From 7343e37c5e0de9e475872bcc16c1c594c1f83a20 Mon Sep 17 00:00:00 2001 From: Diego Ferigo Date: Tue, 26 May 2026 09:26:46 +0200 Subject: [PATCH 01/34] Reduce diff wrt upstream yaml --- conda_build_config.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/conda_build_config.yaml b/conda_build_config.yaml index 8eb80de58..3219bb01f 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -72,8 +72,8 @@ libzenohcxx: libhwloc: - 2.12.2 urdfdom: - - 4.0.1 + - '4.0.1' urdfdom-headers: - 1.1.2 shaderc: - - 2026.2 + - '2026.2' From 0c23afcb29462e803b5b279dc92330f180d2f5b1 Mon Sep 17 00:00:00 2001 From: Diego Ferigo Date: Tue, 26 May 2026 09:28:01 +0200 Subject: [PATCH 02/34] Update pinnings --- conda_build_config.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/conda_build_config.yaml b/conda_build_config.yaml index 3219bb01f..25f915413 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -1,7 +1,7 @@ numpy: - 2 assimp: - - 5 + - 6 libprotobuf: - 6.33.5 protobuf: @@ -70,7 +70,7 @@ libzenohc: libzenohcxx: - 1.7.2 libhwloc: - - 2.12.2 + - 2.13.0 urdfdom: - '4.0.1' urdfdom-headers: From ab1e05fe63b7f56b597d48ce969419dc0d9e21d8 Mon Sep 17 00:00:00 2001 From: Diego Ferigo Date: Tue, 26 May 2026 09:29:26 +0200 Subject: [PATCH 03/34] Bump build number and mutex version --- vinca.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/vinca.yaml b/vinca.yaml index 373a60b08..7468fc3ff 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -5,12 +5,12 @@ conda_index: - robostack.yaml - packages-ignore.yaml -# Reminder for next full rebuild, the next build number should be 20 -build_number: 19 +# Reminder for next full rebuild, the next build number should be 21 +build_number: 20 mutex_package: name: "ros2-distro-mutex" - version: "0.15.0" + version: "0.16.0" upper_bound: "x.x" run_constraints: - libboost 1.88.* From ceacd3aa37b8f22fd6887488e3e8231b3d9cae51 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Thu, 28 May 2026 09:20:09 +1000 Subject: [PATCH 04/34] Update diagnostic packages to version 4.3.7 --- rosdistro_snapshot.yaml | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml index 7ad347fa2..10e91f120 100644 --- a/rosdistro_snapshot.yaml +++ b/rosdistro_snapshot.yaml @@ -1032,29 +1032,29 @@ desktop_full: url: https://github.com/ros2-gbp/variants-release.git version: 0.12.0 diagnostic_aggregator: - tag: release/kilted/diagnostic_aggregator/4.3.6-1 + tag: release/kilted/diagnostic_aggregator/4.3.7-1 url: https://github.com/ros2-gbp/diagnostics-release.git - version: 4.3.6 + version: 4.3.7 diagnostic_common_diagnostics: - tag: release/kilted/diagnostic_common_diagnostics/4.3.6-1 + tag: release/kilted/diagnostic_common_diagnostics/4.3.7-1 url: https://github.com/ros2-gbp/diagnostics-release.git - version: 4.3.6 + version: 4.3.7 diagnostic_msgs: tag: release/kilted/diagnostic_msgs/5.5.2-1 url: https://github.com/ros2-gbp/common_interfaces-release.git version: 5.5.2 diagnostic_remote_logging: - tag: release/kilted/diagnostic_remote_logging/4.3.6-1 + tag: release/kilted/diagnostic_remote_logging/4.3.7-1 url: https://github.com/ros2-gbp/diagnostics-release.git - version: 4.3.6 + version: 4.3.7 diagnostic_updater: - tag: release/kilted/diagnostic_updater/4.3.6-1 + tag: release/kilted/diagnostic_updater/4.3.7-1 url: https://github.com/ros2-gbp/diagnostics-release.git - version: 4.3.6 + version: 4.3.7 diagnostics: - tag: release/kilted/diagnostics/4.3.6-1 + tag: release/kilted/diagnostics/4.3.7-1 url: https://github.com/ros2-gbp/diagnostics-release.git - version: 4.3.6 + version: 4.3.7 diff_drive_controller: tag: release/kilted/diff_drive_controller/5.13.1-1 url: https://github.com/ros2-gbp/ros2_controllers-release.git @@ -5532,9 +5532,9 @@ sdl2_vendor: url: https://github.com/ros2-gbp/joystick_drivers-release.git version: 3.3.0 self_test: - tag: release/kilted/self_test/4.3.6-1 + tag: release/kilted/self_test/4.3.7-1 url: https://github.com/ros2-gbp/diagnostics-release.git - version: 4.3.6 + version: 4.3.7 sensor_msgs: tag: release/kilted/sensor_msgs/5.5.2-1 url: https://github.com/ros2-gbp/common_interfaces-release.git From d8386d2cfacb79124eb6d5cefc869d25fab28e9f Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 12 Jun 2026 06:45:28 +1000 Subject: [PATCH 05/34] Add rosidl-generator-py osx patch --- .../ros-kilted-rosidl-generator-py.osx.patch | 69 +++++++++++++++++++ 1 file changed, 69 insertions(+) create mode 100644 patch/ros-kilted-rosidl-generator-py.osx.patch diff --git a/patch/ros-kilted-rosidl-generator-py.osx.patch