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Tobias-FischerTobias-Fischer
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Merge pull request #39 from wep21/rebuild-202511
Full rebuild January 2026 bump ros2-distro-mutex to 0.13.0 and build number to 15
2 parents aed5343 + ed00ccd commit 9010159

27 files changed

+2028
-1458
lines changed

‎.github/workflows/testpr.yml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@ on:
55
env:
66
ROS_VERSION: 2
77
# Change to 'true' to enable the cache upload as artifacts
8-
SAVE_CACHE_AS_ARTIFACT: 'false'
8+
SAVE_CACHE_AS_ARTIFACT: 'true'
99
# Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging
1010
IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false'
1111
jobs:

‎conda_build_config.yaml‎

Lines changed: 25 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -1,27 +1,35 @@
11
numpy:
22
- 2
3+
assimp:
4+
- 5
35
libprotobuf:
46
- 6.31.1
57
protobuf:
68
- 6.31.1
79
spdlog:
8-
- 1.15
10+
- 1.17
911
pugixml:
1012
- '1.15'
1113
libopencv:
1214
- 4.12.0
1315
libxml2:
14-
- 2.13.*
16+
- 2.14.*
1517
graphviz:
16-
- 13.*
17-
vtk:
18-
- 9.4.2
19-
pcl:
20-
- 1.15.0
21-
ffmpeg:
22-
- 8
18+
- 14.*
19+
# Mitigation for
20+
# https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380
21+
libcap:
22+
- 2.77
23+
fmt:
24+
- 12.1
25+
lua:
26+
- 5.4
27+
tbb:
28+
- '2022'
29+
tbb_devel:
30+
- '2022'
2331

24-
# Workaround for https://github.com/RoboStack/ros-kilted/pull/40#issuecomment-2782226697
32+
# Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697
2533
cmake:
2634
- 3.*
2735

@@ -38,7 +46,7 @@ c_compiler:
3846
- clang # [osx]
3947
- vs2022 # [win]
4048
c_compiler_version: # [unix]
41-
- 13 # [linux]
49+
- 14 # [linux]
4250
- 18 # [osx]
4351
c_stdlib:
4452
- sysroot # [linux]
@@ -53,12 +61,13 @@ cxx_compiler:
5361
- clangxx # [osx]
5462
- vs2022 # [win]
5563
cxx_compiler_version: # [unix]
56-
- 13 # [linux]
64+
- 14 # [linux]
5765
- 18 # [osx]
5866

5967
libzenohc:
60-
- 1.5.1
68+
- 1.7.2
6169
libzenohcxx:
62-
- 1.5.1
63-
libcap:
64-
- 2.75
70+
- 1.7.2
71+
72+
libhwloc:
73+
- 2.12.2

