[baradejoo]

Summary

• Add aruco_ros (5.0.5) to vinca.yaml. This pulls in aruco and aruco_msgs as well.
• patch/ros-lyrical-aruco.patch: make the aruco library build with OpenCV 5 and Eigen 5 from conda-forge (the ROS buildfarm builds it against OpenCV 4.10 / Eigen 3.4 from Ubuntu, so these issues don't show up there):
  • find_package(OpenCV 4.2.0 REQUIRED) rejects OpenCV 5.0.0 ("The version found is not compatible with the version requested"), so the version requirement is dropped.
  • Eigen 5 no longer sets EIGEN3_INCLUDE_DIRS ('Eigen/Core' file not found), so the library links Eigen3::Eigen instead.
  • opencv2/calib3d/calib3d.hpp and opencv2/features2d/features2d.hpp don't exist in OpenCV 5, use the top-level opencv2/calib3d.hpp / opencv2/features2d.hpp headers (available in OpenCV 4 as well). fractalposetracker.cpp also needs an explicit opencv2/features2d.hpp include for cv::FastFeatureDetector.
  • OpenCV 5 removed the cv::Exception(int, ...) constructor, it only takes cv::Error::Code now. Most of the patch is this mechanical change: cv::Exception(9001, ...) → cv::Exception(static_cast<cv::Error::Code>(9001), ...) (45 call sites, same error codes).
• patch/ros-lyrical-aruco-ros.patch:
  • ament_target_dependencies is no longer available in lyrical, replaced with target_link_libraries on the dependency targets (same approach as the other patches in this repo).
  • The deprecated tf2/*.h and tf2_ros/*.h headers were removed in lyrical, switched to the .hpp headers.
  • "opencv4/opencv2/calib3d.hpp" is hardcoded, which doesn't exist with OpenCV 5 (include/opencv5), use "opencv2/calib3d.hpp".

aruco_ros 5.0.5 (the version in the current rosdistro snapshot) was never published for lyrical via apt (ros-lyrical-aruco and ros-lyrical-aruco-msgs 5.0.5 are). Upstream fixed the ament_target_dependencies and tf2 header issues in 5.0.6, released on 2026-10-10 and already built on the buildfarm (Lbin_uR64__aruco_ros__ubuntu_resolute_amd64__binary). Once the snapshot is updated to 5.0.6, the aruco_ros patch can be reduced to the hardcoded opencv4/ include path fix.

Notes

Tested locally on osx-arm64: aruco, aruco_msgs and aruco_ros build, and the nodes start in a fresh pixi environment:

$ pixi run ros2 run aruco_ros double --ros-args -p parent_name:=camera -p child_name1:=marker1 -p child_name2:=marker2
[INFO] [1791719465.593098000] [aruco_double]: Image is rectified: 1
[INFO] [1791719465.609170000] [aruco_double]: ArUco node started with marker size of 0.050000 meters and marker ids to track: 582, 26
[INFO] [1791719465.609185000] [aruco_double]: ArUco node will publish pose to TF with (camera, marker1) and (camera, marker2) as (parent,child).

Without the required parameters, double exits on purpose (parent_name and/or child_name was not set!), but on macOS this exit path then aborts with mutex lock failed: Invalid argument, because the global node is destroyed after rclcpp::shutdown(). That's an upstream issue in the error path only and not related to this PR.

[Tobias-Fischer]

Candidate for porting to the RoboStack monorepo, RoboStack/robostack, where all ROS 2 distributions are now built. aruco_ros is in lyrical's snapshot there but not selected yet; the selection would go to the shared shared/vinca.yaml (so all distributions get it where it builds) and the patches to distros/lyrical/patch/. Pull requests can't be transferred, so if a maintainer replies "go ahead", I'll open the equivalent PR there, crediting @baradejoo.

🤖 Claude (AI assistant), on behalf of @Tobias-Fischer

[baradejoo]

go ahead

[Tobias-Fischer]

go ahead