b/patch/ros-kilted-rosidl-generator-py.osx.patch new file mode 100644 index 000000000..c97bf1e2e --- /dev/null +++ b/patch/ros-kilted-rosidl-generator-py.osx.patch @@ -0,0 +1,69 @@ +diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake +index de6a6c65..62093e4a 100644 +--- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake ++++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake +@@ -152,7 +152,7 @@ set_property( + + set(_target_name_lib "${rosidl_generate_interfaces_TARGET}__rosidl_generator_py") + add_library(${_target_name_lib} SHARED ${_generated_c_files}) +-target_link_libraries(${_target_name_lib} PRIVATE ++target_link_libraries(${_target_name_lib} PUBLIC + ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c) + add_dependencies( + ${_target_name_lib} +@@ -160,11 +160,6 @@ add_dependencies( + ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c + ) + +-target_link_libraries( +- ${_target_name_lib} PRIVATE +- Python3::NumPy +- Python3::Python +-) + target_include_directories(${_target_name_lib} + PRIVATE + ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c +@@ -176,8 +171,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + set(_extension_compile_flags -Wall -Wextra) + endif() + ++if(APPLE) ++ set_target_properties(${_target_name_lib} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") ++ target_include_directories(${_target_name_lib} PRIVATE ${Python3_INCLUDE_DIRS} ${Python3_NumPy_INCLUDE_DIRS}) ++else() ++ target_link_libraries(${_target_name_lib} PUBLIC Python3::NumPy Python3::Python) ++endif() ++ + rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c") +-target_link_libraries(${_target_name_lib} PRIVATE ${c_typesupport_target}) ++target_link_libraries(${_target_name_lib} PUBLIC ${c_typesupport_target}) + + foreach(_typesupport_impl ${_typesupport_impls}) + find_package(${_typesupport_impl} REQUIRED) +@@ -210,7 +212,7 @@ foreach(_typesupport_impl ${_typesupport_impls}) + RUNTIME_OUTPUT_DIRECTORY ${_output_path}) + + target_link_libraries( +- ${_target_name} PRIVATE ++ ${_target_name} PUBLIC + ${_target_name_lib} + ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl} + ${c_typesupport_target} +@@ -226,7 +228,7 @@ foreach(_typesupport_impl ${_typesupport_impls}) + ) + + foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) +- target_link_libraries(${_target_name} PRIVATE ${${_pkg_name}__TARGETS}) ++ target_link_libraries(${_target_name} PUBLIC ${${_pkg_name}__TARGETS}) + endforeach() + + add_dependencies(${_target_name} +@@ -243,7 +245,7 @@ endforeach() + + # Depend on rosidl_generator_py generated targets from our dependencies + foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) +- target_link_libraries(${_target_name_lib} PRIVATE ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}}) ++ target_link_libraries(${_target_name_lib} PUBLIC ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}}) + endforeach() + + set_target_properties(${_target_name_lib} PROPERTIES COMPILE_OPTIONS "${_extension_compile_flags}") From 8045f512f8430921f794a392168cb663cddce1ed Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 12 Jun 2026 06:48:26 +1000 Subject: [PATCH 06/34] Delete patch/ros-kilted-rosidl-generator-py.patch --- patch/ros-kilted-rosidl-generator-py.patch | 13 ------------- 1 file changed, 13 deletions(-) delete mode 100644 patch/ros-kilted-rosidl-generator-py.patch diff --git a/patch/ros-kilted-rosidl-generator-py.patch b/patch/ros-kilted-rosidl-generator-py.patch deleted file mode 100644 index 9dd87aeb4..000000000 --- a/patch/ros-kilted-rosidl-generator-py.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/cmake/rosidl_generator_py_generate_interfaces.cmake b/cmake/rosidl_generator_py_generate_interfaces.cmake -index de6a6c6..1ae4830 100644 ---- a/cmake/rosidl_generator_py_generate_interfaces.cmake -+++ b/cmake/rosidl_generator_py_generate_interfaces.cmake -@@ -163,7 +163,7 @@ add_dependencies( - target_link_libraries( - ${_target_name_lib} PRIVATE - Python3::NumPy -- Python3::Python -+ Python3::Module - ) - target_include_directories(${_target_name_lib} - PRIVATE From 06513b695da5a9b091382276c11796cec6d46389 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 12 Jun 2026 06:54:19 +1000 Subject: [PATCH 07/34] Modify target link libraries for macOS --- patch/ros-kilted-rosidl-generator-py.osx.patch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/patch/ros-kilted-rosidl-generator-py.osx.patch b/patch/ros-kilted-rosidl-generator-py.osx.patch index