‎patch/dependencies.yaml‎

Lines changed: 35 additions & 35 deletions
Original file line numberDiff line numberDiff line change
@@ -31,17 +31,17 @@ libcurl_vendor:
3131
add_host: ["libcurl"]
3232
add_run: ["libcurl"]
3333
intra_process_demo:
34-
add_host: ["REQUIRE_OPENGL"]
34+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
3535
# Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/intra_process_demo/include/image_pipeline/image_view_node.hpp#L58
3636
add_run: ["${{ 'libopencv * *qt6*' if not (ppc64le or aarch64 or osx) }}"]
3737
rviz_ogre_vendor:
3838
add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml", "${{ 'libglu' if linux }}"]
3939
add_build: ["vcstool"]
4040
add_run: ["assimp"]
4141
pcl_conversions:
42-
add_host: ["REQUIRE_OPENGL", "libboost-devel"]
42+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
4343
pcl_ros:
44-
add_host: ["REQUIRE_OPENGL", "libboost-devel"]
44+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
4545
rviz_rendering:
4646
add_host: ["glew"]
4747
behaviortree_cpp:
@@ -50,23 +50,23 @@ behaviortree_cpp:
5050
plotjuggler:
5151
add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros-kilted-ros-workspace"]
5252
embree_vendor:
53-
add_host: ["REQUIRE_OPENGL", "libpng", "libjpeg-turbo", "openimageio", "tbb", "tbb-devel", "embree"]
53+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libpng", "libjpeg-turbo", "openimageio", "tbb", "tbb-devel", "embree"]
5454
ign_rviz_common:
55-
add_host: ["REQUIRE_OPENGL"]
55+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
5656
ign_rviz:
57-
add_host: ["REQUIRE_OPENGL"]
57+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
5858
ign_rviz_plugins:
59-
add_host: ["REQUIRE_OPENGL"]
59+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
6060
image_view:
61-
add_host: ["REQUIRE_OPENGL"]
61+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
6262
# Depends on opencv with gui support, see https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/image_view/src/stereo_view_node.cpp#L253
6363
add_run: ["${{ 'libopencv * *qt6*' if not (ppc64le or aarch64 or osx) }}"]
6464
nao_lola:
6565
add_host: ["libboost-devel"]
6666
ros_ign_gazebo:
67-
add_host: ["ros-kilted-std-msgs", "ros-kilted-rclcpp", "REQUIRE_OPENGL"]
67+
add_host: ["ros-kilted-std-msgs", "ros-kilted-rclcpp", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
6868
ros_ign_gazebo_demos:
69-
add_host: ["REQUIRE_OPENGL"]
69+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
7070
rosbag2_bag_v2_plugins:
7171
add_host: ["ros-noetic-roscpp"]
7272
tvm_vendor:
@@ -87,7 +87,7 @@ ros1_rosbag_storage_vendor:
8787
popf:
8888
add_host: ["perl"]
8989
rtabmap:
90-
add_host: ["REQUIRE_OPENGL", "ceres-solver", "libdc1394", "libusb", "vtk"]
90+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "libdc1394", "libusb", "vtk"]
9191
backward_ros:
9292
add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros-kilted-ament-cmake-libraries"]
9393
nav2_smac_planner:
@@ -109,62 +109,62 @@ python_qt_binding:
109109
add_run: ["pyqt-builder"]
110110
qt_gui_cpp:
111111
add_build: ["${{ 'pyqt' if (build_platform != target_platform) }}", "${{ 'qt-main' if (build_platform != target_platform) }}"]
112-
add_host: ["REQUIRE_OPENGL", "pyqt-builder", "pep517", "pyside2"]
112+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "pyqt-builder", "pep517", "pyside2"]
113113
add_run: ["pyqt-builder", "pep517"]
114114
rqt_gui_cpp:
115-
add_host: ["REQUIRE_OPENGL"]
115+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
116116
ur_moveit_config:
117117
add_host: ["ros-kilted-rclpy"]
118118
add_run: ["ros-kilted-rclpy"]
119119
gscam:
