diff options
| -rw-r--r-- | fix-gravityfactor-noisemodelfactorn-include.patch | 12 | ||||
| -rw-r--r-- | rtabmap.spec | 9 |
2 files changed, 20 insertions, 1 deletions
diff --git a/fix-gravityfactor-noisemodelfactorn-include.patch b/fix-gravityfactor-noisemodelfactorn-include.patch new file mode 100644 index 0000000..1c48ec0 --- /dev/null +++ b/fix-gravityfactor-noisemodelfactorn-include.patch @@ -0,0 +1,12 @@ +diff --git a/corelib/src/optimizer/gtsam/GravityFactor.h b/corelib/src/optimizer/gtsam/GravityFactor.h +index fb2b3ee..917b6e0 100644 +--- a/corelib/src/optimizer/gtsam/GravityFactor.h ++++ b/corelib/src/optimizer/gtsam/GravityFactor.h +@@ -25,6 +25,7 @@ + #pragma once + + #include <gtsam/nonlinear/NonlinearFactor.h> ++#include <gtsam/nonlinear/NoiseModelFactorN.h> + #include <gtsam/geometry/Pose3.h> + #include <gtsam/geometry/Unit3.h> + diff --git a/rtabmap.spec b/rtabmap.spec index 3b25100..868d00a 100644 --- a/rtabmap.spec +++ b/rtabmap.spec @@ -11,7 +11,7 @@ Name: ros-%{ros_distro}-%{RosPkgName} Version: 0.22.1 -Release: 3%{?dist}%{?release_suffix} +Release: 4%{?dist}%{?release_suffix} Summary: RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints. Url: http://introlab.github.io/rtabmap @@ -21,6 +21,7 @@ Source1: %{RosPkgName}-%{version}.tar.gz.ab Source2: %{RosPkgName}-%{version}.tar.gz.ac Patch0: add-suitesparse-include.patch Patch1: fix-gtsam42-vertigo-manifold-traits.patch +Patch2: fix-gravityfactor-noisemodelfactorn-include.patch Requires: ros-%{ros_distro}-cv-bridge @@ -133,6 +134,12 @@ else echo "RPM TESTS SKIPPED"; fi /opt/ros/%{ros_distro} %changelog +* Mon Apr 06 2026 openEuler ROS SIG <rosig@openeuler.sh> - 0.22.1-4 +- Add fix-gravityfactor-noisemodelfactorn-include.patch: add missing + #include <gtsam/nonlinear/NoiseModelFactorN.h> to GravityFactor.h, + required because GTSAM 4.2.0 moved NoiseModelFactor1 definition from + NonlinearFactor.h to NoiseModelFactorN.h as a compatibility #define + * Sun Apr 06 2026 openEuler ROS SIG <rosig@openeuler.sh> - 0.22.1-3 - Update fix-gtsam42-vertigo-manifold-traits.patch: also fix TangentVector (gtsam::Vector -> Eigen::Matrix<double,1,1>) and ChartJacobian |