From dce7bb8458d7f822e170acbc6cabea36ab2abec2 Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@openrobotics.org>
Date: Mon, 25 Mar 2024 13:57:03 +0800
Subject: [PATCH 01/10] Patch cargo toolchain for noble

Signed-off-by: Yadunund <yadunund@openrobotics.org>
---
 zenoh_c_vendor/CMakeLists.txt                |  1 +
 zenoh_c_vendor/package.xml                   |  3 +-
 zenoh_c_vendor/patches/cargo_toolchain.patch | 56 ++++++++++++++++++++
 3 files changed, 59 insertions(+), 1 deletion(-)
 create mode 100644 zenoh_c_vendor/patches/cargo_toolchain.patch

diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 73246032..032412bf 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -31,6 +31,7 @@ ament_vendor(zenoh_c_vendor
   VCS_VERSION 10176b911096cb92b8ee46bc491b78079ee26c20
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
+  PATCHES patches
 )
 
 # set(INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-prefix/install")
diff --git a/zenoh_c_vendor/package.xml b/zenoh_c_vendor/package.xml
index 6515c1e9..3848c24a 100644
--- a/zenoh_c_vendor/package.xml
+++ b/zenoh_c_vendor/package.xml
@@ -12,7 +12,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
 
-  <!-- <build_depend>cargo</build_depend> -->
+  <!-- TODO(Yadunund) switch condition such that it checks if $ROS_DISTRO[0] > 'i' -->
+  <build_depend condition="$ROS_DISTRO == rolling">cargo</build_depend>
   <build_depend>clang</build_depend>
 
   <export>
diff --git a/zenoh_c_vendor/patches/cargo_toolchain.patch b/zenoh_c_vendor/patches/cargo_toolchain.patch
new file mode 100644
index 00000000..c5a399d8
--- /dev/null
+++ b/zenoh_c_vendor/patches/cargo_toolchain.patch
@@ -0,0 +1,56 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 00aa5ca..eacd7d6 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -27,7 +27,6 @@ declare_cache_var_true_if_vscode(ZENOHC_BUILD_IN_SOURCE_TREE "Do build inside so
+ declare_cache_var(ZENOHC_BUILD_WITH_LOGGER_AUTOINIT TRUE BOOL "Enable logger-autoinit zenoh-c feature")
+ declare_cache_var(ZENOHC_BUILD_WITH_SHARED_MEMORY TRUE BOOL "Enable shared-memory zenoh-c feature")
+ declare_cache_var(ZENOHC_CUSTOM_TARGET "" STRING "Rust target for cross compilation, 'aarch64-unknown-linux-gnu' for example")
+-declare_cache_var(ZENOHC_CARGO_CHANNEL "stable" STRING "Cargo channel selected: stable or nightly")
+ declare_cache_var(ZENOHC_CARGO_FLAGS "" STRING "Additional cargo flags")
+ declare_cache_var(ZENOHC_LIB_STATIC FALSE BOOL "Alias zenohc::lib target to zenohc::static if TRUE, to zenohc::shared if FALSE")
+ 
+@@ -47,9 +46,9 @@ status_print(project_version)
+ #
+ # There are 3 possible variants of placement generated Cargo.toml files:
+ # 1. Build in source tree (in IDE usually), using single config generator (Ninja, Makefiles)
+-#    
++#
+ #    In this case Cargo.toml is placed at the root of source tree to make it visible for rust-analyzer. When release or debug
+-#    configuration is selected, Cargo.toml is updated accordingly 
++#    configuration is selected, Cargo.toml is updated accordingly
+ #
+ # 2. Build in source tree (in IDE usually), using multi config generator (Visual Studio, Ninja Multi-Config)
+ #
+@@ -112,7 +111,7 @@ function(configure_cargo_toml cargo_toml_dir CARGO_PROJECT_VERSION CARGO_LIB_NAM
+ 			${CMAKE_CURRENT_SOURCE_DIR}/Cargo.lock
+ 			${CMAKE_CURRENT_SOURCE_DIR}/rust-toolchain.toml
+ 			DESTINATION ${cargo_toml_dir})
+-	endif()	
++	endif()
+ 	configure_file("${CMAKE_CURRENT_SOURCE_DIR}/Cargo.toml.in" "${cargo_toml_dir}/Cargo.toml" @ONLY)
+ endfunction()
+ 
+@@ -173,9 +172,9 @@ set_genexpr_condition(libs DEBUG $<CONFIG:Debug> "${libsd}" "${libsr}")
+ #
+ 
+ # Combine "--release" and "--manifest-path" options under DEBUG condition to avoid passing empty parameter to cargo command line in `add_custom_command`, causing build failure
+-# This empty item ($<IF:$<CONFIG:Debug>;,--release>) can't be filtered out by `list(FILTER ...)` because it becomes empty only on 
++# This empty item ($<IF:$<CONFIG:Debug>;,--release>) can't be filtered out by `list(FILTER ...)` because it becomes empty only on
+ # build stage when generator expressions are evaluated.
+-set_genexpr_condition(cargo_flags DEBUG $<CONFIG:Debug> 
++set_genexpr_condition(cargo_flags DEBUG $<CONFIG:Debug>
+ 	"--manifest-path=${cargo_toml_dir_debug}/Cargo.toml"
+ 	"--release;--manifest-path=${cargo_toml_dir_release}/Cargo.toml")
+ set(cargo_flags ${cargo_flags} ${ZENOHC_CARGO_FLAGS})
+@@ -198,8 +197,8 @@ file(GLOB_RECURSE rust_sources "Cargo.toml.in" "src/*.rs" "build.rs" "splitguide
+ add_custom_command(
+ 	OUTPUT ${libs}
+ 	COMMAND ${CMAKE_COMMAND} -E echo \"RUSTFLAGS = $$RUSTFLAGS\"
+-	COMMAND ${CMAKE_COMMAND} -E echo \"cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}\"
+-	COMMAND cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}
++	COMMAND ${CMAKE_COMMAND} -E echo \"cargo build ${cargo_flags}\"
++	COMMAND cargo build ${cargo_flags}
+ 	VERBATIM
+ 	COMMAND_EXPAND_LISTS
+ 	DEPENDS "${rust_sources}"

