From 583c9771ada0898dbd80cb38152eae326fa6360c Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Thu, 18 Mar 2021 07:00:59 +1000
Subject: [PATCH 1/3] Rebuild tf2_py with patch

---
 vinca_osx.yaml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index c863434f6..404adec14 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -30,12 +30,13 @@ packages_select_by_deps:
   ##
   #  TODO OSX
   ##
-  # - grid_map  # fails with tbb-error, probably need to use cmake instead of pkg-config
-  - ros_numpy
+  # - grid_map  # fails with tbb-error, probably need to use cmake instead of pkg-config. See grid-map-osx branch
+  - tf2_py
 
   ##
   # DONE OSX
   ##
+  # - ros_numpy
   # - velodyne_simulator
   # - rviz
   # - mavros

From daf40896c936d30b4c552e0d5787225b3d9a3634 Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Thu, 18 Mar 2021 07:01:57 +1000
Subject: [PATCH 2/3] Create ros-noetic-tf2-py.osx.patch

---
 patch/ros-noetic-tf2-py.osx.patch | 27 +++++++++++++++++++++++++++
 1 file changed, 27 insertions(+)
 create mode 100644 patch/ros-noetic-tf2-py.osx.patch

diff --git a/patch/ros-noetic-tf2-py.osx.patch b/patch/ros-noetic-tf2-py.osx.patch
new file mode 100644
index 000000000..104a1b499
--- /dev/null
+++ b/patch/ros-noetic-tf2-py.osx.patch
@@ -0,0 +1,27 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index bb53f9d3..53f56f01 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -88,8 +88,9 @@ catkin_package(
+ 
+ # Dynamic linking with tf worked OK, except for exception propagation, which failed in the unit test.
+ # so build with the objects directly instead.
+-
+-link_libraries(${PYTHON_LIBRARIES})
++if(NOT APPLE)
++  link_libraries(${PYTHON_LIBRARIES})
++endif()
+ add_library(tf2_py src/tf2_py.cpp)
+ target_link_libraries(tf2_py ${catkin_LIBRARIES})
+ add_dependencies(tf2_py ${catkin_EXPORTED_TARGETS})
+@@ -101,6 +102,10 @@ else()
+   set_target_properties(tf2_py PROPERTIES COMPILE_FLAGS "-g -Wno-missing-field-initializers")
+   set_target_properties(tf2_py PROPERTIES OUTPUT_NAME tf2 PREFIX "_" SUFFIX ".so")
+ endif()
++if(APPLE)
++  set_target_properties(${PROJECT_NAME}_boost PROPERTIES
++                        LINK_FLAGS "-undefined dynamic_lookup")
++endif()
+ set_target_properties(tf2_py PROPERTIES
+   ARCHIVE_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
+   LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}

From 5849fb6c0d54683975f611512b514e0720da091d Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Thu, 18 Mar 2021 07:10:06 +1000
Subject: [PATCH 3/3] Update ros-noetic-tf2-py.osx.patch

---
 patch/ros-noetic-tf2-py.osx.patch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/patch/ros-noetic-tf2-py.osx.patch b/patch/ros-noetic-tf2-py.osx.patch
index 104a1b499..6143e8563 100644
--- a/patch/ros-noetic-tf2-py.osx.patch
+++ b/patch/ros-noetic-tf2-py.osx.patch
@@ -19,7 +19,7 @@ index bb53f9d3..53f56f01 100644
    set_target_properties(tf2_py PROPERTIES OUTPUT_NAME tf2 PREFIX "_" SUFFIX ".so")
  endif()
 +if(APPLE)
-+  set_target_properties(${PROJECT_NAME}_boost PROPERTIES
++  set_target_properties(tf2_py PROPERTIES
 +                        LINK_FLAGS "-undefined dynamic_lookup")
 +endif()
  set_target_properties(tf2_py PROPERTIES