Full rebuild January 2026 bump ros2-distro-mutex to 0.13.0 and build number to 15

.github/workflows/testpr.yml

@@ -5,7 +5,7 @@ on:
 env:
   ROS_VERSION: 2
   # Change to 'true' to enable the cache upload as artifacts
-  SAVE_CACHE_AS_ARTIFACT: 'false'
+  SAVE_CACHE_AS_ARTIFACT: 'true'
   # Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging
   IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false'
 jobs:

conda_build_config.yaml

@@ -1,27 +1,35 @@
 numpy:
   - 2
+assimp:
+  - 5
 libprotobuf:
   - 6.31.1
 protobuf:
   - 6.31.1
 spdlog:
-  - 1.15
+  - 1.17
 pugixml:
   - '1.15'
 libopencv:
   - 4.12.0
 libxml2:
-  - 2.13.*
+  - 2.14.*
 graphviz:
-  - 13.*
-vtk:
-  - 9.4.2
-pcl:
-  - 1.15.0
-ffmpeg:
-  - 8
+  - 14.*
+# Mitigation for
+# https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380
+libcap:
+  - 2.77
+fmt:
+  - 12.1
+lua:
+  - 5.4
+tbb:
+  - '2022'
+tbb_devel:
+  - '2022'
 
-# Workaround for https://github.com/RoboStack/ros-kilted/pull/40#issuecomment-2782226697
+# Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697
 cmake:
   - 3.*
 
@@ -38,7 +46,7 @@ c_compiler:
   - clang                      # [osx]
   - vs2022                     # [win]
 c_compiler_version:            # [unix]
-  - 13                         # [linux]
+  - 14                         # [linux]
   - 18                         # [osx]
 c_stdlib:
   - sysroot                    # [linux]
@@ -53,12 +61,13 @@ cxx_compiler:
   - clangxx                    # [osx]
   - vs2022                     # [win]
 cxx_compiler_version:          # [unix]
-  - 13                         # [linux]
+  - 14                         # [linux]
   - 18                         # [osx]
 
 libzenohc:
-  - 1.5.1
+  - 1.7.2
 libzenohcxx:
-  - 1.5.1
-libcap:
-  - 2.75
+  - 1.7.2
+
+libhwloc:
+  - 2.12.2