From b421813fb438b4ec5f25c7ec03e0f694f613c822 Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@openrobotics.org>
Date: Mon, 25 Mar 2024 16:14:22 +0800
Subject: [PATCH 02/10] Add tmp build for noble job

Signed-off-by: Yadunund <yadunund@openrobotics.org>
---
 .github/workflows/build.yaml           |  2 +-
 .github/workflows/tmp_build_noble.yaml | 36 ++++++++++++++++++++++++++
 zenoh_c_vendor/CMakeLists.txt          |  8 ++++++
 3 files changed, 45 insertions(+), 1 deletion(-)
 create mode 100644 .github/workflows/tmp_build_noble.yaml

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 07c90a86..2ca84342 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        docker_image: ['ros:iron-ros-base', 'ros:rolling-ros-base']
+        docker_image: ['ros:iron-ros-base']
     container:
       image: ${{ matrix.docker_image }}
     timeout-minutes: 30
diff --git a/.github/workflows/tmp_build_noble.yaml b/.github/workflows/tmp_build_noble.yaml
new file mode 100644
index 00000000..17d9fe2e
--- /dev/null
+++ b/.github/workflows/tmp_build_noble.yaml
@@ -0,0 +1,36 @@
+name: build_noble
+on:
+  pull_request:
+  push:
+    branches: [ rolling ]
+  workflow_dispatch:
+defaults:
+  run:
+    shell: bash
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        docker_image: ['ubuntu:noble-20240225']
+    container:
+      image: ${{ matrix.docker_image }}
+    timeout-minutes: 30
+    steps:
+    - name: Setup rolling
+      run: |
+        apt update && apt install curl -y
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+        apt update && apt install ros-dev-tools -y
+        apt install ros-rolling-ros-base -y
+    - uses: actions/checkout@v2
+    - name: rosdep
+      run: |
+        rosdep init
+        rosdep update
+        rosdep install --from-paths . --rosdistro rolling -yir
+    - name: build
+      run: |
+        source /opt/ros/rolling/setup.bash
+        colcon build
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 032412bf..5de23078 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -24,6 +24,14 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # when expanded.
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_tcp zenoh/shared-memory")
 