c97bf1e2e..c93e3cf8c 100644 --- a/patch/ros-kilted-rosidl-generator-py.osx.patch +++ b/patch/ros-kilted-rosidl-generator-py.osx.patch @@ -28,7 +28,7 @@ index de6a6c65..62093e4a 100644 endif() +if(APPLE) -+ set_target_properties(${_target_name_lib} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") ++ target_link_libraries(${_target_name_lib} PRIVATE Python3::NumPy Python3::Module) + target_include_directories(${_target_name_lib} PRIVATE ${Python3_INCLUDE_DIRS} ${Python3_NumPy_INCLUDE_DIRS}) +else() + target_link_libraries(${_target_name_lib} PUBLIC Python3::NumPy Python3::Python) From 3717d05dba3d3981dd2239e9fe2d5c150976c6e8 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Mon, 15 Jun 2026 10:15:22 +1000 Subject: [PATCH 08/34] Refactor conda_build_config.yaml dependencies Updated dependencies and removed obsolete entries in conda build configuration. --- conda_build_config.yaml | 62 ++++++++++++++++++++++------------------- 1 file changed, 33 insertions(+), 29 deletions(-) diff --git a/conda_build_config.yaml b/conda_build_config.yaml index 25f915413..a99e96bc8 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -1,40 +1,56 @@ numpy: - 2 + assimp: - 6 +# Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697 +cmake: + - 3.* +# as of early April 2026 key robotics packages like pinocchio still required eigen 3.4.0.*, +# see https://github.com/conda-forge/eigenpy-feedstock/pull/184 +eigen_abi_devel: + - '3.4.0' libprotobuf: - 6.33.5 protobuf: - 6.33.5 -spdlog: - - '1.17' -pugixml: - - '1.15' -libopencv: - - 4.13.0 -libxml2: - - '2.14' +fmt: + - '12.1' graphviz: - '14' +jsoncpp: + - 1.9.7 +libopencv: + - 4.13.0 # Mitigation for # https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380 libcap: - '2.77' -fmt: - - '12.1' +libhwloc: + - 2.13.0 +libxml2: + - '2.14' +libzenohc: + - 1.7.2 +libzenohcxx: + - 1.7.2 lua: - 5.4 +pugixml: + - '1.15' +shaderc: + - '2026.2' +spdlog: + - '1.17' tbb: - '2022' tbb_devel: - '2022' -# Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697 -cmake: - - 3.* -# as of early April 2026 key robotics packages like pinocchio still required eigen 3.4.0.*, -# see https://github.com/conda-forge/eigenpy-feedstock/pull/184 -eigen_abi_devel: - - '3.4.0' +urdfdom: + - '4.0.1' +urdfdom-headers: + - 1.1.2 + cdt_name: # [linux] - conda # [linux] python: @@ -65,15 +81,3 @@ cxx_compiler_version: # [unix] - 14 # [linux] - 18 # [osx] - 14 # [linux and not ppc64le and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] -libzenohc: - - 1.7.2 -libzenohcxx: - - 1.7.2 -libhwloc: - - 2.13.0 -urdfdom: - - '4.0.1' -urdfdom-headers: - - 1.1.2 -shaderc: - - '2026.2' From 3b6ef76a9bb13597f0bd1ee0e462ad2fb0c2b31b Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Mon, 15 Jun 2026 10:15:37 +1000 Subject: [PATCH 09/34] Enable full rebuild by ignoring cache Changed IGNORE_CACHE_AND_DO_FULL_REBUILD to true for testing. --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index e6e2742ba..53b33b3a2 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -7,7 +7,7 @@ env: # Change to 'true' to enable the cache upload as artifacts 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' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true' jobs: build: From c01be803d5fbbb3b5b0416e15e279ff0fb33efad Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Mon, 15 Jun 2026 17:11:22 +1000 Subject: [PATCH 10/34] Set IGNORE_CACHE_AND_DO_FULL_REBUILD to 'false' --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 53b33b3a2..e6e2742ba 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -7,7 +7,7 @@ env: # Change to 'true' to enable the cache upload as artifacts 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: 'true' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false' jobs: build: From 31a15d760d184498ba50899a476ac65ad9b8c319 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Tue, 16 Jun 2026 08:48:34 +1000 Subject: [PATCH 11/34] Update vtk version from 9.6.0 to 9.6.1 --- vinca.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vinca.yaml b/vinca.yaml index 7468fc3ff..ad1cb0de1 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -18,7 +18,7 @@ mutex_package: - pcl 1.15.1.* - gazebo 11.* - libprotobuf 6.33.5.* - - vtk 9.6.0.* + - vtk 9.6.1.