patch/dependencies.yaml

@@ -31,17 +31,17 @@ libcurl_vendor:
   add_host: ["libcurl"]
   add_run: ["libcurl"]
 intra_process_demo:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
   # 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
   add_run: ["${{ 'libopencv * *qt6*' if not (ppc64le or aarch64 or osx) }}"]
 rviz_ogre_vendor:
   add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml", "${{ 'libglu' if linux }}"]
   add_build: ["vcstool"]
   add_run: ["assimp"]
 pcl_conversions:
-  add_host: ["REQUIRE_OPENGL", "libboost-devel"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
 pcl_ros:
-  add_host: ["REQUIRE_OPENGL", "libboost-devel"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
 rviz_rendering:
   add_host: ["glew"]
 behaviortree_cpp:
@@ -50,23 +50,23 @@ behaviortree_cpp:
 plotjuggler:
   add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros-kilted-ros-workspace"]
 embree_vendor:
-  add_host: ["REQUIRE_OPENGL", "libpng", "libjpeg-turbo", "openimageio", "tbb", "tbb-devel", "embree"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libpng", "libjpeg-turbo", "openimageio", "tbb", "tbb-devel", "embree"]
 ign_rviz_common:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 ign_rviz:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 ign_rviz_plugins:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 image_view:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
   # Depends on opencv with gui support, see  https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/image_view/src/stereo_view_node.cpp#L253
   add_run: ["${{ 'libopencv * *qt6*' if not (ppc64le or aarch64 or osx) }}"]
 nao_lola:
   add_host: ["libboost-devel"]
 ros_ign_gazebo:
-  add_host: ["ros-kilted-std-msgs", "ros-kilted-rclcpp", "REQUIRE_OPENGL"]
+  add_host: ["ros-kilted-std-msgs", "ros-kilted-rclcpp", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 ros_ign_gazebo_demos:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 rosbag2_bag_v2_plugins:
   add_host: ["ros-noetic-roscpp"]
 tvm_vendor:
@@ -87,7 +87,7 @@ ros1_rosbag_storage_vendor:
 popf:
   add_host: ["perl"]
 rtabmap:
-  add_host: ["REQUIRE_OPENGL", "ceres-solver", "libdc1394", "libusb", "vtk"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "libdc1394", "libusb", "vtk"]
 backward_ros:
   add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros-kilted-ament-cmake-libraries"]
 nav2_smac_planner:
@@ -109,62 +109,62 @@ python_qt_binding:
   add_run: ["pyqt-builder"]
 qt_gui_cpp:
   add_build: ["${{ 'pyqt' if (build_platform != target_platform) }}", "${{ 'qt-main' if (build_platform != target_platform) }}"]
-  add_host: ["REQUIRE_OPENGL", "pyqt-builder", "pep517", "pyside2"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "pyqt-builder", "pep517", "pyside2"]
   add_run: ["pyqt-builder", "pep517"]
 rqt_gui_cpp:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 ur_moveit_config:
   add_host: ["ros-kilted-rclpy"]
   add_run: ["ros-kilted-rclpy"]
 gscam:
   add_host: ["glib"]
 dolly_ignition:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 google_benchmark_vendor:
   add_host: ["benchmark"]
   add_run: ["benchmark"]
 rqt_image_view:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 rqt_image_overlay_layer:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 rviz_visual_testing_framework:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 rviz2:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 plotjuggler_ros:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 moveit_setup_framework:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 moveit_setup_core_plugins:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 moveit_setup_controllers:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 moveit_setup_app_plugins:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 moveit_setup_srdf_plugins:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 moveit_setup_assistant:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 moveit:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 moveit_visual_tools:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 force_torque_sensor_broadcaster:
   add_host: ["typeguard", "jinja2"]
 ros_gz_sim:
-  add_host: ["REQUIRE_OPENGL", "ros-kilted-gz-sensors-vendor"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros-kilted-gz-sensors-vendor"]
 geometric_shapes:
   add_host: ["libboost-devel", "octomap"]
 ros_image_to_qimage:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 rqt_image_overlay:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 slam_toolbox:
   add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
-  add_host: ["REQUIRE_OPENGL", "blas-devel"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel"]
 vision_msgs_rviz_plugins:
   add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 velodyne_pointcloud:
   add_host: ["libboost-devel"]
 uncrustify_vendor:
@@ -232,9 +232,9 @@ gz_ogre_next_vendor:
 rosx_introspection:
   add_host: ["rapidjson"]
 gz_ros2_control:
-  add_host: ["REQUIRE_OPENGL", "ros-kilted-gz-sensors-vendor"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros-kilted-gz-sensors-vendor"]
 gz_ros2_control_demos:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 octomap_ros:
   add_host: ["octomap"]
 octomap_rviz_plugins:
@@ -244,7 +244,7 @@ zenoh_cpp_vendor:
 rmw_zenoh_cpp:
   add_host: ["libzenohc", "libzenohcxx"]
 autoware_utils_pcl:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 autoware_utils_debug:
   add_host: ["fmt"]
 rclpy:

patch/ros-kilted-autoware-trajectory.patch

@@ -1,3 +1,15 @@
+diff --git a/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp b/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp
+index e339508816..67faba08c8 100644
+--- a/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp
++++ b/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp
+@@ -21,6 +21,7 @@
+
+ #include <utility>
+ #include <vector>
++#include <algorithm>
+
+ namespace autoware::experimental::trajectory::interpolator::detail
+ {
 diff --git a/include/autoware/trajectory/interpolator/lane_ids_interpolator.hpp b/include/autoware/trajectory/interpolator/lane_ids_interpolator.hpp
 index b2ce72b..35ba18f 100644
 --- a/include/autoware/trajectory/interpolator/lane_ids_interpolator.hpp

