Timple · Oct 27, 2026 · Oct 27, 2026 · Oct 27, 2026 · Oct 27, 2026 · Oct 27, 2026
diff --git a/distros/humble/rosdistro_additional_recipes.yaml b/distros/humble/rosdistro_additional_recipes.yaml
@@ -89,3 +89,15 @@ mujoco_vendor:
   tag: release/jazzy/mujoco_vendor/0.1.0-1
   url: https://github.com/ros2-gbp/mujoco_vendor-release.git
   version: 0.1.0
+opennav_coverage:
+  # Not released in rosdistro; humble-v2 branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: 81b63a720d97e0966548d9f062fc6a723f329022
+  version: 0.0.1
+  additional_folder: opennav_coverage
+opennav_coverage_msgs:
+  # Not released in rosdistro; humble-v2 branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: 81b63a720d97e0966548d9f062fc6a723f329022
+  version: 0.0.1
+  additional_folder: opennav_coverage_msgs
diff --git a/distros/jazzy/patch/dependencies.yaml b/distros/jazzy/patch/dependencies.yaml
@@ -112,6 +112,10 @@ nav2_mppi_controller:
   add_run: ["xtensor==0.25.0"]
 nav2_util:
   add_host: ["libboost-devel"]
+opennav_coverage:
+  # package.xml misses deps that CMakeLists.txt finds
+  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
 openvdb_vendor:
   add_host: ["openvdb"]
 pcl_conversions:

diff --git a/distros/jazzy/rosdistro_additional_recipes.yaml b/distros/jazzy/rosdistro_additional_recipes.yaml
@@ -115,6 +115,18 @@ negotiated_interfaces:
   version: 0.1.0
   additional_folder: negotiated_interfaces
 
+opennav_coverage:
+  # Not released in rosdistro; jazzy-v2 branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: c02a41e739ab51c558d1c4c81d6c9ff154ee80f3
+  version: 0.0.1
+  additional_folder: opennav_coverage
+opennav_coverage_msgs:
+  # Not released in rosdistro; jazzy-v2 branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: c02a41e739ab51c558d1c4c81d6c9ff154ee80f3
+  version: 0.0.1
+  additional_folder: opennav_coverage_msgs
 rclcpp_async:
   rev: 7a54000737ef97e833589f4fe37a5784691ce9ca
   url: https://github.com/otamachan/rclcpp_async.git

diff --git a/distros/lyrical/rosdistro_additional_recipes.yaml b/distros/lyrical/rosdistro_additional_recipes.yaml
@@ -448,6 +448,18 @@ mocap4r2_robot_gt_msgs:
   url: https://github.com/MOCAP4ROS2-Project/mocap4r2.git
   version: 0.0.7
   additional_folder: mocap4r2_robot_gt/mocap4r2_robot_gt_msgs
+opennav_coverage:
+  # Not released in rosdistro; lyrical branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: 9f0cca9414cfcf4feb616fee3c35ac199b788ff3
+  version: 0.0.1
+  additional_folder: opennav_coverage
+opennav_coverage_msgs:
+  # Not released in rosdistro; lyrical branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: 9f0cca9414cfcf4feb616fee3c35ac199b788ff3
+  version: 0.0.1
+  additional_folder: opennav_coverage_msgs
 rclcpp_async:
   rev: 7a54000737ef97e833589f4fe37a5784691ce9ca
   url: https://github.com/otamachan/rclcpp_async.git

diff --git a/distros/rolling/rosdistro_additional_recipes.yaml b/distros/rolling/rosdistro_additional_recipes.yaml
@@ -650,6 +650,18 @@ netft_driver:  # not in rosdistro yet (ros/rosdistro#52786); requested in https:
   tag: 0.4.0
   url: https://github.com/netft/ros-netft.git
   version: 0.4.0
+opennav_coverage:
+  # Not released in rosdistro; main branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: 04858cf8e3512f59d1ecc7dde5483ee5a6a0f201
+  version: 0.0.1
+  additional_folder: opennav_coverage
+opennav_coverage_msgs:
+  # Not released in rosdistro; main branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: 04858cf8e3512f59d1ecc7dde5483ee5a6a0f201
+  version: 0.0.1
+  additional_folder: opennav_coverage_msgs
 rclcpp_async:
   rev: 7a54000737ef97e833589f4fe37a5784691ce9ca
   url: https://github.com/otamachan/rclcpp_async.git

