Cleanup handling of vendored dependencies

patch/dependencies.yaml

@@ -167,9 +167,9 @@ vision_msgs_rviz_plugins:
   add_host: ["REQUIRE_OPENGL"]
 velodyne_pointcloud:
   add_host: ["libboost-devel"]
-# TODO unvendor?!
 uncrustify_vendor:
-  add_build: ["vcstool"]
+  add_host: ["uncrustify"]
+  add_run: ["uncrustify"]
 mimick_vendor:
   add_build: ["vcstool"]
 gz_cmake_vendor:
@@ -252,9 +252,15 @@ rclpy:
   add_run: ["typing_extensions"]
 image_tools:
   # Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/image_tools/src/showimage.cpp#L190
-  add_run: ["libopencv * *qt6*"] 
+  add_run: ["libopencv * *qt6*"]
 camera_calibration:
   # Depends on opencv with gui support, see https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/camera_calibration/src/camera_calibration/camera_calibrator.py#L286
   add_run: ["libopencv * *qt6*"]
 livox_ros_driver2:
   add_host: ["livox-sdk2"]
+spdlog_vendor:
+  add_host: ["spdlog"]
+  add_run: ["spdlog"]
+console_bridge_vendor:
+  add_host: ["console_bridge"]
+  add_run: ["console_bridge"]

