Add point_cloud_transport_plugins

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"]

patch/ros-rolling-zstd-point-cloud-transport.patch

@@ -0,0 +1,56 @@
+diff --git a/zstd_point_cloud_transport/CMakeLists.txt b/zstd_point_cloud_transport/CMakeLists.txt
+index 51e2d6c..332290e 100644
+--- a/zstd_point_cloud_transport/CMakeLists.txt
++++ b/zstd_point_cloud_transport/CMakeLists.txt
+@@ -9,12 +9,16 @@ 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
+   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
+   ${point_cloud_interfaces_TARGETS}
+   point_cloud_transport::point_cloud_transport
+   rclcpp::rclcpp
+-  zstd
++  zstd::zstd
+ )
+
+ target_include_directories(${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
++++ 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;
+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 @@
+   <depend>point_cloud_interfaces</depend>
+   <depend>point_cloud_transport</depend>
+   <depend>rclcpp</depend>
+-  <depend>libzstd-dev</depend>
++  <depend>zstd_cmake_module</depend>
+
+   <test_depend>ament_lint_auto</test_depend>
+   <test_depend>ament_lint_common</test_depend>

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