chore: add Turtlebot 4 packages

packages-ignore.yaml

@@ -2,6 +2,10 @@
 rti-connext-dds-5.3.1:
   conda-forge: []
 
+# System service/runtime package used by TurtleBot 4 setup.
+network-manager:
+  robostack: []
+
 # rmw_cyclonedds_cpp:
 #   conda-forge: []
 # rviz_ogre_vendor:

patch/dependencies.yaml

@@ -95,6 +95,8 @@ backward_ros:
   # binutils is added only on linux to avoid the -liberty library not found in macos
   # see https://github.com/RoboStack/ros-jazzy/pull/95#issuecomment-3113166166
   add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros-humble-ament-cmake-libraries"]
+depthai:
+  add_host: ["${{ 'elfutils' if linux }}"]
 nav2_smac_planner:
   add_build: ["${{ 'llvm-openmp' if osx }}"]
   add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode"]
@@ -293,4 +295,4 @@ franka_ign_ros2_control:
   add_run: ["ros-humble-urdf", "ros-humble-kdl-parser", "ros-humble-tf2-geometry-msgs", "ros-humble-tf2-eigen"]
 lbr_ros2_control:
   add_host: ["ros-humble-kinematics-interface"]
-  add_run: ["ros-humble-kinematics-interface"]
+  add_run: ["ros-humble-kinematics-interface"]

