src/occupancy_grid_node_main.cpp
-@@ -74,10 +74,10 @@ class Node : public rclcpp::Node
+@@ -73,10 +73,10 @@ class Node : public rclcpp::Node
    absl::Mutex mutex_;
    rclcpp::CallbackGroup::SharedPtr callback_group_;
    rclcpp::executors::SingleThreadedExecutor::SharedPtr callback_group_executor_;
@@ -80,3 +149,4 @@ index 282b890..6139979 100644
    rclcpp::TimerBase::SharedPtr occupancy_grid_publisher_timer_;
    std::string last_frame_id_;
    rclcpp::Time last_timestamp_;
+