Ben Wolsieffer

It looks like `nav2_mppi_controller` needs `xsimd` as well.

`nav2-mppi-controller` is now generated but fails to build due to some non-obvious issue with the xsimd/xtensor headers. Do you need that specific package or were you just trying to use...

I don't use or have access to a macOS machine, so I'm not going to do it myself. I'd accept patches for macOS support as long as they aren't too...

If you are not using NixOS then you need to use [nixGL](https://github.com/nix-community/nixGL) to get OpenGL working. Otherwise, I'm not sure what the problem is.

Right now, you need to source gazebo's `setup.sh`, but I should probably make this happen automatically. I have this is in my `shellHook`: ``` source '${rosPackages.noetic.gazebo}/share/gazebo-11/setup.sh' ```

I can't reproduce this. The following shell works correctly for me: ``` with import {}; mkShell { buildInputs = [ rosPackages.noetic.rviz ]; } ``` For packages with binaries in `bin`,...

The problem is `source devel/setup.bash`. That file contains the environment variable values that were used when you first created your catkin workspace, and it overrides the environment variables from nix-shell....

I don't think the solution proposed here works correctly, since I don't think you can just `dynamic_cast` a `SimpleBlobDetector` (really a `SimpleBlobDetectorImpl`) into a `BlobDetector`. https://github.com/opencv/opencv/pull/20367 is what broke this...

`cv::SimpleBlobDetector::create(params).get()` returns a pointer to an instance of `SimpleBlobDetectorImpl`. `SimpleBlobDetectorImpl` is not a subclass of `BlobDetector`, so I believe `dynamic_cast` should return `nullptr` in this case. I haven't tested this,...

That sounds like a good way of doing it. To minimize duplicated code, I think lines 82-94 of `Serial::startReading()` and the state machine in `Serial::onData()` should be moved to their...