add patch

Signed-off-by: wep21 <[email protected]>

Author: wep21

patch/ros-jazzy-cartographer-ros.patch

@@ -0,0 +1,82 @@
+diff --git a/include/cartographer_ros/map_builder_bridge.h b/include/cartographer_ros/map_builder_bridge.h
+index b2c00b7..bd91894 100644
+--- a/include/cartographer_ros/map_builder_bridge.h
++++ b/include/cartographer_ros/map_builder_bridge.h
+@@ -113,7 +113,7 @@ class MapBuilderBridge {
+   const NodeOptions node_options_;
+   std::unordered_map<int,
+                      std::shared_ptr<const LocalTrajectoryData::LocalSlamData>>
+-      local_slam_data_ GUARDED_BY(mutex_);
++      local_slam_data_ ABSL_GUARDED_BY(mutex_);
+   std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder_;
+   tf2_ros::Buffer* const tf_buffer_;
+ 
+diff --git a/include/cartographer_ros/metrics/internal/gauge.h b/include/cartographer_ros/metrics/internal/gauge.h
+index f311ab1..26d0caf 100644
+--- a/include/cartographer_ros/metrics/internal/gauge.h
++++ b/include/cartographer_ros/metrics/internal/gauge.h
+@@ -71,7 +71,7 @@ class Gauge : public ::cartographer::metrics::Gauge {
+ 
+   absl::Mutex mutex_;
+   const std::map<std::string, std::string> labels_;
+-  double value_ GUARDED_BY(mutex_);
++  double value_ ABSL_GUARDED_BY(mutex_);
+ };
+ 
+ }  // namespace metrics
+diff --git a/include/cartographer_ros/metrics/internal/histogram.h b/include/cartographer_ros/metrics/internal/histogram.h
+index b5d8404..e47f99b 100644
+--- a/include/cartographer_ros/metrics/internal/histogram.h
++++ b/include/cartographer_ros/metrics/internal/histogram.h
+@@ -50,8 +50,8 @@ class Histogram : public ::cartographer::metrics::Histogram {
+   absl::Mutex mutex_;
+   const std::map<std::string, std::string> labels_;
+   const BucketBoundaries bucket_boundaries_;
+-  std::vector<double> bucket_counts_ GUARDED_BY(mutex_);
+-  double sum_ GUARDED_BY(mutex_);
++  std::vector<double> bucket_counts_ ABSL_GUARDED_BY(mutex_);
++  double sum_ ABSL_GUARDED_BY(mutex_);
+ };
+ 
+ }  // namespace metrics
+diff --git a/include/cartographer_ros/node.h b/include/cartographer_ros/node.h
+index f3527ca..f9fb9fb 100644
+--- a/include/cartographer_ros/node.h
++++ b/include/cartographer_ros/node.h
+@@ -168,7 +168,7 @@ class Node {
+   bool ValidateTrajectoryOptions(const TrajectoryOptions& options);
+   bool ValidateTopicNames(const TrajectoryOptions& options);
+   cartographer_ros_msgs::msg::StatusResponse FinishTrajectoryUnderLock(
+-      int trajectory_id) EXCLUSIVE_LOCKS_REQUIRED(mutex_);
++      int trajectory_id) ABSL_EXCLUSIVE_LOCKS_REQUIRED(mutex_);
+   void MaybeWarnAboutTopicMismatch();
+ 
+   // Helper function for service handlers that need to check trajectory states.
+@@ -183,7 +183,7 @@ class Node {
+ 
+   absl::Mutex mutex_;
+   std::unique_ptr<cartographer_ros::metrics::FamilyFactory> metrics_registry_;
+-  std::shared_ptr<MapBuilderBridge> map_builder_bridge_ GUARDED_BY(mutex_);
++  std::shared_ptr<MapBuilderBridge> map_builder_bridge_ ABSL_GUARDED_BY(mutex_);
+ 
+   rclcpp::Node::SharedPtr node_;
+   ::rclcpp::Publisher<::cartographer_ros_msgs::msg::SubmapList>::SharedPtr submap_list_publisher_;
+diff --git a/src/occupancy_grid_node_main.cpp b/src/occupancy_grid_node_main.cpp
+index 282b890..6139979 100644
+--- a/src/occupancy_grid_node_main.cpp
++++ b/src/occupancy_grid_node_main.cpp
+@@ -74,10 +74,10 @@ class Node : public rclcpp::Node
+   absl::Mutex mutex_;
+   rclcpp::CallbackGroup::SharedPtr callback_group_;
+   rclcpp::executors::SingleThreadedExecutor::SharedPtr callback_group_executor_;
+-  ::rclcpp::Client<cartographer_ros_msgs::srv::SubmapQuery>::SharedPtr client_ GUARDED_BY(mutex_);
+-  ::rclcpp::Subscription<cartographer_ros_msgs::msg::SubmapList>::SharedPtr submap_list_subscriber_ GUARDED_BY(mutex_);
+-  ::rclcpp::Publisher<::nav_msgs::msg::OccupancyGrid>::SharedPtr occupancy_grid_publisher_ GUARDED_BY(mutex_);
+-  std::map<SubmapId, SubmapSlice> submap_slices_ GUARDED_BY(mutex_);
++  ::rclcpp::Client<cartographer_ros_msgs::srv::SubmapQuery>::SharedPtr client_ ABSL_GUARDED_BY(mutex_);
++  ::rclcpp::Subscription<cartographer_ros_msgs::msg::SubmapList>::SharedPtr submap_list_subscriber_ ABSL_GUARDED_BY(mutex_);
++  ::rclcpp::Publisher<::nav_msgs::msg::OccupancyGrid>::SharedPtr occupancy_grid_publisher_ ABSL_GUARDED_BY(mutex_);
++  std::map<SubmapId, SubmapSlice> submap_slices_ ABSL_GUARDED_BY(mutex_);
+   rclcpp::TimerBase::SharedPtr occupancy_grid_publisher_timer_;
+   std::string last_frame_id_;
+   rclcpp::Time last_timestamp_;