patch/ros-humble-depthai.patch

@@ -0,0 +1,133 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Esteve Fernandez <esteve@apache.org>
+Date: Tue, 12 May 2026 14:01:42 +0100
+Subject: [PATCH] fix(depthai): make conda builds use bundled release sources
+
+Signed-off-by: Esteve Fernandez <esteve@apache.org>
+
+---
+ CMakeLists.txt                         |  2 ++
+ shared/depthai-bootloader-shared.cmake | 37 ++++++++++++++++++----------------
+ shared/depthai-shared.cmake            | 35 +++++++++++++++++---------------
+ 3 files changed, 41 insertions(+), 33 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 109d9da..24d9aff 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -60,6 +60,8 @@ else()
+     message(STATUS "Using toolchain file: ${CMAKE_TOOLCHAIN_FILE}")
+ endif()
+
++set(HUNTER_ROOT "${CMAKE_BINARY_DIR}/.hunter" CACHE PATH "Hunter package cache")
++set(DEPTHAI_ENABLE_CURL OFF CACHE BOOL "Enable CURL support" FORCE)
+ include("cmake/HunterGate.cmake")
+ HunterGate(
+     URL "https://github.com/cpp-pm/hunter/archive/9d9242b60d5236269f894efd3ddd60a9ca83dd7f.tar.gz"
+diff --git a/shared/depthai-bootloader-shared.cmake b/shared/depthai-bootloader-shared.cmake
+index d0db905..3bdb1b0 100644
+--- a/shared/depthai-bootloader-shared.cmake
++++ b/shared/depthai-bootloader-shared.cmake
+@@ -29,25 +29,28 @@ if(GIT_FOUND AND NOT DEPTHAI_DOWNLOADED_SOURCES)
+             OUTPUT_VARIABLE statusCommit
+             ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE
+         )
+-        string(SUBSTRING ${statusCommit} 0 1 status)
+-        if("${status}" STREQUAL "-")
+-            message(FATAL_ERROR "Submodule 'depthai-bootloader-shared' not initialized/updated. Run 'git submodule update --init --recursive' first")
++        if(statusCommit)
++            string(SUBSTRING "${statusCommit}" 0 1 status)
++            if("${status}" STREQUAL "-")
++                message(FATAL_ERROR "Submodule 'depthai-bootloader-shared' not initialized/updated. Run 'git submodule update --init --recursive' first")
++            endif()
+         endif()
+     endif()
+
+-    # Get depthai-bootloader-shared current commit
+-    execute_process(
+-        COMMAND ${GIT_EXECUTABLE} rev-parse HEAD
+-        WORKING_DIRECTORY ${DEPTHAI_BOOTLOADER_SHARED_FOLDER}
+-        RESULT_VARIABLE DEPTHAI_BOOTLOADER_SHARED_COMMIT_RESULT
+-        OUTPUT_VARIABLE DEPTHAI_BOOTLOADER_SHARED_COMMIT_HASH
+-        ERROR_QUIET
+-        OUTPUT_STRIP_TRAILING_WHITESPACE
+-    )
+-    if(${DEPTHAI_BOOTLOADER_SHARED_COMMIT_RESULT} EQUAL 0)
+-        set(DEPTHAI_BOOTLOADER_SHARED_COMMIT_FOUND TRUE)
+-    else()
+-        set(DEPTHAI_BOOTLOADER_SHARED_COMMIT_FOUND FALSE)
++    set(DEPTHAI_BOOTLOADER_SHARED_COMMIT_FOUND FALSE)
++    if(EXISTS "${DEPTHAI_BOOTLOADER_SHARED_FOLDER}/.git")
++        # Release archives include shared sources without a nested Git checkout.
++        execute_process(
++            COMMAND ${GIT_EXECUTABLE} rev-parse HEAD
++            WORKING_DIRECTORY ${DEPTHAI_BOOTLOADER_SHARED_FOLDER}
++            RESULT_VARIABLE DEPTHAI_BOOTLOADER_SHARED_COMMIT_RESULT
++            OUTPUT_VARIABLE DEPTHAI_BOOTLOADER_SHARED_COMMIT_HASH
++            ERROR_QUIET
++            OUTPUT_STRIP_TRAILING_WHITESPACE
++        )
++        if(DEPTHAI_BOOTLOADER_SHARED_COMMIT_RESULT EQUAL 0)
++            set(DEPTHAI_BOOTLOADER_SHARED_COMMIT_FOUND TRUE)
++        endif()
+     endif()
+ endif()
+
+@@ -56,4 +59,4 @@ foreach(source_file ${DEPTHAI_BOOTLOADER_SHARED_SOURCES})
+     if(NOT EXISTS ${source_file})
+         message(FATAL_ERROR "depthai-bootloader-shared submodule files missing. Make sure to download prepackaged release instead of \"Source code\" on GitHub. Example: depthai-core-vX.Y.Z.tar.gz")
+     endif()
+-endforeach()
+\ No newline at end of file
++endforeach()
+diff --git a/shared/depthai-shared.cmake b/shared/depthai-shared.cmake
+index 414e1eb..94a007d 100644
+--- a/shared/depthai-shared.cmake
++++ b/shared/depthai-shared.cmake
+@@ -35,25 +35,28 @@ if(GIT_FOUND AND NOT DEPTHAI_DOWNLOADED_SOURCES)
+             OUTPUT_VARIABLE statusCommit
+             ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE
+         )
+-        string(SUBSTRING ${statusCommit} 0 1 status)
+-        if("${status}" STREQUAL "-")
+-            message(FATAL_ERROR "Submodule 'depthai-shared' not initialized/updated. Run 'git submodule update --init --recursive' first")
++        if(statusCommit)
++            string(SUBSTRING "${statusCommit}" 0 1 status)
++            if("${status}" STREQUAL "-")
++                message(FATAL_ERROR "Submodule 'depthai-shared' not initialized/updated. Run 'git submodule update --init --recursive' first")
++            endif()
+         endif()
+     endif()
+
+-    # Get depthai-shared current commit
+-    execute_process(
+-        COMMAND ${GIT_EXECUTABLE} rev-parse HEAD
+-        WORKING_DIRECTORY ${DEPTHAI_SHARED_FOLDER}
+-        RESULT_VARIABLE DEPTHAI_SHARED_COMMIT_RESULT
+-        OUTPUT_VARIABLE DEPTHAI_SHARED_COMMIT_HASH
+-        ERROR_QUIET
+-        OUTPUT_STRIP_TRAILING_WHITESPACE
+-    )
+-    if(${DEPTHAI_SHARED_COMMIT_RESULT} EQUAL 0)
+-        set(DEPTHAI_SHARED_COMMIT_FOUND TRUE)
+-    else()
+-        set(DEPTHAI_SHARED_COMMIT_FOUND FALSE)
++    set(DEPTHAI_SHARED_COMMIT_FOUND FALSE)
++    if(EXISTS "${DEPTHAI_SHARED_FOLDER}/.git")
++        # Release archives include shared sources without a nested Git checkout.
++        execute_process(
++            COMMAND ${GIT_EXECUTABLE} rev-parse HEAD
++            WORKING_DIRECTORY ${DEPTHAI_SHARED_FOLDER}
++            RESULT_VARIABLE DEPTHAI_SHARED_COMMIT_RESULT
++            OUTPUT_VARIABLE DEPTHAI_SHARED_COMMIT_HASH
++            ERROR_QUIET
++            OUTPUT_STRIP_TRAILING_WHITESPACE
++        )
++        if(DEPTHAI_SHARED_COMMIT_RESULT EQUAL 0)
++            set(DEPTHAI_SHARED_COMMIT_FOUND TRUE)
++        endif()
+     endif()
+ endif()
+
+--
+2.54.0

