From 0e1de325cdf97b91d6006b426f172b90efdd17d7 Mon Sep 17 00:00:00 2001
From: Nikola Jovicic <jovicicnikola@outlook.com>
Date: Thu, 23 Mar 2023 15:45:32 +0100
Subject: [PATCH] Ubuntu 22.04, ros humble fixes

---
 build.sh                                | 10 +++++-----
 cmake/cmake-modules/CommonSetup.cmake   |  2 +-
 ros2/src/airsim_ros_pkgs/CMakeLists.txt | 12 ++++++++++++
 ros2/src/airsim_ros_pkgs/package.xml    |  4 ++++
 setup.sh                                |  4 ++--
 5 files changed, 24 insertions(+), 8 deletions(-)

diff --git a/build.sh b/build.sh
index 8b45d64ba1..4dac1e7cea 100755
--- a/build.sh
+++ b/build.sh
@@ -64,11 +64,11 @@ if [ "$(uname)" == "Darwin" ]; then
     export CXX="$(brew --prefix)/opt/llvm/bin/clang++"
 else
     if $gcc; then
-        export CC="gcc-8"
-        export CXX="g++-8"
+        export CC="gcc-11"
+        export CXX="g++-11"
     else
-        export CC="clang-8"
-        export CXX="clang++-8"
+        export CC="clang-11"
+        export CXX="clang++-11"
     fi
 fi
 
@@ -117,7 +117,7 @@ pushd $build_dir  >/dev/null
 # final linking of the binaries can fail due to a missing libc++abi library
 # (happens on Fedora, see https://bugzilla.redhat.com/show_bug.cgi?id=1332306).
 # So we only build the libraries here for now
-make -j"$(nproc)"
+make -lc++fs -j"$(nproc)"
 popd >/dev/null
 
 mkdir -p AirLib/lib/x64/$folder_name
diff --git a/cmake/cmake-modules/CommonSetup.cmake b/cmake/cmake-modules/CommonSetup.cmake
index 11d0c9bcb2..e5c6cfbb3b 100644
--- a/cmake/cmake-modules/CommonSetup.cmake
+++ b/cmake/cmake-modules/CommonSetup.cmake
@@ -59,7 +59,7 @@ macro(CommonSetup)
             if (${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
                 set(CMAKE_CXX_FLAGS "-stdlib=libc++ -Wno-documentation -Wno-unknown-warning-option ${CMAKE_CXX_FLAGS}")
                 find_package(LLVM REQUIRED CONFIG)
-                set(CXX_EXP_LIB "-L${LLVM_LIBRARY_DIRS} -lc++fs -ferror-limit=10")
+                set(CXX_EXP_LIB "-L${LLVM_LIBRARY_DIRS} -ferror-limit=10")
             else()
                 set(CXX_EXP_LIB "-lstdc++fs -fmax-errors=10 -Wnoexcept -Wstrict-null-sentinel")
             endif ()
diff --git a/ros2/src/airsim_ros_pkgs/CMakeLists.txt b/ros2/src/airsim_ros_pkgs/CMakeLists.txt
index 6d961a430f..e4fee5265b 100644
--- a/ros2/src/airsim_ros_pkgs/CMakeLists.txt
+++ b/ros2/src/airsim_ros_pkgs/CMakeLists.txt
@@ -59,6 +59,9 @@ ament_target_dependencies(pd_position_controller_simple
   nav_msgs
   geometry_msgs
   airsim_interfaces
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
 )
 
 add_library(airsim_ros src/airsim_ros_wrapper.cpp)
@@ -72,6 +75,11 @@ ament_target_dependencies(airsim_ros
   tf2_ros
   cv_bridge
   airsim_interfaces
+  mavros_msgs
+  std_srvs
+  tf2_geometry_msgs
+  tf2_sensor_msgs
+  tf2
 )
 
 add_executable(airsim_node src/airsim_node.cpp)
@@ -86,6 +94,10 @@ target_link_libraries(pd_position_controller_simple_node
   pd_position_controller_simple airsim_ros AirLib)
 ament_target_dependencies(pd_position_controller_simple_node 
   rclcpp
+  mavros_msgs
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
 )
 
 # rosidl_target_interfaces(airsim_node
diff --git a/ros2/src/airsim_ros_pkgs/package.xml b/ros2/src/airsim_ros_pkgs/package.xml
index 74d1f44f20..4669e931c4 100644
--- a/ros2/src/airsim_ros_pkgs/package.xml
+++ b/ros2/src/airsim_ros_pkgs/package.xml
@@ -12,6 +12,10 @@
 
   <member_of_group>rosidl_interface_packages</member_of_group>
   
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_geometry_msgs</depend>
+
   <build_depend>geometry_msgs</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>message_runtime</build_depend>
diff --git a/setup.sh b/setup.sh
index c2818fb006..3efc768c45 100755
--- a/setup.sh
+++ b/setup.sh
@@ -50,7 +50,7 @@ else #linux
         software-properties-common \
         wget \
         libvulkan1 \
-        vulkan-utils
+        vulkan-tools
 
     #install clang and build tools
     VERSION=$(lsb_release -rs | cut -d. -f1)
@@ -60,7 +60,7 @@ else #linux
         wget -O - http://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
         sudo apt-get update
     fi
-    sudo apt-get install -y clang-8 clang++-8 libc++-8-dev libc++abi-8-dev
+    sudo apt-get install -y clang-11 clang++-11 libc++-11-dev libc++abi-11-dev
 fi
 
 if ! which cmake; then