patch/ros-kilted-ament-cmake-vendor-package.patch

@@ -1,53 +1,153 @@
-diff --git a/cmake/ament_vendor.cmake b/cmake/ament_vendor.cmake
-index c9b963cd0..d23ff2aa2 100644
---- a/cmake/ament_vendor.cmake
-+++ b/cmake/ament_vendor.cmake
-@@ -49,6 +49,14 @@
+From 1132cb348f7267c51627ec596182bbcaa4d57c07 Mon Sep 17 00:00:00 2001
+From: Silvio <[email protected]>
+Date: Thu, 3 Jul 2025 10:14:56 +0200
+Subject: [PATCH] ament_vendor: Add IS_VENDORED_OUTPUT_VARIABLE_NAME argument
+ and AMENT_VENDOR_POLICY CMake option
+
+Signed-off-by: Silvio <[email protected]>
+---
+ .../cmake/ament_vendor.cmake                  | 93 ++++++++++++++++++-
+ 1 file changed, 88 insertions(+), 5 deletions(-)
+
+diff --git a/ament_cmake_vendor_package/cmake/ament_vendor.cmake b/ament_cmake_vendor_package/cmake/ament_vendor.cmake
+index c9b963cd..2ca2f40a 100644
+--- a/ament_cmake_vendor_package/cmake/ament_vendor.cmake
++++ b/ament_cmake_vendor_package/cmake/ament_vendor.cmake
+@@ -48,6 +48,31 @@
+ #   project, expose the external project globally to any downstream CMake
  #   projects.
  # :type GLOBAL_HOOK: option
- #
-+# Beside CMake macro options, the macro is also influenced by the following two
-+# CMake options, that can be set at the CMake invocation for the project that
-+# uses ament_vendor() macro:
-+# * `FORCE_BUILD_VENDOR_PKG`: If ON build vendor packages from source, even if 
-+#                             system-installed packages are available
-+# * `AMENT_VENDOR_NEVER_VENDOR`: If ON, raise an error if SATISFIED argument is 
-+#                                not true instead of building the vendored package
++# :param IS_VENDORED_OUTPUT_VARIABLE_NAME: the name of the variable that
++#   will be set to ``TRUE`` if the package has been vendored, or ``FALSE``
++#   otherwise.
++# :type IS_VENDORED_OUTPUT_VARIABLE_NAME: string
++#
++# Beside proper CMake macro arguments, the macro also is influenced by the
++# following CMake advanced options, that can be set from the CMake command
++# line when the project that contains the 'ament_vendor' call is configured.
++#
++#   AMENT_VENDOR_POLICY: String option that specifies how ament_vendor behaves,
++#                        the allowed values are listed in the following.
++#     DEFAULT: Vendor if ``SATISFIED`` argument is not supplied or false,
++#              do not vendor otherwise.
++#     FORCE_BUILD_VENDOR: Always vendor, independently of the value of the
++#                   ``SATISFIED`` argument.
++#     NEVER_VENDOR: Never vendor, and raise an error if ``SATISFIED`` argument
++#                   is not supplied or false.
++#     NEVER_VENDOR_IGNORE_SATISFIED_CHECK: Never vendor, and do not raise
++#                   an error even if ``SATISFIED`` argument is not supplied
++#                   or false. This option is in unsupported by most packages,
++#                   so use at your own risk, as it could break the buid.
 +#
++# To check if a package has been actually vendored, downstream users of
++# ``ament_vendor` can pass a variable name to IS_VENDORED_OUTPUT_VARIABLE_NAME
++# argument, and check its value.
+ #
  # @public
  #
- macro(ament_vendor TARGET_NAME)
-@@ -97,6 +105,18 @@ macro(ament_vendor TARGET_NAME)
+@@ -60,7 +85,7 @@ macro(ament_vendor TARGET_NAME)
+     message(FATAL_ERROR "ament_vendor() must be called before ament_package()")
+   endif()
+
+-  cmake_parse_arguments(_ARG "GLOBAL_HOOK;SKIP_INSTALL" "SOURCE_SUBDIR;VCS_TYPE;VCS_URL;VCS_VERSION;SATISFIED" "CMAKE_ARGS;PATCHES" ${ARGN})
++  cmake_parse_arguments(_ARG "GLOBAL_HOOK;SKIP_INSTALL" "SOURCE_SUBDIR;VCS_TYPE;VCS_URL;VCS_VERSION;SATISFIED;IS_VENDORED_OUTPUT_VARIABLE_NAME" "CMAKE_ARGS;PATCHES" ${ARGN})
+   if(_ARG_UNPARSED_ARGUMENTS)
+     message(FATAL_ERROR "ament_vendor() called with unused arguments: "
+       "${_ARG_UNPARSED_ARGUMENTS}")
+@@ -93,15 +118,57 @@ macro(ament_vendor TARGET_NAME)
+     set(_ARG_SATISFIED FALSE)
+   endif()
+
++  # If defined, let's set ${_ARG_IS_VENDORED_OUTPUT_VARIABLE_NAME} to FALSE, it will be set
++  # to TRUE if the package is actually vendored
++  if(DEFINED _ARG_IS_VENDORED_OUTPUT_VARIABLE_NAME)
++    # There is no PARENT_SCOPE as this is a cmake macro,
++    # if it is converted to a function PARENT_SCOPE will need to be added
++    set(${_ARG_IS_VENDORED_OUTPUT_VARIABLE_NAME} FALSE)
++  endif()
++
+   option(FORCE_BUILD_VENDOR_PKG
      "Build vendor packages from source, even if system-installed packages are available"
      OFF)
-
-+  option(AMENT_VENDOR_NEVER_VENDOR
-+    "If ON, raise an error if SATISFIED argument is not true instead of building the vendored package"
-+    OFF)
++  mark_as_advanced(FORCE_BUILD_VENDOR_PKG)
 +
-+  if(FORCE_BUILD_VENDOR_PKG AND AMENT_VENDOR_NEVER_VENDOR)
-+      message(FATAL_ERROR "ament_vendor() cannot have both FORCE_BUILD_VENDOR_PKG and AMENT_VENDOR_NEVER_VENDOR options enabled")
++  set(_AMENT_VENDOR_POLICY_DOCS "Specify how ament_vendor behaves, allowed values are DEFAULT, FORCE_BUILD_VENDOR, NEVER_VENDOR and NEVER_VENDOR_IGNORE_SATISFIED_CHECK.")
++  set(AMENT_VENDOR_POLICY "DEFAULT" CACHE STRING ${_AMENT_VENDOR_POLICY_DOCS})
++  set_property(CACHE AMENT_VENDOR_POLICY PROPERTY STRINGS "DEFAULT" "FORCE_BUILD_VENDOR" "NEVER_VENDOR" "NEVER_VENDOR_IGNORE_SATISFIED_CHECK")
++  mark_as_advanced(AMENT_VENDOR_POLICY)
+
+-  if(NOT _ARG_SATISFIED OR FORCE_BUILD_VENDOR_PKG)
++  if(FORCE_BUILD_VENDOR_PKG AND NOT AMENT_VENDOR_POLICY STREQUAL "FORCE_BUILD_VENDOR")
++    message(DEPRECATION "FORCE_BUILD_VENDOR_PKG set to ON detected, FORCE_BUILD_VENDOR_PKG variable is deprecated, please set AMENT_VENDOR_POLICY to FORCE_BUILD_VENDOR instead.")
++    set(CMAKE_BUILD_TYPE "FORCE_BUILD_VENDOR" CACHE STRING ${_AMENT_VENDOR_POLICY_DOCS} FORCE)
 +  endif()
 +
-+  if(NOT _ARG_SATISFIED AND AMENT_VENDOR_NEVER_VENDOR)
-+      message(FATAL_ERROR "ament_vendor() SATISFIED option is OFF and AMENT_VENDOR_NEVER_VENDOR is ON")
-+  endif()
++  # AMENT_VENDOR_POLICY
 +
-   if(NOT _ARG_SATISFIED OR FORCE_BUILD_VENDOR_PKG)
++  if(AMENT_VENDOR_POLICY STREQUAL "FORCE_BUILD_VENDOR")
++    set(_call_ament_vendor TRUE)
++    if(_ARG_SATISFIED)
++      message(STATUS "Forcing vendor package build for '${TARGET_NAME}', which is already satisfied as AMENT_VENDOR_POLICY is set to FORCE_BUILD_VENDOR")
++    endif()
++  elseif(AMENT_VENDOR_POLICY STREQUAL "NEVER_VENDOR")
++    if(NOT _ARG_SATISFIED)
++      message(FATAL_ERROR "Error as SATISFIED argument is not TRUE, but AMENT_VENDOR_POLICY is set to NEVER_VENDOR")
++    endif()
++    set(_call_ament_vendor FALSE)
++  elseif(AMENT_VENDOR_POLICY STREQUAL "NEVER_VENDOR_IGNORE_SATISFIED_CHECK")
++    if(NOT _ARG_SATISFIED)
++      message(STATUS "Not vendoring even if SATISFIED is not TRUE as AMENT_VENDOR_POLICY is set to NEVER_VENDOR_IGNORE_SATISFIED_CHECK")
++    endif()
++    set(_call_ament_vendor FALSE)
++  else()
++    # This is the default case
      if(_ARG_SATISFIED)
-       message(STATUS "Forcing vendor package build for '${TARGET_NAME}', which is already satisfied")
-@@ -245,6 +245,10 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR
-     set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_MODULE_PATH [=[${CMAKE_MODULE_PATH}]=] CACHE INTERNAL \"\")")
+-      message(STATUS "Forcing vendor package build for '${TARGET_NAME}', which is already satisfied")
++      message(STATUS "Skipping vendor package build for '${TARGET_NAME}', as SATISFIED is TRUE and AMENT_VENDOR_POLICY is set to DEFAULT")
++      set(_call_ament_vendor FALSE)
++    else()
++      set(_call_ament_vendor TRUE)
+     endif()
++  endif()
+
++  if(_call_ament_vendor)
+     list_append_unique(_AMENT_CMAKE_VENDOR_PACKAGE_PREFIX_PATH "${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}-prefix/install")
+
+     _ament_vendor(
+@@ -115,6 +182,12 @@ macro(ament_vendor TARGET_NAME)
+       "${_ARG_SKIP_INSTALL}"
+     )
+
++    if(DEFINED _ARG_IS_VENDORED_OUTPUT_VARIABLE_NAME)
++      # There is no PARENT_SCOPE as this is a cmake macro,
++      # if it is converted to a function PARENT_SCOPE will need to be added
++      set(${_ARG_IS_VENDORED_OUTPUT_VARIABLE_NAME} TRUE)
++    endif()
++
+     if(NOT _ament_vendor_called AND NOT _ARG_SKIP_INSTALL)
+       # Hooks for CMAKE_PREFIX_PATH
+       if(_ARG_GLOBAL_HOOK)
+@@ -142,8 +215,6 @@ macro(ament_vendor TARGET_NAME)
+
+       set(_ament_vendor_called TRUE)
+     endif()
+-  else()
+-    message(STATUS "Skipping vendor package build for '${TARGET_NAME}', which is already satisfied")
    endif()
+ endmacro()
 