+# Apply the patch the zenoh-c CMakeLists.txt only if building an ROS 2 version
+# newer than Iron.
+set(pathces "")
+string(SUBSTRING "$ENV{ROS_DISTRO}" 0 1 first_char)
+if("${first_char}" STRGREATER "i")
+  set(patches "patches")
+endif()
+
 # Set VCS_VERSION to include changes from https://github.com/eclipse-zenoh/zenoh/pull/802
 # which was synced to zenoh-c in https://github.com/eclipse-zenoh/zenoh-c/pull/272.
 ament_vendor(zenoh_c_vendor

From 0f568c8cfb8e7cfee9d30a85cb44dd557cabfcf0 Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@openrobotics.org>
Date: Mon, 25 Mar 2024 16:29:38 +0800
Subject: [PATCH 03/10] Try to fix iron

Signed-off-by: Yadunund <yadunund@openrobotics.org>
---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 2ca84342..d57d1c5d 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -21,7 +21,7 @@ jobs:
       run: |
         apt update && apt install -y curl
     - name: Setup Rust
-      uses: dtolnay/rust-toolchain@stable
+      uses: dtolnay/rust-toolchain@1.75.0
     - uses: actions/checkout@v2
     - name: rosdep
       run: |

From af9140248e610ef30175ef067a9c63e9bc2254d8 Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@openrobotics.org>
Date: Mon, 25 Mar 2024 17:19:26 +0800
Subject: [PATCH 04/10] Patch even for iron builds

Signed-off-by: Yadunund <yadunund@openrobotics.org>
---
 zenoh_c_vendor/CMakeLists.txt | 9 ---------
 1 file changed, 9 deletions(-)

diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 5de23078..59493e62 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -23,15 +23,6 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # latter is a list separater in cmake and hence the string will be split into two
 # when expanded.
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_tcp zenoh/shared-memory")
-
-# Apply the patch the zenoh-c CMakeLists.txt only if building an ROS 2 version
-# newer than Iron.
-set(pathces "")
-string(SUBSTRING "$ENV{ROS_DISTRO}" 0 1 first_char)
-if("${first_char}" STRGREATER "i")
-  set(patches "patches")
-endif()
-
 # Set VCS_VERSION to include changes from https://github.com/eclipse-zenoh/zenoh/pull/802
 # which was synced to zenoh-c in https://github.com/eclipse-zenoh/zenoh-c/pull/272.
 ament_vendor(zenoh_c_vendor

From 3edb8e6e8bc949ae448fc90c0c2003326ee853f0 Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@openrobotics.org>
Date: Tue, 26 Mar 2024 20:54:04 +0800
Subject: [PATCH 05/10] Force build with 1.75.0 on jammy

Signed-off-by: Yadunund <yadunund@openrobotics.org>
---
 .github/workflows/build.yaml  |  3 ++-
 .github/workflows/style.yaml  |  1 +
 README.md                     |  6 ++++--
 zenoh_c_vendor/CMakeLists.txt | 16 ++++++++++++++++
 4 files changed, 23 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index d57d1c5d..7dd4881f 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -11,8 +11,9 @@ jobs:
   test:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
-        docker_image: ['ros:iron-ros-base']
+        docker_image: ['ros:iron-ros-base', 'ros:rolling-ros-base']
     container:
       image: ${{ matrix.docker_image }}
     timeout-minutes: 30
diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml
index 5c3a7160..04f818b1 100644
--- a/.github/workflows/style.yaml
+++ b/.github/workflows/style.yaml
@@ -10,6 +10,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
         docker_image: ['ros:iron-ros-base', 'ros:rolling-ros-base']
     container:
diff --git a/README.md b/README.md
index 1d831c3c..278ebc26 100644
--- a/README.md
+++ b/README.md
@@ -15,10 +15,12 @@ For information about the Design please visit [design](docs/design.md) page.
 
