From 94d1dab33f311591fdfef88ec7aedf9a5ebeb6ec Mon Sep 17 00:00:00 2001
From: Gaetan Lepage <gaetan@glepage.com>
Date: Sun, 1 Mar 2026 10:38:23 +0000
Subject: [PATCH 1/3] libpointmatcher: cleanup

---
 pkgs/by-name/li/libpointmatcher/package.nix | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/pkgs/by-name/li/libpointmatcher/package.nix b/pkgs/by-name/li/libpointmatcher/package.nix
index 8ffbb9263678..6e45bef0c6cd 100644
--- a/pkgs/by-name/li/libpointmatcher/package.nix
+++ b/pkgs/by-name/li/libpointmatcher/package.nix
@@ -9,14 +9,14 @@
   yaml-cpp,
 }:
 
-stdenv.mkDerivation rec {
+stdenv.mkDerivation (finalAttrs: {
   pname = "libpointmatcher";
   version = "1.4.4";
 
   src = fetchFromGitHub {
     owner = "norlab-ulaval";
     repo = "libpointmatcher";
-    rev = version;
+    tag = finalAttrs.version;
     hash = "sha256-OkfWdim0JDKiBx5spYpkMyFrLQP3AMWBVDpzmFwqNFM=";
   };
 
@@ -30,16 +30,16 @@ stdenv.mkDerivation rec {
 
   cmakeFlags = [
     (lib.cmakeFeature "EIGEN_INCLUDE_DIR" "${eigen}/include/eigen3")
-    (lib.cmakeBool "BUILD_TESTS" doCheck)
+    (lib.cmakeBool "BUILD_TESTS" finalAttrs.doCheck)
   ];
 
   doCheck = true;
 
   meta = {
-    inherit (src.meta) homepage;
+    inherit (finalAttrs.src.meta) homepage;
     description = "\"Iterative Closest Point\" library for 2-D/3-D mapping in robotic";
     license = lib.licenses.bsd3;
     platforms = lib.platforms.linux;
     maintainers = with lib.maintainers; [ cryptix ];
   };
-}
+})

From 18e9d6ba195bb119fa82c9c634b9d5f414e3f842 Mon Sep 17 00:00:00 2001
From: Gaetan Lepage <gaetan@glepage.com>
Date: Sun, 1 Mar 2026 10:38:35 +0000
Subject: [PATCH 2/3] libpointmatcher: fix boost 1.89 compatibility

---
 pkgs/by-name/li/libpointmatcher/package.nix | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/pkgs/by-name/li/libpointmatcher/package.nix b/pkgs/by-name/li/libpointmatcher/package.nix
index 6e45bef0c6cd..aa099a0cd540 100644
--- a/pkgs/by-name/li/libpointmatcher/package.nix
+++ b/pkgs/by-name/li/libpointmatcher/package.nix
@@ -20,6 +20,25 @@ stdenv.mkDerivation (finalAttrs: {
     hash = "sha256-OkfWdim0JDKiBx5spYpkMyFrLQP3AMWBVDpzmFwqNFM=";
   };
 
+  # Fix boost 1.89 compatibility
+  postPatch = ''
+    substituteInPlace CMakeLists.txt \
+      --replace-fail \
+        "find_package(Boost REQUIRED COMPONENTS thread system program_options date_time)" \
+        "find_package(Boost REQUIRED COMPONENTS thread program_options date_time)" \
+      --replace-fail \
+        "find_package(Boost REQUIRED COMPONENTS thread system program_options date_time chrono)" \
+        "find_package(Boost REQUIRED COMPONENTS thread program_options date_time chrono)"
+
+    substituteInPlace libpointmatcherConfig.cmake.in \
+      --replace-fail \
+        "find_package(Boost COMPONENTS thread system program_options date_time REQUIRED)" \
+        "find_package(Boost COMPONENTS thread program_options date_time REQUIRED)" \
+      --replace-fail \
+        "find_package(Boost COMPONENTS thread system program_options date_time chrono REQUIRED)" \
+        "find_package(Boost COMPONENTS thread program_options date_time chrono REQUIRED)"
+  '';
+
   nativeBuildInputs = [ cmake ];
   buildInputs = [
     eigen

From 6efeb534b1ccffc32eab3ff976f025cc0840d0c1 Mon Sep 17 00:00:00 2001
From: Gaetan Lepage <gaetan@glepage.com>
Date: Sun, 1 Mar 2026 10:55:46 +0000
Subject: [PATCH 3/3] rtabmap: fix boost 1.89 compatibility

---
 pkgs/by-name/rt/rtabmap/package.nix | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/pkgs/by-name/rt/rtabmap/package.nix b/pkgs/by-name/rt/rtabmap/package.nix
index fadba4004586..37d9f03fa53f 100644
--- a/pkgs/by-name/rt/rtabmap/package.nix
+++ b/pkgs/by-name/rt/rtabmap/package.nix
@@ -2,7 +2,6 @@
   lib,
   stdenv,
   fetchFromGitHub,
-  fetchpatch,
 
   # nativeBuildInputs
   cmake,
@@ -51,6 +50,14 @@ stdenv.mkDerivation (finalAttrs: {
     hash = "sha256-u9wswlFkGpPgJaBwSddnpv49wBAmkKRwWFO5jQ9/twA=";
   };
 
+  # Fix boost 1.89 compatibility
+  postPatch = ''
+    substituteInPlace CMakeLists.txt \
+      --replace-fail \
+        "find_package(Boost COMPONENTS thread filesystem system program_options date_time chrono timer serialization REQUIRED)" \
+        "find_package(Boost COMPONENTS thread filesystem program_options date_time chrono timer serialization REQUIRED)"
+  '';
+
   nativeBuildInputs = [
     cmake
     qt6.wrapQtAppsHook