patch/ros-humble-irobot-create-nodes.patch

@@ -0,0 +1,28 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Esteve Fernandez <esteve@apache.org>
+Date: Wed, 13 May 2026 09:37:28 +0100
+Subject: [PATCH] fix(irobot-create-nodes): export symbols on Windows
+
+Signed-off-by: Esteve Fernandez <esteve@apache.org>
+
+---
+ CMakeLists.txt | 4 ++++
+ 1 file changed, 4 insertions(+)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1bb5609..33c05bf 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -10,6 +10,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ endif()
+
++if(WIN32)
++  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
++
+ find_package(ament_cmake REQUIRED)
+ find_package(angles REQUIRED)
+ find_package(control_msgs REQUIRED)
+-- 
+2.54.0

patch/ros-humble-irobot-create-toolbox.patch

@@ -0,0 +1,28 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Esteve Fernandez <esteve@apache.org>
+Date: Wed, 13 May 2026 09:34:52 +0100
+Subject: [PATCH] fix(irobot-create-toolbox): export symbols on Windows
+
+Signed-off-by: Esteve Fernandez <esteve@apache.org>
+
+---
+ CMakeLists.txt | 4 ++++
+ 1 file changed, 4 insertions(+)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 794be2b..91a9a5d 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -10,6 +10,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   add_compile_options(-Wall -Wextra -Wpedantic)
+ endif()
+
++if(WIN32)
++  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
++
+ find_package(ament_cmake REQUIRED)
+ find_package(ignition-math6 REQUIRED)
+ find_package(rclcpp REQUIRED)
+-- 
+2.54.0