 ## Setup
 
-Install latest rustc.
-> Note: The version of rustc that can be installed via apt is outdated.
+Install latest rustc via `rustup` if building on Ubuntu Jammy.
+Skip this step if building on Ubuntu Noble as `cargo` and `rustc` will be
+installed via `rosdep`.
 ```bash
 curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
+rustup install 1.75.0
 ```
 
 Build `rmw_zenoh_cpp`
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 59493e62..8e013f6e 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -23,6 +23,21 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # latter is a list separater in cmake and hence the string will be split into two
 # when expanded.
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_tcp zenoh/shared-memory")
+
+# Always force rustc 1.75.0.
+# This this is default version of rustc available via apt in Ubuntu Noble.
+# We explictly use the +1.75.0 toolchain when building on Ubuntu Jammy.
+set(ZENOHC_CARGO_CHANNEL "1.75.0")
+
+# Apply the patch the zenoh-c CMakeLists.txt only if building an ROS 2 version
+# newer than Iron. The patch removes the ability to set ZENOHC_CARGO_CHANNEL
+# via cmake args
+set(pathces "")
+string(SUBSTRING "$ENV{ROS_DISTRO}" 0 1 first_char)
+if("${first_char}" STRGREATER "i")
+  set(patches "patches")
+endif()
+
 # Set VCS_VERSION to include changes from https://github.com/eclipse-zenoh/zenoh/pull/802
 # which was synced to zenoh-c in https://github.com/eclipse-zenoh/zenoh-c/pull/272.
 ament_vendor(zenoh_c_vendor
@@ -30,6 +45,7 @@ ament_vendor(zenoh_c_vendor
   VCS_VERSION 10176b911096cb92b8ee46bc491b78079ee26c20
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
+    "-DZENOHC_CARGO_CHANNEL=${ZENOHC_CARGO_CHANNEL}"
   PATCHES patches
 )
 

From 783803af78e4705e2d0dc283e05d55c3f811cd1a Mon Sep 17 00:00:00 2001
From: Yadu <yadunund@openrobotics.org>
Date: Tue, 26 Mar 2024 21:31:52 +0800
Subject: [PATCH 06/10] Update zenoh_c_vendor/CMakeLists.txt

Co-authored-by: Chris Lalancette <clalancette@gmail.com>
Signed-off-by: Yadu <yadunund@gmail.com>
---
 zenoh_c_vendor/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 8e013f6e..afc55f71 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -25,7 +25,7 @@ find_package(ament_cmake_vendor_package REQUIRED)
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_tcp zenoh/shared-memory")
 
 # Always force rustc 1.75.0.
-# This this is default version of rustc available via apt in Ubuntu Noble.
+# This is the default version of rustc available via apt in Ubuntu Noble.
 # We explictly use the +1.75.0 toolchain when building on Ubuntu Jammy.
 set(ZENOHC_CARGO_CHANNEL "1.75.0")
 

From a48a0e50b0d7c057b512a25d19f2497e194bef59 Mon Sep 17 00:00:00 2001
From: Yadu <yadunund@openrobotics.org>
Date: Tue, 26 Mar 2024 21:31:59 +0800
Subject: [PATCH 07/10] Update zenoh_c_vendor/CMakeLists.txt

Co-authored-by: Chris Lalancette <clalancette@gmail.com>
Signed-off-by: Yadu <yadunund@gmail.com>
---
 zenoh_c_vendor/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index afc55f71..71a33066 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -29,7 +29,7 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transp
 # We explictly use the +1.75.0 toolchain when building on Ubuntu Jammy.
 set(ZENOHC_CARGO_CHANNEL "1.75.0")
 
-# Apply the patch the zenoh-c CMakeLists.txt only if building an ROS 2 version
+# Apply the patch to the zenoh-c CMakeLists.txt only if building an ROS 2 version
 # newer than Iron. The patch removes the ability to set ZENOHC_CARGO_CHANNEL
 # via cmake args
 set(pathces "")

From 5b98e67c0458a8f485c2624981bbeac76e1bd3c0 Mon Sep 17 00:00:00 2001
From: Yadu <yadunund@openrobotics.org>
Date: Tue, 26 Mar 2024 21:32:13 +0800
Subject: [PATCH 08/10] Update zenoh_c_vendor/CMakeLists.txt

Co-authored-by: Chris Lalancette <clalancette@gmail.com>
Signed-off-by: Yadu <yadunund@gmail.com>
---
 zenoh_c_vendor/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 71a33066..114be3ee 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -32,7 +32,7 @@ set(ZENOHC_CARGO_CHANNEL "1.75.0")
 # Apply the patch to the zenoh-c CMakeLists.txt only if building an ROS 2 version
 # newer than Iron. The patch removes the ability to set ZENOHC_CARGO_CHANNEL
 # via cmake args
-set(pathces "")
+set(patches "")
 string(SUBSTRING "$ENV{ROS_DISTRO}" 0 1 first_char)
 if("${first_char}" STRGREATER "i")
   set(patches "patches")