120120
add_host: ["glib"]
121121
dolly_ignition:
122-
add_host: ["REQUIRE_OPENGL"]
122+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
123123
google_benchmark_vendor:
124124
add_host: ["benchmark"]
125125
add_run: ["benchmark"]
126126
rqt_image_view:
127-
add_host: ["REQUIRE_OPENGL"]
127+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
128128
rqt_image_overlay_layer:
129-
add_host: ["REQUIRE_OPENGL"]
129+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
130130
rviz_visual_testing_framework:
131-
add_host: ["REQUIRE_OPENGL"]
131+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
132132
rviz2:
133-
add_host: ["REQUIRE_OPENGL"]
133+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
134134
plotjuggler_ros:
135-
add_host: ["REQUIRE_OPENGL"]
135+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
136136
moveit_setup_framework:
137-
add_host: ["REQUIRE_OPENGL"]
137+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
138138
moveit_setup_core_plugins:
139-
add_host: ["REQUIRE_OPENGL"]
139+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
140140
moveit_setup_controllers:
141-
add_host: ["REQUIRE_OPENGL"]
141+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
142142
moveit_setup_app_plugins:
143-
add_host: ["REQUIRE_OPENGL"]
143+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
144144
moveit_setup_srdf_plugins:
145-
add_host: ["REQUIRE_OPENGL"]
145+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
146146
moveit_setup_assistant:
147-
add_host: ["REQUIRE_OPENGL"]
147+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
148148
moveit:
149-
add_host: ["REQUIRE_OPENGL"]
149+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
150150
moveit_visual_tools:
151-
add_host: ["REQUIRE_OPENGL"]
151+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
152152
force_torque_sensor_broadcaster:
153153
add_host: ["typeguard", "jinja2"]
154154
ros_gz_sim:
155-
add_host: ["REQUIRE_OPENGL", "ros-kilted-gz-sensors-vendor"]
155+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros-kilted-gz-sensors-vendor"]
156156
geometric_shapes:
157157
add_host: ["libboost-devel", "octomap"]
158158
ros_image_to_qimage:
159-
add_host: ["REQUIRE_OPENGL"]
159+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
160160
rqt_image_overlay:
161-
add_host: ["REQUIRE_OPENGL"]
161+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
162162
slam_toolbox:
163163
add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
164-
add_host: ["REQUIRE_OPENGL", "blas-devel"]
164+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel"]
165165
vision_msgs_rviz_plugins:
166166
add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
167-
add_host: ["REQUIRE_OPENGL"]
167+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
168168
velodyne_pointcloud:
169169
add_host: ["libboost-devel"]
170170
uncrustify_vendor:
@@ -232,9 +232,9 @@ gz_ogre_next_vendor:
232232
rosx_introspection:
233233
add_host: ["rapidjson"]
234234
gz_ros2_control:
235-
add_host: ["REQUIRE_OPENGL", "ros-kilted-gz-sensors-vendor"]
235+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros-kilted-gz-sensors-vendor"]
236236
gz_ros2_control_demos:
237-
add_host: ["REQUIRE_OPENGL"]
237+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
238238
octomap_ros:
239239
add_host: ["octomap"]
240240
octomap_rviz_plugins:
@@ -244,7 +244,7 @@ zenoh_cpp_vendor:
244244
rmw_zenoh_cpp:
245245
add_host: ["libzenohc", "libzenohcxx"]
246246
autoware_utils_pcl:
247-
add_host: ["REQUIRE_OPENGL"]
247+
add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
248248
autoware_utils_debug:
249249
add_host: ["fmt"]
250250
rclpy:

‎patch/ros-kilted-autoware-trajectory.patch‎

Lines changed: 12 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,15 @@
1+
diff --git a/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp b/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp
2+
index e339508816..67faba08c8 100644
3+
--- a/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp
4+
+++ b/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp
5+
@@ -21,6 +21,7 @@
6+
7+
#include <utility>
8+
#include <vector>
9+
+#include <algorithm>
10+
11+
namespace autoware::experimental::trajectory::interpolator::detail
12+
{
113
diff --git a/include/autoware/trajectory/interpolator/lane_ids_interpolator.hpp b/include/autoware/trajectory/interpolator/lane_ids_interpolator.hpp
214
index b2ce72b..35ba18f 100644
315
--- a/include/autoware/trajectory/interpolator/lane_ids_interpolator.hpp

‎patch/ros-kilted-controller-interface.osx.patch‎

Lines changed: 0 additions & 13 deletions
This file was deleted.

‎patch/ros-kilted-foxglove-bridge.osx.patch‎

Lines changed: 108 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,108 @@
1+
diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp
2+
index 978c732..4883047 100644
3+
--- a/src/ros2_foxglove_bridge.cpp
4+
+++ b/src/ros2_foxglove_bridge.cpp
5+
@@ -282,7 +282,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
6+
std::string topic(channel.topic());
7+
const TopicAndDatatype topicAndSchemaName = {topic, schemaName};
8+
if (latestTopics.find(topicAndSchemaName) == latestTopics.end()) {
9+
- RCLCPP_INFO(this->get_logger(), "Removing channel %lu for topic \"%s\" (%s)", channel.id(),
10+
+ RCLCPP_INFO(this->get_logger(), "Removing channel %llu for topic \"%s\" (%s)", channel.id(),
11+
topic.c_str(), schemaName.c_str());
12+
channel.close();
13+
channelIt = _channels.erase(channelIt);
14+
@@ -349,7 +349,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
15+
}
16+
17+
const ChannelId channelId = channelResult.value().id();
18+
- RCLCPP_INFO(this->get_logger(), "Advertising new channel %lu for topic \"%s\"", channelId,
19+
+ RCLCPP_INFO(this->get_logger(), "Advertising new channel %llu for topic \"%s\"", channelId,
20+
topic.c_str());
21+
_channels.insert({channelId, std::move(channelResult.value())});
22+
}
23+
@@ -570,14 +570,14 @@ void FoxgloveBridge::subscribeConnectionGraph(bool subscribe) {
24+
void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetadata& client) {
25+
if (!client.sink_id.has_value()) {
26+
RCLCPP_ERROR(this->get_logger(),
27+
- "received subscribe request from client %u for channel %lu but client "
28+
+ "received subscribe request from client %u for channel %llu but client "
29+
"has no sink ID",
30+
client.id, channelId);
31+
return;
32+
}
33+
34+
RCLCPP_INFO(this->get_logger(),
35+
- "received subscribe request for channel %lu from client %u (sink %lu)", channelId,
36+
+ "received subscribe request for channel %llu from client %u (sink %llu)", channelId,
37+
client.id, client.sink_id.value());
38+
std::lock_guard<std::mutex> lock(_subscriptionsMutex);
39+
40+
@@ -585,7 +585,7 @@ void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetada
41+
// calling this callback?
42+
auto it = _channels.find(channelId);
43+
if (it == _channels.end()) {
44+
- RCLCPP_ERROR(this->get_logger(), "received subscribe request for unknown channel: %lu",
45+
+ RCLCPP_ERROR(this->get_logger(), "received subscribe request for unknown channel: %llu",
46+
channelId);
47+
return;
48+
}
49+
@@ -615,7 +615,7 @@ void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetada
50+
51+
if (!client.sink_id.has_value()) {
52+
RCLCPP_ERROR(this->get_logger(),
53+
- "received subscribe request for channel %lu but client "
54+
+ "received subscribe request for channel %llu but client "
55+
"has no sink ID",
56+
channelId);
57+
return;
58+
@@ -623,19 +623,19 @@ void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetada
59+
60+
_subscriptions.insert({{channelId, client.id}, subscription});
61+
RCLCPP_INFO(this->get_logger(),
62+
- "created ROS subscription on %s (%s) successfully for channel %lu (client "
63+
- "%u, sink %lu)",
64+
+ "created ROS subscription on %s (%s) successfully for channel %llu (client "
65+
+ "%u, sink %llu)",
66+
topic.c_str(), datatype.c_str(), channelId, client.id, client.sink_id.value());
67+
}
68+
69+
void FoxgloveBridge::unsubscribe(ChannelId channelId, const foxglove::ClientMetadata& client) {
70+
std::lock_guard<std::mutex> lock(_subscriptionsMutex);
71+
72+
- RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %lu", channelId);
73+
+ RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %llu", channelId);
74+
75+
auto it = _channels.find(channelId);
76+
if (it == _channels.end()) {
77+
- RCLCPP_ERROR(this->get_logger(), "received unsubscribe request for unknown channel %lu",
78+
+ RCLCPP_ERROR(this->get_logger(), "received unsubscribe request for unknown channel %llu",
79+
channelId);
80+
return;
81+
}
82+
@@ -643,7 +643,7 @@ void FoxgloveBridge::unsubscribe(ChannelId channelId, const foxglove::ClientMeta
83+
auto subscriptionIt = _subscriptions.find({channelId, client.id});
84+
if (subscriptionIt == _subscriptions.end()) {
85+
RCLCPP_ERROR(this->get_logger(),
86+
- "Client %u tried unsubscribing from channel %lu but a corresponding ROS "
87+
+ "Client %u tried unsubscribing from channel %llu but a corresponding ROS "
88+
"subscription doesn't exist",
89+
client.id, channelId);
90+
return;
91+
@@ -651,7 +651,7 @@ void FoxgloveBridge::unsubscribe(ChannelId channelId, const foxglove::ClientMeta
92+
93+
const std::string& topic = subscriptionIt->second->get_topic_name();
94+
RCLCPP_INFO(this->get_logger(),
95+
- "Cleaned up subscription to topic %s for client %u on channel %lu", topic.c_str(),
96+
+ "Cleaned up subscription to topic %s for client %u on channel %llu", topic.c_str(),
97+
client.id, channelId);
98+
_subscriptions.erase(subscriptionIt);
99+
}
100+
@@ -755,7 +755,7 @@ void FoxgloveBridge::clientUnadvertise(ClientId clientId, ChannelId clientChanne
101+
102+
const auto& publisher = it->second.publisher;
103+
RCLCPP_INFO(this->get_logger(),
104+
- "Client ID %u is no longer advertising %s (%zu subscribers) on channel %lu", clientId,
105+
+ "Client ID %u is no longer advertising %s (%zu subscribers) on channel %llu", clientId,
106+
publisher->get_topic_name(), publisher->get_subscription_count(), clientChannelId);
107+
108+
_clientAdvertisedTopics.erase(it);

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