From 058327d55e0f63a37444e3e3f4dc77c27a8b930c Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Mon, 9 Dec 2024 11:13:20 +0900
Subject: [PATCH 1/2] fix CI, override node20
 https://github.com/actions/upload-artifact/issues/616#issuecomment-2350667347

---
 .github/workflows/config.yml | 21 ++++++++++++++++++++-
 1 file changed, 20 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index 4abc063d1..7c1f51259 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -40,7 +40,11 @@ jobs:
             CATKIN_PARALLEL_JOBS: "-i"
 
 
-    container: ${{ matrix.CONTAINER }}
+    container:
+      image: ${{ matrix.CONTAINER }}
+      volumes:
+        - /tmp/node20:/__e/node20
+
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu )
         run: |
@@ -63,6 +67,21 @@ jobs:
              git config --global --add safe.directory $GITHUB_WORKSPACE
           fi
 
+      - name: Try to replace `node` with an glibc 2.17
+        shell: bash
+        run: |
+          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
+             export USER=$(whoami)
+             sudo chmod 777 -R /__e/node20
+             sudo chown -R $USER /__e/node20
+          fi
+          ls -lar /__e/node20 &&
+          sudo apt-get install -y curl &&
+          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
+          cd /__e/node20 &&
+          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
+          ls -lar /__e/node20/bin/
+
       - name: Checkout
         uses: actions/checkout@v3.0.2
 

From 1851db309467274f90b10c282dadda4d4245fc2e Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Wed, 25 Dec 2024 18:51:38 +0900
Subject: [PATCH 2/2] nlopt: use nlopt-2.3.tar.gz in 3rdparty/nlopt/build,
 instead of downloading from mit.edu

---
 3rdparty/nlopt/CMakeLists.txt | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/3rdparty/nlopt/CMakeLists.txt b/3rdparty/nlopt/CMakeLists.txt
index f9cc4f0fa..9d36d0e93 100644
--- a/3rdparty/nlopt/CMakeLists.txt
+++ b/3rdparty/nlopt/CMakeLists.txt
@@ -8,6 +8,8 @@ add_custom_target(libnlopt_cxx ALL
   DEPENDS ${CATKIN_DEVEL_PREFIX}/lib/libnlopt_cxx.so)
 add_custom_command(OUTPUT
   ${CATKIN_DEVEL_PREFIX}/lib/libnlopt_cxx.so
+  COMMAND mkdir -p ${CMAKE_CURRENT_BINARY_DIR}/build
+  COMMAND cp ${PROJECT_SOURCE_DIR}/build/nlopt-2.3.tar.gz ${CMAKE_CURRENT_BINARY_DIR}/build
   COMMAND cp ${PROJECT_SOURCE_DIR}/nlopt-2.3.tar.gz.md5sum ${CMAKE_CURRENT_BINARY_DIR}
   COMMAND mkdir -p ${CMAKE_CURRENT_BINARY_DIR}/tmp
   COMMAND cmake -E chdir ${CMAKE_CURRENT_BINARY_DIR} make -f ${PROJECT_SOURCE_DIR}/Makefile DSTDIR=${CMAKE_CURRENT_BINARY_DIR}/tmp MK_DIR=${mk_PREFIX}/share/mk