From f2be32cd82bbc2762688d756023dfade6a1aed89 Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@openrobotics.org>
Date: Tue, 26 Mar 2024 22:30:54 +0800
Subject: [PATCH 09/10] Patch zenoh-c based on cargo toolchain availability

Signed-off-by: Yadunund <yadunund@openrobotics.org>
---
 zenoh_c_vendor/CMakeLists.txt | 28 +++++++++++++++++-----------
 zenoh_c_vendor/package.xml    |  3 +--
 2 files changed, 18 insertions(+), 13 deletions(-)

diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 114be3ee..8d238a37 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -24,18 +24,24 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # when expanded.
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_tcp zenoh/shared-memory")
 
-# Always force rustc 1.75.0.
-# This is the default version of rustc available via apt in Ubuntu Noble.
-# We explictly use the +1.75.0 toolchain when building on Ubuntu Jammy.
-set(ZENOHC_CARGO_CHANNEL "1.75.0")
-
-# Apply the patch to the zenoh-c CMakeLists.txt only if building an ROS 2 version
-# newer than Iron. The patch removes the ability to set ZENOHC_CARGO_CHANNEL
-# via cmake args
+# Depending on how cargo is installed, the +stable toolchain may be unavailable.
+# In such cases we patch zenoh-c to not set ZENOHC_CARGO_CHANNEL to +stable.
 set(patches "")
-string(SUBSTRING "$ENV{ROS_DISTRO}" 0 1 first_char)
-if("${first_char}" STRGREATER "i")
+set(toolchain_error "")
+set(CARGO_CMD "cargo")
+set(CARGO_ARG "+stable")
+execute_process(
+  COMMAND ${CARGO_CMD} ${CARGO_ARG}
+  ERROR_VARIABLE toolchain_error
+)
+if(NOT "${toolchain_error}" STREQUAL "")
+  # The stable toolchain is unavailable and hence we patch zenoh-c.
   set(patches "patches")
+else()
+  # Always force rustc 1.75.0.
+  # This is the default version of rustc available via apt in Ubuntu Noble.
+  # We explictly use the +1.75.0 toolchain when building on Ubuntu Jammy.
+  set(ZENOHC_CARGO_CHANNEL "-DZENOHC_CARGO_CHANNEL=1.75.0")
 endif()
 
 # Set VCS_VERSION to include changes from https://github.com/eclipse-zenoh/zenoh/pull/802
@@ -45,7 +51,7 @@ ament_vendor(zenoh_c_vendor
   VCS_VERSION 10176b911096cb92b8ee46bc491b78079ee26c20
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
-    "-DZENOHC_CARGO_CHANNEL=${ZENOHC_CARGO_CHANNEL}"
+    "${ZENOHC_CARGO_CHANNEL}"
   PATCHES patches
 )
 
diff --git a/zenoh_c_vendor/package.xml b/zenoh_c_vendor/package.xml
index 3848c24a..55c17616 100644
--- a/zenoh_c_vendor/package.xml
+++ b/zenoh_c_vendor/package.xml
@@ -12,8 +12,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
 
-  <!-- TODO(Yadunund) switch condition such that it checks if $ROS_DISTRO[0] > 'i' -->
-  <build_depend condition="$ROS_DISTRO == rolling">cargo</build_depend>
+  <build_depend>cargo</build_depend>
   <build_depend>clang</build_depend>
 
   <export>

From 3f8474879d2ccfca6cb0dfaf05679e47ae25999f Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@openrobotics.org>
Date: Sun, 31 Mar 2024 17:56:36 +0800
Subject: [PATCH 10/10] Make patch from zenoh-c PR #301

Signed-off-by: Yadunund <yadunund@openrobotics.org>
---
 zenoh_c_vendor/CMakeLists.txt                | 23 +-------
 zenoh_c_vendor/patches/cargo_toolchain.patch | 56 --------------------
 zenoh_c_vendor/patches/pr_301.patch          | 24 +++++++++
 3 files changed, 26 insertions(+), 77 deletions(-)
 delete mode 100644 zenoh_c_vendor/patches/cargo_toolchain.patch
 create mode 100644 zenoh_c_vendor/patches/pr_301.patch

diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 8d238a37..da56c50a 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -24,34 +24,15 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # when expanded.
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_tcp zenoh/shared-memory")
 