* packages_skip_by_deps: - if: not linux From e80ecaab6935e55c495f9c099302d63c1fbaa48c Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Tue, 16 Jun 2026 09:00:48 +1000 Subject: [PATCH 12/34] Enable full rebuild by setting IGNORE_CACHE to true --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index e6e2742ba..53b33b3a2 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -7,7 +7,7 @@ env: # Change to 'true' to enable the cache upload as artifacts 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' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true' jobs: build: From 7a4e1df379235b99a76c076868098f2df563df55 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Tue, 16 Jun 2026 10:07:31 +1000 Subject: [PATCH 13/34] Change eigen_abi_devel version to 5.0.1 Updated eigen_abi_devel version from '3.4.0' to '5.0.1'. --- conda_build_config.yaml | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/conda_build_config.yaml b/conda_build_config.yaml index a99e96bc8..a9a7f632e 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -6,10 +6,8 @@ assimp: # Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697 cmake: - 3.* -# as of early April 2026 key robotics packages like pinocchio still required eigen 3.4.0.*, -# see https://github.com/conda-forge/eigenpy-feedstock/pull/184 eigen_abi_devel: - - '3.4.0' + - '5.0.1' libprotobuf: - 6.33.5 protobuf: From 7b24d11602869f40e317e01d763310d02b679f21 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Tue, 16 Jun 2026 17:54:18 +1000 Subject: [PATCH 14/34] Change full rebuild flag to false in testpr.yml --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 53b33b3a2..e6e2742ba 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -7,7 +7,7 @@ env: # Change to 'true' to enable the cache upload as artifacts 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: 'true' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false' jobs: build: From 9d2d5d5f682d1b9737a54e7026cab208db7e4242 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Wed, 17 Jun 2026 10:04:49 +1000 Subject: [PATCH 15/34] Update vtk version from 9.6.1 to 9.6.2 --- vinca.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vinca.yaml b/vinca.yaml index ad1cb0de1..7ff811216 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -18,7 +18,7 @@ mutex_package: - pcl 1.15.1.* - gazebo 11.* - libprotobuf 6.33.5.* - - vtk 9.6.1.* + - vtk 9.6.2.* packages_skip_by_deps: - if: not linux From 327fbb7333f53798cf8d3dbedbc8ebbc652fefad Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Wed, 17 Jun 2026 10:05:37 +1000 Subject: [PATCH 16/34] Update urdfdom and add vtk versions in config Updated urdfdom version to 5.1 and added vtk version 9.6.2. --- conda_build_config.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/conda_build_config.yaml b/conda_build_config.yaml index a9a7f632e..b37ee2281 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -45,9 +45,9 @@ tbb: tbb_devel: - '2022' urdfdom: - - '4.0.1' -urdfdom-headers: - - 1.1.2 + - '5.1' +vtk: + - 9.6.2 cdt_name: # [linux] - conda # [linux] From 823f4bf931299dd8f4e0cc11eb8792954c017e51 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Wed, 17 Jun 2026 10:24:14 +1000 Subject: [PATCH 17/34] Enable full rebuild by setting IGNORE_CACHE to true --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index e6e2742ba..53b33b3a2 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -7,7 +7,7 @@ env: # Change to 'true' to enable the cache upload as artifacts 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' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true' jobs: build: From d221ceb5cf95d1fe9d3da35a70f52ba31f96a01e Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Wed, 17 Jun 2026 16:12:24 +1000 Subject: [PATCH 18/34] Change IGNORE_CACHE_AND_DO_FULL_REBUILD to 'false' --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 53b33b3a2..e6e2742ba 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -7,7 +7,7 @@ env: # Change to 'true' to enable the cache upload as artifacts 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: 'true' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false' jobs: build: From 5376c8bf6cfc7edf57862ec7fd9a886a74b37875 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Thu, 18 Jun 2026 08:00:22 +1000 Subject: [PATCH 19/34] Add urdfdom_headers to conda build config Add urdfdom_headers version 2.1.2 to the configuration. --- conda_build_config.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/conda_build_config.yaml b/conda_build_config.yaml index b37ee2281..dc522c56e 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -46,6 +46,8 @@ tbb_devel: - '2022' urdfdom: - '5.1' +urdfdom_headers: + - '2.1.2' vtk: - 9.6.2 From f7baa0f1f4c3062132c9b818f26356e79d3c56b1 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Thu, 18 Jun 2026 08:15:58 +1000 Subject: [PATCH 20/34] Update override versions for urdfdom_headers and urdf --- pkg_additional_info.