From a8f2067a0ae5612145d9839cc8f45203e289efd5 Mon Sep 17 00:00:00 2001
From: Michal Sojka <michal.sojka@cvut.cz>
Date: Mon, 24 Jun 2024 17:36:14 +0200
Subject: [PATCH 1/2] python-cmake-module: Use correct shared library extension
 on MacOS

This fixes the following error:

    make[2]: *** No rule to make target
    '/nix/store/03q8gn91mj95y5bqbcl90hyvmpqpz738-python3-3.11.7/lib/libpython3.11.so',
    needed by
    'rosidl_generator_py/builtin_interfaces/libbuiltin_interfaces__rosidl_generator_py.dylib'.
    Stop.
---
 distros/ros2-overlay.nix | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/distros/ros2-overlay.nix b/distros/ros2-overlay.nix
index 4f3d45a006..091fd14d2d 100644
--- a/distros/ros2-overlay.nix
+++ b/distros/ros2-overlay.nix
@@ -88,9 +88,10 @@ rosSelf: rosSuper: with rosSelf.lib; {
 
   python-cmake-module = rosSuper.python-cmake-module.overrideAttrs ({ ... }: let
     python = rosSelf.python;
+    libExt = if self.stdenv.isDarwin then "dylib" else "so";
   in {
     pythonExecutable = python.pythonOnBuildForHost.interpreter;
-    pythonLibrary = "${python}/lib/lib${python.libPrefix}.so";
+    pythonLibrary = "${python}/lib/lib${python.libPrefix}.${libExt}";
     pythonIncludeDir = "${python}/include/${python.libPrefix}";
     setupHook = ./python-cmake-module-setup-hook.sh;
     outputs = [ "out" "dev" ];

From ad535a4da9afd7d396777e2d53fcc400418678ad Mon Sep 17 00:00:00 2001
From: Michal Sojka <michal.sojka@cvut.cz>
Date: Sat, 6 Jul 2024 12:05:27 +0200
Subject: [PATCH 2/2] rmw-implementation: Don't build with CycloneDDS support
 on MacOS
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

CycloneDDS depends on Linux-only libraries such as acl and cannot be
built on MacOS. Removing CycloneDDS from rmw-implementation
dependencies is OK, because there are other RMW implementations, which
build fine on MacOS. For example FastDDS, which is the default one.

The result of this change is that on MacOS one cannot switch to
CycloneDDS at run-time by selecting it in the RMW_IMPLEMENTATION
environment variable.

Specifically, this commit avoids to following error:

       error: Package ‘acl-2.3.1’ in
       /nix/store/.../pkgs/development/libraries/acl/default.nix:40 is
       not available on the requested hostPlatform:
       hostPlatform.config = "aarch64-apple-darwin"
---
 distros/ros2-overlay.nix | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/distros/ros2-overlay.nix b/distros/ros2-overlay.nix
index 091fd14d2d..994f3fe6a0 100644
--- a/distros/ros2-overlay.nix
+++ b/distros/ros2-overlay.nix
@@ -119,13 +119,18 @@ rosSelf: rosSuper: with rosSelf.lib; {
   };
 
   rmw-implementation = rosSuper.rmw-implementation.overrideAttrs ({
-    propagatedBuildInputs ? [], ...
+    propagatedBuildInputs ? [], buildInputs ? [], ...
   }: {
     # The default implementation must be available to all dependent packages
     # at build time.
     propagatedBuildInputs = with rosSelf; [
       rmw-fastrtps-cpp
     ] ++ propagatedBuildInputs;
+    # rmw-cyclonedds-cpp fails to build on MacOS.
+    buildInputs = if self.stdenv.isDarwin then
+      builtins.filter (p: p.pname != "ros-${p.rosDistro}-rmw-cyclonedds-cpp") buildInputs
+    else
+      buildInputs;
   });
 
   rosidl-generator-py = rosSuper.rosidl-generator-py.overrideAttrs ({