-# Depending on how cargo is installed, the +stable toolchain may be unavailable.
-# In such cases we patch zenoh-c to not set ZENOHC_CARGO_CHANNEL to +stable.
-set(patches "")
-set(toolchain_error "")
-set(CARGO_CMD "cargo")
-set(CARGO_ARG "+stable")
-execute_process(
-  COMMAND ${CARGO_CMD} ${CARGO_ARG}
-  ERROR_VARIABLE toolchain_error
-)
-if(NOT "${toolchain_error}" STREQUAL "")
-  # The stable toolchain is unavailable and hence we patch zenoh-c.
-  set(patches "patches")
-else()
-  # Always force rustc 1.75.0.
-  # This is the default version of rustc available via apt in Ubuntu Noble.
-  # We explictly use the +1.75.0 toolchain when building on Ubuntu Jammy.
-  set(ZENOHC_CARGO_CHANNEL "-DZENOHC_CARGO_CHANNEL=1.75.0")
-endif()
-
 # Set VCS_VERSION to include changes from https://github.com/eclipse-zenoh/zenoh/pull/802
 # which was synced to zenoh-c in https://github.com/eclipse-zenoh/zenoh-c/pull/272.
+# Apply patches:
+# - https://github.com/eclipse-zenoh/zenoh-c/pull/301
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
   VCS_VERSION 10176b911096cb92b8ee46bc491b78079ee26c20
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
-    "${ZENOHC_CARGO_CHANNEL}"
   PATCHES patches
 )
 