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index 776ac83d7..7c5c1521a 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -23,13 +23,13 @@ urdfdom_headers: generate_dummy_package_with_run_deps: dep_name: urdfdom_headers max_pin: 'x.x' - override_version: '1.1.2' + override_version: '2.1.2' urdfdom: generate_dummy_package_with_run_deps: dep_name: urdfdom max_pin: 'x.x' # the version on ros is outdated w.r.t. to the conda-forge one - override_version: '4.0.1' + override_version: '5.1' cartographer: generate_dummy_package_with_run_deps: dep_name: cartographer From faacd57dcdb4beed14031223f76cd448f351e7a7 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Thu, 18 Jun 2026 08:16:21 +1000 Subject: [PATCH 21/34] Enable full rebuild by setting IGNORE_CACHE to true --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index e6e2742ba..53b33b3a2 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -7,7 +7,7 @@ env: # Change to 'true' to enable the cache upload as artifacts 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' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true' jobs: build: From a9bf245b4c2be76e38bfd64629b64a2cf05f10b4 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Thu, 18 Jun 2026 13:50:51 +1000 Subject: [PATCH 22/34] Update libboost version in vinca.yaml --- vinca.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/vinca.yaml b/vinca.yaml index 7ff811216..995d07400 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -13,8 +13,8 @@ mutex_package: version: "0.16.0" upper_bound: "x.x" run_constraints: - - libboost 1.88.* - - libboost-devel 1.88.* + - libboost 1.90.* + - libboost-devel 1.90.* - pcl 1.15.1.* - gazebo 11.* - libprotobuf 6.33.5.* From c7a169af8a5a7b1f0ed23d4b248d41009f5e1d07 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Thu, 18 Jun 2026 16:09:21 +1000 Subject: [PATCH 23/34] Update testpr.yml --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 53b33b3a2..e6e2742ba 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -7,7 +7,7 @@ env: # Change to 'true' to enable the cache upload as artifacts 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: 'true' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false' jobs: build: From cde082cb7c8d6effcce8994c87c13e66e511e3dc Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Thu, 18 Jun 2026 16:09:38 +1000 Subject: [PATCH 24/34] Update CMake modules and YAML configuration --- patch/ros-kilted-mrt-cmake-modules.patch | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/patch/ros-kilted-mrt-cmake-modules.patch b/patch/ros-kilted-mrt-cmake-modules.patch index ea30f88bd..3a58f235a 100644 --- a/patch/ros-kilted-mrt-cmake-modules.patch +++ b/patch/ros-kilted-mrt-cmake-modules.patch @@ -24,3 +24,16 @@ index aa99d8d..8327d4e 100644 find_package(catkin REQUIRED) catkin_package(CFG_EXTRAS mrt_cmake_modules-extras.cmake) else() +diff --git a/yaml/cmake.yaml b/yaml/cmake.yaml +index 6a2a6dc..1846d27 100644 +--- a/yaml/cmake.yaml ++++ b/yaml/cmake.yaml +@@ -19,7 +19,7 @@ benchmark: + targets: ['benchmark::benchmark'] + boost: + components: [wserialization thread random serialization log_setup prg_exec_monitor +- wave system chrono filesystem locale timer date_time regex graph program_options ++ wave chrono filesystem locale timer date_time regex graph program_options + unit_test_framework log atomic iostreams] + include_dirs: [Boost_INCLUDE_DIRS] + libraries: [Boost_LIBRARIES] From 30793e7e0da22eeb62ca6961997226521d7e29ff Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 19 Jun 2026 08:15:31 +1000 Subject: [PATCH 25/34] Boost 1.90 patches --- .github/workflows/testpr.yml | 2 +- patch/ros-kilted-moveit-core.patch | 9 +++++++++ patch/ros-kilted-moveit-kinematics.patch | 8 ++++++++ patch/ros-kilted-moveit-planners-ompl.patch | 12 ++++++++++++ ...os-kilted-moveit-ros-control-interface.patch | 8 ++++++++ patch/ros-kilted-moveit-ros-move-group.patch | 17 ++++++++++++++--- ...s-kilted-moveit-ros-planning-interface.patch | 11 +++++++++++ patch/ros-kilted-moveit-ros-visualization.patch | 8 ++++++++ patch/ros-kilted-moveit-ros-warehouse.patch | 11 +++++++++++ patch/ros-kilted-moveit-visual-tools.patch | 13 +++++++++++++ 10 files changed, 95 insertions(+), 4 deletions(-) create mode 100644 patch/ros-kilted-moveit-planners-ompl.patch create mode 100644 