+@@ -241,6 +312,10 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR
+     set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_BUILD_TYPE [=[${CMAKE_BUILD_TYPE}]=] CACHE INTERNAL \"\")")
+   endif()
+
 +  if(DEFINED CMAKE_IGNORE_PREFIX_PATH)
 +    set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_IGNORE_PREFIX_PATH [=[${CMAKE_IGNORE_PREFIX_PATH}]=] CACHE INTERNAL \"\")")
 +  endif()
 +
-   list(PREPEND CMAKE_PREFIX_PATH ${_AMENT_CMAKE_VENDOR_PACKAGE_PREFIX_PATH})
-   set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_PREFIX_PATH [=[${CMAKE_PREFIX_PATH}]=] CACHE INTERNAL \"\")")
-
-@@ -256,6 +260,14 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR
+   if(DEFINED CMAKE_MODULE_PATH)
+     set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_MODULE_PATH [=[${CMAKE_MODULE_PATH}]=] CACHE INTERNAL \"\")")
+   endif()
+@@ -256,6 +331,14 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR
      set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(BUILD_SHARED_LIBS ON CACHE BOOL \"\")")
    endif()
 
@@ -56,7 +156,7 @@ index c9b963cd0..d23ff2aa2 100644
 +  endif()
 +
 +  if(DEFINED Python3_EXECUTABLE)
-+    set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(Python3_EXECUTABLE [=[${Python3_EXECUTABLE}]=] CACHE INTERNAL \"\")")
++    set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_IGNORE_PREFIX_PATH [=[${Python3_EXECUTABLE}]=] CACHE INTERNAL \"\")")
 +  endif()
 +
    file(GENERATE OUTPUT "${CMAKE_ARGS_FILE}" CONTENT "${CMAKE_ARGS_CONTENT}")