update patch using ros-noetic fix

Author: nmarticorena

patch/ros-jazzy-moveit-ros-perception.osx.patch

@@ -1,5 +1,57 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 0452e0485..38b72376a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -17,8 +17,10 @@ if(WITH_OPENGL)
+ 
+   set(GL_LIBS ${GL_LIBS} ${OPENGL_LIBRARIES})
+   if(APPLE)
+-    find_package(FreeGLUT REQUIRED)
+-    set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW FreeGLUT::freeglut)
++    list(INSERT CMAKE_FRAMEWORK_PATH 0 /System/Library/Frameworks)
++    find_package(GLUT REQUIRED)
++    # find_package(FreeGLUT REQUIRED)
++    set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW GLUT::GLUT)
+   else()
+     find_package(GLUT REQUIRED)
+     if(WIN32)
+diff --git a/mesh_filter/src/gl_renderer.cpp b/mesh_filter/src/gl_renderer.cpp
+index e528cb5b5..9d1689cf6 100644
+--- a/mesh_filter/src/gl_renderer.cpp
++++ b/mesh_filter/src/gl_renderer.cpp
+@@ -37,11 +37,13 @@
+ #include <GL/glew.h>
+ #ifdef __APPLE__
+ #include <OpenGL/glu.h>
++#include <OpenGL/gl.h>
++#include <GLUT/glut.h>
+ #else
+ #include <GL/glu.h>
+ #include <GL/glut.h>
+-#endif
+ #include <GL/freeglut.h>
++#endif
+ #include <moveit/mesh_filter/gl_renderer.hpp>
+ #include <moveit/utils/logger.hpp>
+ #include <sstream>
+@@ -405,8 +407,13 @@ void mesh_filter::GLRenderer::createGLContext()
+     glutIconifyWindow();
+     glutHideWindow();
+ 
+-    for (int i = 0; i < 10; ++i)
+-      glutMainLoopEvent();
++    for (int i = 0; i < 10; ++i){
++      #ifdef __APPLE__
++        glutCheckLoop();
++      #else
++        glutMainLoopEvent();
++      #endif
++    }
+ 
+     s_context.at(thread_id) = std::pair<unsigned, GLuint>(1, window_id);
+   }
 diff --git a/semantic_world/CMakeLists.txt b/semantic_world/CMakeLists.txt
-index dc8d941da..61f34d777 100644
+index dc8d941da..0baff31eb 100644
 --- a/semantic_world/CMakeLists.txt
 +++ b/semantic_world/CMakeLists.txt
 @@ -13,6 +13,8 @@ ament_target_dependencies(
@@ -8,7 +60,7 @@ index dc8d941da..61f34d777 100644
    Eigen3
 -  Boost)
 +  Boost
-+  OpenCV
-+)
++  OpenCV)
++  
 
  install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)