diff --git a/shared/patch/dependencies.yaml b/shared/patch/dependencies.yaml
@@ -127,6 +127,10 @@ open3d_conversions:
   # (which provides TBBConfig.cmake) -- add it explicitly so find_package(Open3D)
   # can resolve its own TBB dependency.
   add_host: ["tbb-devel"]
+ortools_vendor:
+  # or-tools uses conda zlib (BUILD_ZLIB=OFF, see the patch); consumers find_dependency(ZLIB)
+  add_host: ["zlib"]
+  add_run: ["zlib"]
 pcl_ros:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
 plotjuggler_ros:

diff --git a/shared/patch/ros2-ortools-vendor.patch b/shared/patch/ros2-ortools-vendor.patch
@@ -0,0 +1,41 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index fd967c2..53182a6 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -4,13 +4,27 @@ project(ortools_vendor LANGUAGES CXX VERSION "9.9.1")
+ find_package(ament_cmake REQUIRED)
+ find_package(ament_cmake_vendor_package REQUIRED)
+
++# Abseil exports its librt as $<$<BOOL:/abs/path/librt.so>:-lrt>; the conda sysroot
++# relocation then mangles that path. Pass the bare name so no path is exported.
++set(ORTOOLS_EXTRA_CMAKE_ARGS)
++if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
++  list(APPEND ORTOOLS_EXTRA_CMAKE_ARGS -DLIBRT:STRING=rt)
++endif()
++
+ ament_vendor(
+   ortools_vendor
+   VCS_URL https://github.com/google/or-tools.git
+   VCS_VERSION v9.9
+   CMAKE_ARGS
+     -DCMAKE_BUILD_TYPE=Release
+-    -DBUILD_DEPS:BOOL=ON
++    # BUILD_DEPS=ON forces the bundled zlib, which doesn't compile against recent
++    # macOS SDKs (fdopen macro); build the other dependencies, take zlib from conda.
++    -DBUILD_DEPS:BOOL=OFF
++    -DBUILD_ZLIB:BOOL=OFF
++    -DBUILD_absl:BOOL=ON
++    -DBUILD_Protobuf:BOOL=ON
++    -DBUILD_Eigen3:BOOL=ON
++    -DBUILD_re2:BOOL=ON
+     -DCMAKE_POLICY_VERSION_MINIMUM:STRING=3.5
+     -DBUILD_SAMPLES:BOOL=OFF
+     -DBUILD_EXAMPLES:BOOL=OFF
+@@ -27,6 +41,7 @@ ament_vendor(
+     -DUSE_PDLP:BOOL=OFF
+     -DUSE_SCIP:BOOL=OFF
+     -DUSE_CPLEX:BOOL=OFF
++    ${ORTOOLS_EXTRA_CMAKE_ARGS}
+   PATCHES patches
+ )
+
diff --git a/shared/vinca.yaml b/shared/vinca.yaml
@@ -224,6 +224,7 @@ packages_select_by_deps:
   - odom_to_tf_ros2
   - onnxruntime_vendor
   - open3d_conversions
+  - opennav_coverage_msgs
   - osrf_testing_tools_cpp
   - pal_statistics
   - perception
@@ -448,6 +449,7 @@ packages_select_by_deps:
       - easynav_system
       - easynav_tools
       - easynav_vff_controller
+      - fields2cover
       - libcamera
       - mujoco_ros2_control # Isaac ROS deploy / Unitree G1 simulation; runtime uses Linux-specific files; mujoco_ros2_control_plugins needs EGL
       - mujoco_ros2_control_demos # Use readlink and access at runtime linux-specific file
@@ -459,6 +461,7 @@ packages_select_by_deps:
       - navmap_tools
       - netft_driver  # ATI Net F/T driver: POSIX networking, Linux only; requested in https://github.com/RoboStack/robostack/issues/103
       - nobleo_socketcan_bridge # Depends on socketcan
+      - opennav_coverage
       - orbbec_camera
       - plansys2_core
       - plansys2_domain_expert