From e1032e406e76252af52c70ec07fb8e2898a2ecca Mon Sep 17 00:00:00 2001
From: Alvin Sun <alvinsunyixiao@gmail.com>
Date: Thu, 10 Aug 2023 16:34:18 -0700
Subject: [PATCH 1/5] add slam toolbox

---
 patch/dependencies.yaml  | 2 ++
 vinca_linux_64.yaml      | 6 +++---
 vinca_linux_aarch64.yaml | 2 +-
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index 1b2ebe5b..ea21ffbf 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -150,3 +150,5 @@ ros_image_to_qimage:
   add_host: ["REQUIRE_OPENGL"]
 rqt_image_overlay:
   add_host: ["REQUIRE_OPENGL"]
+slam_toolbox:
+  add_host: ["REQUIRE_OPENGL"]
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index eab76bed..6837fbc2 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -121,13 +121,13 @@ packages_select_by_deps:
   # - camera-calibration
   # - camera-calibration-parsers
   # - camera-info-manager
-  # - slam-toolbox
+  - slam-toolbox
 
   # - foxglove_bridge
   # - ament-cmake-nose
   # - geographic_info
   # - geodesy
-  
+
   - rosbridge_suite
 
 
@@ -138,7 +138,7 @@ packages_select_by_deps:
 
   # - plotjuggler
   # - plotjuggler_ros
-  
+
   # - zmqpp_vendor
 
   # - fogros2
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index 9300da80..94d3ed4d 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -322,7 +322,7 @@ packages_select_by_deps:
   # - self-test
   # - sensor-msgs-py
   # - serial-driver
-  # - slam-toolbox
+  - slam-toolbox
   # - soccer-vision-msgs
   # - stereo-image-proc
   # - stubborn-buddies

From 30243d42f737a886157307a3e85fd48121df9238 Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Fri, 11 Aug 2023 13:31:17 +1000
Subject: [PATCH 2/5] Delete ros-humble-slam-toolbox.patch

---
 patch/ros-humble-slam-toolbox.patch | 12 ------------
 1 file changed, 12 deletions(-)
 delete mode 100644 patch/ros-humble-slam-toolbox.patch

diff --git a/patch/ros-humble-slam-toolbox.patch b/patch/ros-humble-slam-toolbox.patch
deleted file mode 100644
index a8406abd..00000000
--- a/patch/ros-humble-slam-toolbox.patch
+++ /dev/null
@@ -1,12 +0,0 @@
-diff --git a/lib/karto_sdk/include/karto_sdk/Karto.h b/lib/karto_sdk/include/karto_sdk/Karto.h
-index c03f6757..85d1345c 100644
---- a/lib/karto_sdk/include/karto_sdk/Karto.h
-+++ b/lib/karto_sdk/include/karto_sdk/Karto.h
-@@ -50,6 +50,7 @@
- #include <sstream>
- #include <stdexcept>
- #include <shared_mutex>
-+#include <mutex>
- 
- #ifdef USE_POCO
- #include <Poco/Mutex.h>

From b77cd980da6722650d3b60dc353d5d8444c031c7 Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Fri, 11 Aug 2023 13:57:25 +1000
Subject: [PATCH 3/5] Update dependencies.yaml

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

diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index ea21ffbf..8e426801 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -151,4 +151,5 @@ ros_image_to_qimage:
 rqt_image_overlay:
   add_host: ["REQUIRE_OPENGL"]
 slam_toolbox:
+  add_build: [{sel(build_platform != target_platform): qt-main}]
   add_host: ["REQUIRE_OPENGL"]

From d0d220333d2714a1be964a5aeed1715bd9784a7b Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Fri, 11 Aug 2023 21:15:21 +1000
Subject: [PATCH 4/5] Undo change

---
 vinca_linux_64.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index 6837fbc2..a3bff3b2 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -121,7 +121,7 @@ packages_select_by_deps:
   # - camera-calibration
   # - camera-calibration-parsers
   # - camera-info-manager
-  - slam-toolbox
+  # - slam-toolbox
 
   # - foxglove_bridge
   # - ament-cmake-nose

From 3ccae60fe604a3224bdb613a87185843abdcb188 Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Fri, 11 Aug 2023 21:16:05 +1000
Subject: [PATCH 5/5] Formatting

---
 vinca_linux_aarch64.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index 94d3ed4d..d0cb30c0 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -64,6 +64,8 @@ packages_select_by_deps:
   - robot_localization
 
   - rosbridge_suite
+  - vision-msgs
+  - slam-toolbox
 
   # - rviz2
   # - behaviortree_cpp_v3
@@ -156,7 +158,6 @@ packages_select_by_deps:
   # - ros-ign-image
   # - ros-ign-interfaces
   # - soccer-marker-generation
-  - vision-msgs
   # - plotjuggler-ros
   # - plotjuggler
   # - acado-vendor
@@ -322,7 +323,6 @@ packages_select_by_deps:
   # - self-test
   # - sensor-msgs-py
   # - serial-driver
-  - slam-toolbox
   # - soccer-vision-msgs
   # - stereo-image-proc
   # - stubborn-buddies