From 32e0d58743822854b665ad0c80dd12b776fb74e7 Mon Sep 17 00:00:00 2001 From: Maurice Date: Fri, 12 Jun 2026 17:45:15 +0700 Subject: [PATCH 1/5] Add point_cloud_transport_plugins Signed-off-by: Maurice --- vinca.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/vinca.yaml b/vinca.yaml index c6eccc8..4b201c5 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -119,6 +119,7 @@ packages_select_by_deps: - bondcpp - nav2_minimal_tb3_sim - nav2_minimal_tb4_sim + - point_cloud_transport_plugins - autoware_internal_msgs - autoware_common_msgs From 0a5742335564bfac9f36724550f56cb97496fc3a Mon Sep 17 00:00:00 2001 From: Maurice Date: Sat, 13 Jun 2026 17:09:02 +0700 Subject: [PATCH 2/5] Apply zstd patch Signed-off-by: Maurice --- patch/ros-rolling-zstd-point-cloud-transport.patch | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100644 patch/ros-rolling-zstd-point-cloud-transport.patch diff --git a/patch/ros-rolling-zstd-point-cloud-transport.patch b/patch/ros-rolling-zstd-point-cloud-transport.patch new file mode 100644 index 0000000..35e84a6 --- /dev/null +++ b/patch/ros-rolling-zstd-point-cloud-transport.patch @@ -0,0 +1,13 @@ +diff --git a/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp b/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp +index b5828d3..cfea8f0 100644 +--- a/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp ++++ b/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp +@@ -51,8 +51,6 @@ class ZstdSubscriber + public: + ZstdSubscriber(); + +- std::string getTransportName() const override; +- + void declareParameters() override; + + std::string getDataType() const override; From 50ce0beac9875cdbdb751517a962e5c6e7357ac0 Mon Sep 17 00:00:00 2001 From: Maurice Date: Sat, 13 Jun 2026 17:52:41 +0700 Subject: [PATCH 3/5] Another patch for windows Signed-off-by: Maurice --- ...s-rolling-zstd-point-cloud-transport.patch | 22 +++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/patch/ros-rolling-zstd-point-cloud-transport.patch b/patch/ros-rolling-zstd-point-cloud-transport.patch index 35e84a6..931b452 100644 --- a/patch/ros-rolling-zstd-point-cloud-transport.patch +++ b/patch/ros-rolling-zstd-point-cloud-transport.patch @@ -1,3 +1,25 @@ +diff --git a/zstd_point_cloud_transport/CMakeLists.txt b/zstd_point_cloud_transport/CMakeLists.txt +index 51e2d6c..278c591 100644 +--- a/zstd_point_cloud_transport/CMakeLists.txt ++++ b/zstd_point_cloud_transport/CMakeLists.txt +@@ -9,6 +9,8 @@ find_package(pluginlib REQUIRED) + find_package(point_cloud_interfaces REQUIRED) + find_package(point_cloud_transport REQUIRED) + find_package(rclcpp REQUIRED) ++find_package(zstd_cmake_module REQUIRED) ++find_package(zstd REQUIRED) + + set(dependencies + pluginlib +@@ -29,7 +31,7 @@ target_link_libraries(${PROJECT_NAME} PRIVATE + ${point_cloud_interfaces_TARGETS} + point_cloud_transport::point_cloud_transport + rclcpp::rclcpp +- zstd ++ zstd::zstd + ) + + target_include_directories(${PROJECT_NAME} PRIVATE diff --git a/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp b/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp index b5828d3..cfea8f0 100644 --- a/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp From 3357bd908b16e9a3358f7e70918b926d58f135fd Mon Sep 17 00:00:00 2001 From: Maurice Date: Sat, 13 Jun 2026 17:59:50 +0700 Subject: [PATCH 4/5] Add zstd_cmake_module in package xml Signed-off-by: Maurice --- ...s-rolling-zstd-point-cloud-transport.patch | 27 ++++++++++++++++--- 1 file changed, 24 insertions(+), 3 deletions(-) diff --git a/patch/ros-rolling-zstd-point-cloud-transport.patch b/patch/ros-rolling-zstd-point-cloud-transport.patch index 931b452..6813e43 100644 --- a/patch/ros-rolling-zstd-point-cloud-transport.patch +++ b/patch/ros-rolling-zstd-point-cloud-transport.patch @@ -1,8 +1,8 @@ diff --git a/zstd_point_cloud_transport/CMakeLists.txt b/zstd_point_cloud_transport/CMakeLists.txt -index 51e2d6c..278c591 100644 +index 51e2d6c..332290e 100644 --- a/zstd_point_cloud_transport/CMakeLists.txt +++ b/zstd_point_cloud_transport/CMakeLists.txt -@@ -9,6 +9,8 @@ find_package(pluginlib REQUIRED) +@@ -9,12 +9,16 @@ find_package(pluginlib REQUIRED) find_package(point_cloud_interfaces REQUIRED) find_package(point_cloud_transport REQUIRED) find_package(rclcpp REQUIRED) @@ -11,7 +11,15 @@ index 51e2d6c..278c591 100644 set(dependencies pluginlib -@@ -29,7 +31,7 @@ target_link_libraries(${PROJECT_NAME} PRIVATE + point_cloud_interfaces + point_cloud_transport + rclcpp ++ zstd_cmake_module ++ zstd + ) + + add_library(${PROJECT_NAME} +@@ -29,7 +33,7 @@ target_link_libraries(${PROJECT_NAME} PRIVATE ${point_cloud_interfaces_TARGETS} point_cloud_transport::point_cloud_transport rclcpp::rclcpp @@ -33,3 +41,16 @@ index b5828d3..cfea8f0 100644 void declareParameters() override; std::string getDataType() const override; +diff --git a/zstd_point_cloud_transport/package.xml b/zstd_point_cloud_transport/package.xml +index 17fc04a..fa0e39b 100644 +--- a/zstd_point_cloud_transport/package.xml ++++ b/zstd_point_cloud_transport/package.xml +@@ -22,7 +22,7 @@ + point_cloud_interfaces + point_cloud_transport + rclcpp +- libzstd-dev ++ zstd_cmake_module + + ament_lint_auto + ament_lint_common From c5df98e7b733743643eea76594484ea5db152f32 Mon Sep 17 00:00:00 2001 From: Maurice Date: Sat, 13 Jun 2026 20:38:32 +0700 Subject: [PATCH 5/5] Add zstd_cmake_module in dependencies.yaml Signed-off-by: Maurice --- patch/dependencies.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 570395d..21dfe3c 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -301,3 +301,5 @@ depth_image_proc: rqt_mocap4r2_control: remove_host: ["qt-main"] remove_run: ["qt-main"] +zstd_point_cloud_transport: + add_host: ["ros-rolling-zstd-cmake-module", "zstd"]