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

@@ -0,0 +1,108 @@
+diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp
+index 978c732..4883047 100644
+--- a/src/ros2_foxglove_bridge.cpp
++++ b/src/ros2_foxglove_bridge.cpp
+@@ -282,7 +282,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
+     std::string topic(channel.topic());
+     const TopicAndDatatype topicAndSchemaName = {topic, schemaName};
+     if (latestTopics.find(topicAndSchemaName) == latestTopics.end()) {
+-      RCLCPP_INFO(this->get_logger(), "Removing channel %lu for topic \"%s\" (%s)", channel.id(),
++      RCLCPP_INFO(this->get_logger(), "Removing channel %llu for topic \"%s\" (%s)", channel.id(),
+                   topic.c_str(), schemaName.c_str());
+       channel.close();
+       channelIt = _channels.erase(channelIt);
+@@ -349,7 +349,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
+     }
+
+     const ChannelId channelId = channelResult.value().id();
+-    RCLCPP_INFO(this->get_logger(), "Advertising new channel %lu for topic \"%s\"", channelId,
++    RCLCPP_INFO(this->get_logger(), "Advertising new channel %llu for topic \"%s\"", channelId,
+                 topic.c_str());
+     _channels.insert({channelId, std::move(channelResult.value())});
+   }
+@@ -570,14 +570,14 @@ void FoxgloveBridge::subscribeConnectionGraph(bool subscribe) {
+ void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetadata& client) {
+   if (!client.sink_id.has_value()) {
+     RCLCPP_ERROR(this->get_logger(),
+-                 "received subscribe request from client %u for channel %lu but client "
++                 "received subscribe request from client %u for channel %llu but client "
+                  "has no sink ID",
+                  client.id, channelId);
+     return;
+   }
+
+   RCLCPP_INFO(this->get_logger(),
+-              "received subscribe request for channel %lu from client %u (sink %lu)", channelId,
++              "received subscribe request for channel %llu from client %u (sink %llu)", channelId,
+               client.id, client.sink_id.value());
+   std::lock_guard<std::mutex> lock(_subscriptionsMutex);
+
+@@ -585,7 +585,7 @@ void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetada
+   // calling this callback?
+   auto it = _channels.find(channelId);
+   if (it == _channels.end()) {
+-    RCLCPP_ERROR(this->get_logger(), "received subscribe request for unknown channel: %lu",
++    RCLCPP_ERROR(this->get_logger(), "received subscribe request for unknown channel: %llu",
+                  channelId);
+     return;
+   }
+@@ -615,7 +615,7 @@ void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetada
+
+   if (!client.sink_id.has_value()) {
+     RCLCPP_ERROR(this->get_logger(),
+-                 "received subscribe request for channel %lu but client "
++                 "received subscribe request for channel %llu but client "
+                  "has no sink ID",
+                  channelId);
+     return;
+@@ -623,19 +623,19 @@ void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetada
+
+   _subscriptions.insert({{channelId, client.id}, subscription});
+   RCLCPP_INFO(this->get_logger(),
+-              "created ROS subscription on %s (%s) successfully for channel %lu (client "
+-              "%u, sink %lu)",
++              "created ROS subscription on %s (%s) successfully for channel %llu (client "
++              "%u, sink %llu)",
+               topic.c_str(), datatype.c_str(), channelId, client.id, client.sink_id.value());
+ }
+
+ void FoxgloveBridge::unsubscribe(ChannelId channelId, const foxglove::ClientMetadata& client) {
+   std::lock_guard<std::mutex> lock(_subscriptionsMutex);
+
+-  RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %lu", channelId);
++  RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %llu", channelId);
+
+   auto it = _channels.find(channelId);
+   if (it == _channels.end()) {
+-    RCLCPP_ERROR(this->get_logger(), "received unsubscribe request for unknown channel %lu",
++    RCLCPP_ERROR(this->get_logger(), "received unsubscribe request for unknown channel %llu",
+                  channelId);
+     return;
+   }
+@@ -643,7 +643,7 @@ void FoxgloveBridge::unsubscribe(ChannelId channelId, const foxglove::ClientMeta
+   auto subscriptionIt = _subscriptions.find({channelId, client.id});
+   if (subscriptionIt == _subscriptions.end()) {
+     RCLCPP_ERROR(this->get_logger(),
+-                 "Client %u tried unsubscribing from channel %lu but a corresponding ROS "
++                 "Client %u tried unsubscribing from channel %llu but a corresponding ROS "
+                  "subscription doesn't exist",
+                  client.id, channelId);
+     return;
+@@ -651,7 +651,7 @@ void FoxgloveBridge::unsubscribe(ChannelId channelId, const foxglove::ClientMeta
+
+   const std::string& topic = subscriptionIt->second->get_topic_name();
+   RCLCPP_INFO(this->get_logger(),
+-              "Cleaned up subscription to topic %s for client %u on channel %lu", topic.c_str(),
++              "Cleaned up subscription to topic %s for client %u on channel %llu", topic.c_str(),
+               client.id, channelId);
+   _subscriptions.erase(subscriptionIt);
+ }
+@@ -755,7 +755,7 @@ void FoxgloveBridge::clientUnadvertise(ClientId clientId, ChannelId clientChanne
+
+   const auto& publisher = it->second.publisher;
+   RCLCPP_INFO(this->get_logger(),
+-              "Client ID %u is no longer advertising %s (%zu subscribers) on channel %lu", clientId,
++              "Client ID %u is no longer advertising %s (%zu subscribers) on channel %llu", clientId,
+               publisher->get_topic_name(), publisher->get_subscription_count(), clientChannelId);
+
+   _clientAdvertisedTopics.erase(it);