diff --git a/zenoh_c_vendor/patches/cargo_toolchain.patch b/zenoh_c_vendor/patches/cargo_toolchain.patch
deleted file mode 100644
index c5a399d8..00000000
--- a/zenoh_c_vendor/patches/cargo_toolchain.patch
+++ /dev/null
@@ -1,56 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 00aa5ca..eacd7d6 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -27,7 +27,6 @@ declare_cache_var_true_if_vscode(ZENOHC_BUILD_IN_SOURCE_TREE "Do build inside so
- declare_cache_var(ZENOHC_BUILD_WITH_LOGGER_AUTOINIT TRUE BOOL "Enable logger-autoinit zenoh-c feature")
- declare_cache_var(ZENOHC_BUILD_WITH_SHARED_MEMORY TRUE BOOL "Enable shared-memory zenoh-c feature")
- declare_cache_var(ZENOHC_CUSTOM_TARGET "" STRING "Rust target for cross compilation, 'aarch64-unknown-linux-gnu' for example")
--declare_cache_var(ZENOHC_CARGO_CHANNEL "stable" STRING "Cargo channel selected: stable or nightly")
- declare_cache_var(ZENOHC_CARGO_FLAGS "" STRING "Additional cargo flags")
- declare_cache_var(ZENOHC_LIB_STATIC FALSE BOOL "Alias zenohc::lib target to zenohc::static if TRUE, to zenohc::shared if FALSE")
- 
-@@ -47,9 +46,9 @@ status_print(project_version)
- #
- # There are 3 possible variants of placement generated Cargo.toml files:
- # 1. Build in source tree (in IDE usually), using single config generator (Ninja, Makefiles)
--#    
-+#
- #    In this case Cargo.toml is placed at the root of source tree to make it visible for rust-analyzer. When release or debug
--#    configuration is selected, Cargo.toml is updated accordingly 
-+#    configuration is selected, Cargo.toml is updated accordingly
- #
- # 2. Build in source tree (in IDE usually), using multi config generator (Visual Studio, Ninja Multi-Config)
- #
-@@ -112,7 +111,7 @@ function(configure_cargo_toml cargo_toml_dir CARGO_PROJECT_VERSION CARGO_LIB_NAM
- 			${CMAKE_CURRENT_SOURCE_DIR}/Cargo.lock
- 			${CMAKE_CURRENT_SOURCE_DIR}/rust-toolchain.toml
- 			DESTINATION ${cargo_toml_dir})
--	endif()	
-+	endif()
- 	configure_file("${CMAKE_CURRENT_SOURCE_DIR}/Cargo.toml.in" "${cargo_toml_dir}/Cargo.toml" @ONLY)
- endfunction()
- 
-@@ -173,9 +172,9 @@ set_genexpr_condition(libs DEBUG $<CONFIG:Debug> "${libsd}" "${libsr}")
- #
- 
- # Combine "--release" and "--manifest-path" options under DEBUG condition to avoid passing empty parameter to cargo command line in `add_custom_command`, causing build failure
--# This empty item ($<IF:$<CONFIG:Debug>;,--release>) can't be filtered out by `list(FILTER ...)` because it becomes empty only on 
-+# This empty item ($<IF:$<CONFIG:Debug>;,--release>) can't be filtered out by `list(FILTER ...)` because it becomes empty only on
- # build stage when generator expressions are evaluated.
--set_genexpr_condition(cargo_flags DEBUG $<CONFIG:Debug> 
-+set_genexpr_condition(cargo_flags DEBUG $<CONFIG:Debug>
- 	"--manifest-path=${cargo_toml_dir_debug}/Cargo.toml"
- 	"--release;--manifest-path=${cargo_toml_dir_release}/Cargo.toml")
- set(cargo_flags ${cargo_flags} ${ZENOHC_CARGO_FLAGS})
-@@ -198,8 +197,8 @@ file(GLOB_RECURSE rust_sources "Cargo.toml.in" "src/*.rs" "build.rs" "splitguide
- add_custom_command(
- 	OUTPUT ${libs}
- 	COMMAND ${CMAKE_COMMAND} -E echo \"RUSTFLAGS = $$RUSTFLAGS\"
--	COMMAND ${CMAKE_COMMAND} -E echo \"cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}\"
--	COMMAND cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}
-+	COMMAND ${CMAKE_COMMAND} -E echo \"cargo build ${cargo_flags}\"
-+	COMMAND cargo build ${cargo_flags}
- 	VERBATIM
- 	COMMAND_EXPAND_LISTS
- 	DEPENDS "${rust_sources}"
diff --git a/zenoh_c_vendor/patches/pr_301.patch b/zenoh_c_vendor/patches/pr_301.patch
new file mode 100644
index 00000000..68008fd9
--- /dev/null
+++ b/zenoh_c_vendor/patches/pr_301.patch
@@ -0,0 +1,24 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 00aa5ca..d236e99 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -27,7 +27,7 @@ declare_cache_var_true_if_vscode(ZENOHC_BUILD_IN_SOURCE_TREE "Do build inside so
+ declare_cache_var(ZENOHC_BUILD_WITH_LOGGER_AUTOINIT TRUE BOOL "Enable logger-autoinit zenoh-c feature")
+ declare_cache_var(ZENOHC_BUILD_WITH_SHARED_MEMORY TRUE BOOL "Enable shared-memory zenoh-c feature")
+ declare_cache_var(ZENOHC_CUSTOM_TARGET "" STRING "Rust target for cross compilation, 'aarch64-unknown-linux-gnu' for example")
+-declare_cache_var(ZENOHC_CARGO_CHANNEL "stable" STRING "Cargo channel selected: stable or nightly")
++declare_cache_var(ZENOHC_CARGO_CHANNEL "" STRING "Cargo channel parameter. Should be '+stable', '+nightly' or empty value")
+ declare_cache_var(ZENOHC_CARGO_FLAGS "" STRING "Additional cargo flags")
+ declare_cache_var(ZENOHC_LIB_STATIC FALSE BOOL "Alias zenohc::lib target to zenohc::static if TRUE, to zenohc::shared if FALSE")
+ 
+@@ -198,8 +198,8 @@ file(GLOB_RECURSE rust_sources "Cargo.toml.in" "src/*.rs" "build.rs" "splitguide
+ add_custom_command(
+ 	OUTPUT ${libs}
+ 	COMMAND ${CMAKE_COMMAND} -E echo \"RUSTFLAGS = $$RUSTFLAGS\"
+-	COMMAND ${CMAKE_COMMAND} -E echo \"cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}\"
+-	COMMAND cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}
++	COMMAND ${CMAKE_COMMAND} -E echo \"cargo ${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}\"
++	COMMAND cargo ${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}
+ 	VERBATIM
+ 	COMMAND_EXPAND_LISTS
+ 	DEPENDS "${rust_sources}"