patch/ros-humble-turtlebot4-base.patch

@@ -0,0 +1,179 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Esteve Fernandez <esteve@apache.org>
+Date: Tue, 12 May 2026 14:02:58 +0100
+Subject: [PATCH] fix(turtlebot4-base): support both libgpiod 1 and 2
+
+Signed-off-by: Esteve Fernandez <esteve@apache.org>
+
+---
+ CMakeLists.txt                             |  7 ++++
+ include/turtlebot4_base/gpio_interface.hpp |  5 ++-
+ src/gpio_interface.cpp                     | 66 ++++++++++++++++++++++++++++++
+ 3 files changed, 77 insertions(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 6aeeea9..aeb64b4 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -25,6 +25,12 @@ find_package(std_msgs REQUIRED)
+ find_package(sensor_msgs REQUIRED)
+ find_package(turtlebot4_msgs REQUIRED)
+ find_package(turtlebot4_node REQUIRED)
++find_package(PkgConfig REQUIRED)
++pkg_check_modules(GPIOD REQUIRED libgpiod)
++
++if(NOT GPIOD_VERSION VERSION_LESS 2.0)
++  add_definitions(-DTURTLEBOT4_BASE_GPIOD_V2)
++endif()
+
+ find_library(gpiod_library NAMES libgpiod.so)
+
+@@ -32,6 +38,7 @@ find_library(gpiod_library NAMES libgpiod.so)
+
+ include_directories(
+   include
++  ${GPIOD_INCLUDE_DIRS}
+ )
+
+ add_library(${PROJECT_NAME}_lib
+diff --git a/include/turtlebot4_base/gpio_interface.hpp b/include/turtlebot4_base/gpio_interface.hpp
+index c25317e..b1b27a3 100644
+--- a/include/turtlebot4_base/gpio_interface.hpp
++++ b/include/turtlebot4_base/gpio_interface.hpp
+@@ -19,7 +19,6 @@
+ #ifndef TURTLEBOT4_BASE__GPIO_INTERFACE_HPP_
+ #define TURTLEBOT4_BASE__GPIO_INTERFACE_HPP_
+
+-#include <linux/gpio.h>
+ #include <gpiod.h>
+
+ #include <string>
+@@ -56,7 +55,11 @@ private:
+
+   gpiod_chip * chip_;
+
++#ifdef TURTLEBOT4_BASE_GPIOD_V2
++  std::map<uint8_t, gpiod_line_request *> lines_;
++#else
+   std::map<uint8_t, gpiod_line *> lines_;
++#endif
+ };
+
+ }  // namespace turtlebot4_base
+diff --git a/src/gpio_interface.cpp b/src/gpio_interface.cpp
+index 3127ba3..a21b977 100644
+--- a/src/gpio_interface.cpp
++++ b/src/gpio_interface.cpp
+@@ -50,7 +50,16 @@ GpioInterface::GpioInterface(const uint8_t & gpio_chip_number)
+  */
+ void GpioInterface::open_chip()
+ {
++#ifdef TURTLEBOT4_BASE_GPIOD_V2
++  std::string gpio_chip_path = gpio_chip_;
++  if (gpio_chip_path.empty() || gpio_chip_path.front() != '/') {
++    gpio_chip_path = "/dev/" + gpio_chip_path;
++  }
++
++  chip_ = gpiod_chip_open(gpio_chip_path.c_str());
++#else
+   chip_ = gpiod_chip_open_by_name(gpio_chip_.c_str());
++#endif
+ }
+
+ /**
+@@ -59,7 +68,11 @@ void GpioInterface::open_chip()
+ void GpioInterface::close_chip()
+ {
+   for (auto line : lines_) {
++#ifdef TURTLEBOT4_BASE_GPIOD_V2
++    gpiod_line_request_release(line.second);
++#else
+     gpiod_line_release(line.second);
++#endif
+   }
+
+   gpiod_chip_close(chip_);
+@@ -70,6 +83,47 @@ void GpioInterface::close_chip()
+  */
+ void GpioInterface::add_line(uint8_t line, GpioInterfaceLineDirection direction)
+ {
++#ifdef TURTLEBOT4_BASE_GPIOD_V2
++  unsigned int offset = line;
++  gpiod_request_config * request_config = gpiod_request_config_new();
++  gpiod_line_config * line_config = gpiod_line_config_new();
++  gpiod_line_settings * line_settings = gpiod_line_settings_new();
++
++  if (request_config == nullptr || line_config == nullptr || line_settings == nullptr) {
++    gpiod_request_config_free(request_config);
++    gpiod_line_config_free(line_config);
++    gpiod_line_settings_free(line_settings);
++    std::cerr << "Failed to configure GPIO Line" << std::endl;
++    return;
++  }
++
++  if (direction != LINE_DIRECTION_INPUT && direction != LINE_DIRECTION_OUTPUT) {
++    gpiod_request_config_free(request_config);
++    gpiod_line_config_free(line_config);
++    gpiod_line_settings_free(line_settings);
++    std::cerr << "Invalid GPIO Line Direction" << std::endl;
++    return;
++  }
++
++  gpiod_request_config_set_consumer(request_config, "Turtlebot4");
++  gpiod_line_settings_set_direction(line_settings, static_cast<gpiod_line_direction>(direction));
++  if (direction == LINE_DIRECTION_OUTPUT) {
++    gpiod_line_settings_set_output_value(line_settings, GPIOD_LINE_VALUE_INACTIVE);
++  }
++  gpiod_line_config_add_line_settings(line_config, &offset, 1, line_settings);
++
++  gpiod_line_request * gpio_line = gpiod_chip_request_lines(chip_, request_config, line_config);
++
++  gpiod_request_config_free(request_config);
++  gpiod_line_config_free(line_config);
++  gpiod_line_settings_free(line_settings);
++
++  if (gpio_line != nullptr) {
++    lines_.insert(std::pair<uint8_t, gpiod_line_request *>(line, gpio_line));
++  } else {
++    std::cerr << "Invalid GPIO Line" << std::endl;
++  }
++#else
+   gpiod_line * gpio_line = gpiod_chip_get_line(chip_, line);
+
+   if (gpio_line != nullptr) {
+@@ -86,6 +140,7 @@ void GpioInterface::add_line(uint8_t line, GpioInterfaceLineDirection direction)
+   } else {
+     std::cerr << "Invalid GPIO Line Direction" << std::endl;
+   }
++#endif
+ }
+
+ /**
+@@ -93,7 +148,14 @@ void GpioInterface::add_line(uint8_t line, GpioInterfaceLineDirection direction)
+  */
+ void GpioInterface::write(uint8_t line, uint8_t value)
+ {
++#ifdef TURTLEBOT4_BASE_GPIOD_V2
++  gpiod_line_request_set_value(
++    lines_[line],
++    line,
++    value ? GPIOD_LINE_VALUE_ACTIVE : GPIOD_LINE_VALUE_INACTIVE);
++#else
+   gpiod_line_set_value(lines_[line], value);
++#endif
+ }
+
+ /**
+@@ -101,5 +163,9 @@ void GpioInterface::write(uint8_t line, uint8_t value)
+  */
+ uint8_t GpioInterface::read(uint8_t line)
+ {
++#ifdef TURTLEBOT4_BASE_GPIOD_V2
++  return static_cast<uint8_t>(gpiod_line_request_get_value(lines_[line], line));
++#else
+   return gpiod_line_get_value(lines_[line]);
++#endif
+ }
+
+-- 
+2.54.0