patch/ros-kilted-moveit-ros-control-interface.patch create mode 100644 patch/ros-kilted-moveit-ros-planning-interface.patch create mode 100644 patch/ros-kilted-moveit-ros-visualization.patch create mode 100644 patch/ros-kilted-moveit-ros-warehouse.patch create mode 100644 patch/ros-kilted-moveit-visual-tools.patch diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index e6e2742ba..ed6c70702 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -101,7 +101,7 @@ jobs: - name: Delete specific outdated cache entries shell: bash -l {0} run: | - # rm -rf ${{ matrix.folder_cache }}/ros-kilted-rosx* 2>/dev/null || true + rm -rf ${{ matrix.folder_cache }}/ros-kilted-mrt-cmake-modules* 2>/dev/null || true mkdir -p ${{ matrix.folder_cache }} pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force diff --git a/patch/ros-kilted-moveit-core.patch b/patch/ros-kilted-moveit-core.patch index 0ddb89b45..4c8d59e45 100644 --- a/patch/ros-kilted-moveit-core.patch +++ b/patch/ros-kilted-moveit-core.patch @@ -11,6 +11,15 @@ index 608babbeb..a006b45fc 100644 find_package(octomap_msgs REQUIRED) find_package(osqp REQUIRED) find_package(pluginlib REQUIRED) +diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake +--- a/ConfigExtras.cmake ++++ b/ConfigExtras.cmake +@@ -10,5 +10,4 @@ find_package( + program_options + regex + serialization +- system + thread) diff --git a/collision_detection/include/moveit/collision_detection/collision_common.hpp b/collision_detection/include/moveit/collision_detection/collision_common.hpp index 19777a044..af3a89442 100644 --- a/collision_detection/include/moveit/collision_detection/collision_common.hpp diff --git a/patch/ros-kilted-moveit-kinematics.patch b/patch/ros-kilted-moveit-kinematics.patch index 6f2e9ac73..a24b4d67d 100644 --- a/patch/ros-kilted-moveit-kinematics.patch +++ b/patch/ros-kilted-moveit-kinematics.patch @@ -24,3 +24,11 @@ index 173471c7e..47e47e2db 100644 // first center is picked randomly centers.push_back(std::uniform_int_distribution{ 0, data.size() - 1 }(rsl::rng())); for (unsigned i = 1; i < k; ++i) +diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake +--- a/ConfigExtras.cmake ++++ b/ConfigExtras.cmake +@@ -1,3 +1,3 @@ + # Extras module needed for dependencies to find boost components + +-find_package(Boost REQUIRED program_options system) ++find_package(Boost REQUIRED program_options) \ No newline at end of file diff --git a/patch/ros-kilted-moveit-planners-ompl.patch b/patch/ros-kilted-moveit-planners-ompl.patch new file mode 100644 index 000000000..8ea357e29 --- /dev/null +++ b/patch/ros-kilted-moveit-planners-ompl.patch @@ -0,0 +1,12 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 91329a1e8..5b4c45bc3 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -8,7 +8,6 @@ moveit_package() + find_package( + Boost + REQUIRED +- system + filesystem + date_time + thread diff --git a/patch/ros-kilted-moveit-ros-control-interface.patch b/patch/ros-kilted-moveit-ros-control-interface.patch new file mode 100644 index 000000000..feca79f8f --- /dev/null +++ b/patch/ros-kilted-moveit-ros-control-interface.patch @@ -0,0 +1,8 @@ +diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake +--- a/ConfigExtras.cmake ++++ b/ConfigExtras.cmake +@@ -1,3 +1,3 @@ + # Extras module needed for dependencies to find boost components + +-find_package(Boost REQUIRED COMPONENTS system thread) ++find_package(Boost REQUIRED COMPONENTS thread) \ No newline at end of file diff --git a/patch/ros-kilted-moveit-ros-move-group.patch b/patch/ros-kilted-moveit-ros-move-group.patch index d38e5256a..4642e42a7 100644 --- a/patch/ros-kilted-moveit-ros-move-group.patch +++ b/patch/ros-kilted-moveit-ros-move-group.patch @@ -1,7 +1,7 @@ -diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt +diff --git a/CMakeLists.txt b/CMakeLists.txt index 7389985043..86bca8785d 100644 ---- a/moveit_ros/move_group/CMakeLists.txt -+++ b/moveit_ros/move_group/CMakeLists.txt +--- a/CMakeLists.txt ++++ b/CMakeLists.txt @@ -74,7 +74,7 @@ add_executable(list_move_group_capabilities src/list_capabilities.cpp) ament_target_dependencies(list_move_group_capabilities ${THIS_PACKAGE_INCLUDE_DEPENDS}) @@ -11,3 +11,14 @@ index 7389985043..86bca8785d 100644 install(TARGETS move_group list_move_group_capabilities RUNTIME DESTINATION lib/moveit_ros_move_group) +diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake +--- a/ConfigExtras.cmake ++++ b/ConfigExtras.cmake +@@ -3,7 +3,6 @@ find_package( + find_package( + Boost + REQUIRED +- system + filesystem + date_time + program_options \ No newline at end of file diff --git a/patch/ros-kilted-moveit-ros-planning-interface.patch b/patch/ros-kilted-moveit-ros-planning-interface.patch new file mode 100644 index 000000000..6165ad681 --- /dev/null +++ b/patch/ros-kilted-moveit-ros-planning-interface.patch @@ -0,0 +1,11 @@ +diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake +--- a/ConfigExtras.cmake ++++ b/ConfigExtras.cmake +@@ -3,7 +3,6 @@ find_package( + find_package( + Boost + REQUIRED +- system + filesystem + date_time + program_options \ No newline at end of file diff --git a/patch/ros-kilted-moveit-ros-visualization.patch b/patch/ros-kilted-moveit-ros-visualization.patch new file mode 100644 index 000000000..00a98324b --- /dev/null +++ b/patch/ros-kilted-moveit-ros-visualization.patch @@ -0,0 +1,8 @@ +diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake +--- a/ConfigExtras.cmake ++++ b/ConfigExtras.cmake +@@ -1,3 +1,3 @@ + # Extras module needed for dependencies to find boost components + +-find_package(Boost REQUIRED thread date_time system filesystem) ++find_package(Boost REQUIRED thread date_time filesystem) \ No newline at end of file diff --git a/patch/ros-kilted-moveit-ros-warehouse.patch b/patch/ros-kilted-moveit-ros-warehouse.patch new file mode 100644 index 000000000..f75c4dac5 --- /dev/null +++ b/patch/ros-kilted-moveit-ros-warehouse.patch @@ -0,0 +1,11 @@ +diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake +--- a/ConfigExtras.cmake ++++ b/ConfigExtras.cmake +@@ -4,7 +4,6 @@ find_package( + Boost + REQUIRED + thread +- system + filesystem + regex + date_time \ No newline at end of file diff --git a/patch/ros-kilted-moveit-visual-tools.patch b/patch/ros-kilted-moveit-visual-tools.patch new file mode 100644 index 000000000..221911e67 --- /dev/null +++ b/patch/ros-kilted-moveit-visual-tools.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 2e08aa6..49bdf1e 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -5,7 +5,7 @@ find_package(moveit_common REQUIRED) + moveit_package() + + # Load all dependencies required for this package +-find_package(Boost REQUIRED system) ++find_package(Boost REQUIRED) + find_package(Eigen3 REQUIRED) + find_package(geometry_msgs REQUIRED) + find_package(graph_msgs REQUIRED) \ No newline at end of file From 7883bb71f25afd3cc5a72ccfc426936e7fbd5c5c Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 19 Jun 2026 08:24:30 +1000 Subject: [PATCH 26/34] Fix patch --- patch/ros-kilted-moveit-ros-planning-interface.patch | 11 ----------- 1 file changed, 11 deletions(-) delete mode 100644 patch/ros-kilted-moveit-ros-planning-interface.patch diff --git a/patch/ros-kilted-moveit-ros-planning-interface.patch b/patch/ros-kilted-moveit-ros-planning-interface.patch deleted file mode 100644 index 6165ad681..000000000 --- a/patch/ros-kilted-moveit-ros-planning-interface.patch +++ /dev/null @@ -1,11 +0,0 @@ -diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake ---- a/ConfigExtras.cmake -+++ b/ConfigExtras.cmake -@@ -3,7 +3,6 @@ find_package( - find_package( - Boost - REQUIRED -- system - filesystem - date_time - program_options \ No newline at end of file From c5da2b300290ecce2443d31142b5b1a59151d37f Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 19 Jun 2026 13:03:34 +1000 Subject: [PATCH 27/34] Some progress --- build_gap_report.py | 2 +- conda_build_config.yaml | 4 ++-- pkg_additional_info.yaml | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/build_gap_report.py b/build_gap_report.py index 47c671996..4b53949ed 100644 --- a/build_gap_report.py +++ b/build_gap_report.py @@ -143,7 +143,7 @@ def main() -> int: print() missing = recipes - built print( - f"Recipe directories without built artifact on this platform: " + f"Recipe directories without built artifact on {platform} platform: " f"{len(missing)} out of {len(recipes)}" ) if missing: diff --git a/conda_build_config.yaml b/conda_build_config.yaml index dc522c56e..52b3f4ae2 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -45,9 +45,9 @@ tbb: tbb_devel: - '2022' urdfdom: - - '5.1' + - '6.0' urdfdom_headers: - - '2.1.2' + - '3.0' vtk: - 9.6.2 diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index 7c5c1521a..25e4f6afb 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -23,13 +23,13 @@ urdfdom_headers: generate_dummy_package_with_run_deps: dep_name: urdfdom_headers max_pin: 'x.x' - override_version: '2.1.2' + override_version: '3.0.0' urdfdom: generate_dummy_package_with_run_deps: dep_name: urdfdom max_pin: 'x.x' # the version on ros is outdated w.r.t. to the conda-forge one - override_version: '5.1' + override_version: '6.0.0' cartographer: generate_dummy_package_with_run_deps: dep_name: cartographer From dbc4bf4d79d6e44ce98badcc6df1e344856cbe1e Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Sun, 21 Jun 2026 09:27:49 +1000 Subject: [PATCH 28/34] Enable full rebuild by setting IGNORE_CACHE to true --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index ed6c70702..26ecb20a9 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -7,7 +7,7 @@ env: # Change to 'true' to enable the cache upload as artifacts 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' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true' jobs: build: From cec931de9d8ff9d605c0a06e49add2ab45482f81 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Sun, 21 Jun 2026 19:22:37 +1000 Subject: [PATCH 29/34] More fixes --- patch/ros-kilted-hls-lfcd-lds-driver.patch | 8 ++++++++ ...os-kilted-moveit-ros-planning-interface.patch | 9 +++++++++ patch/ros-kilted-moveit-ros-planning.patch | 11 +++++++++++ ...x.win.patch => ros-kilted-slam-toolbox.patch} | 16 +++++++++++++++- 4 files changed, 43 insertions(+), 1 deletion(-) create mode 100644 patch/ros-kilted-moveit-ros-planning-interface.patch create mode 100644 patch/ros-kilted-moveit-ros-planning.patch rename patch/{ros-kilted-slam-toolbox.win.patch => ros-kilted-slam-toolbox.patch} (92%) diff --git a/patch/ros-kilted-hls-lfcd-lds-driver.patch b/patch/ros-kilted-hls-lfcd-lds-driver.patch index 83af04fd8..d03cad8b6 100644 --- a/patch/ros-kilted-hls-lfcd-lds-driver.patch +++ b/patch/ros-kilted-hls-lfcd-lds-driver.patch @@ -132,3 +132,11 @@ index 9185961..eedc6f7 100644 hls_lfcd_lds::LFCDLaser laser(io); while (ros::ok()) +diff --git a/CMakeLists.txt b/CMakeLists.txt +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -24,4 +24,4 @@ find_package(ament_cmake REQUIRED) + find_package(rclcpp REQUIRED) + find_package(sensor_msgs REQUIRED) +-find_package(Boost REQUIRED system) ++find_package(Boost REQUIRED) diff --git a/patch/ros-kilted-moveit-ros-planning-interface.patch b/patch/ros-kilted-moveit-ros-planning-interface.patch new file mode 100644 index 000000000..a2301f531 --- /dev/null +++ b/patch/ros-kilted-moveit-ros-planning-interface.patch @@ -0,0 +1,9 @@ +diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake +--- a/ConfigExtras.cmake ++++ b/ConfigExtras.cmake +@@ -8,4 +8,4 @@ find_package( + Boost REQUIRED + COMPONENTS date_time filesystem program_options + # ${BOOST_PYTHON_COMPONENT} +- system thread) ++ thread) diff --git a/patch/ros-kilted-moveit-ros-planning.patch b/patch/ros-kilted-moveit-ros-planning.patch new file mode 100644 index 000000000..f2201556d --- /dev/null +++ b/patch/ros-kilted-moveit-ros-planning.patch @@ -0,0 +1,11 @@ +diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake +--- a/ConfigExtras.cmake ++++ b/ConfigExtras.cmake +@@ -3,7 +3,6 @@ find_package( + find_package( + Boost + REQUIRED +- system + filesystem + date_time + program_options diff --git a/patch/ros-kilted-slam-toolbox.win.patch b/patch/ros-kilted-slam-toolbox.patch similarity index 92% rename from patch/ros-kilted-slam-toolbox.win.patch rename to patch/ros-kilted-slam-toolbox.patch index 3245b1f87..a0978f5af 100644 --- a/patch/ros-kilted-slam-toolbox.win.patch +++ b/patch/ros-kilted-slam-toolbox.patch @@ -110,13 +110,20 @@ index a620bfd..196aab5 100644 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/") find_package(ament_cmake REQUIRED) +@@ -12,4 +14,4 @@ find_package(ament_cmake REQUIRED) + find_package(rclcpp REQUIRED) + find_package(Eigen3 REQUIRED) +-find_package(Boost REQUIRED system serialization filesystem thread) ++find_package(Boost REQUIRED serialization filesystem thread) + find_package(TBB REQUIRED NO_CMAKE_PACKAGE_REGISTRY) @@ -29,6 +31,7 @@ add_definitions(${EIGEN3_DEFINITIONS}) include_directories(include ${EIGEN3_INCLUDE_DIRS} ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) add_library(kartoSlamToolbox SHARED src/Karto.cpp src/Mapper.cpp) +target_compile_definitions(kartoSlamToolbox PRIVATE KARTO_DYNAMIC) ament_target_dependencies(kartoSlamToolbox ${dependencies}) - target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} TBB::tbb) +-target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} TBB::tbb) ++target_link_libraries(kartoSlamToolbox Eigen3::Eigen ${Boost_LIBRARIES} TBB::tbb) diff --git a/lib/karto_sdk/src/Mapper.cpp b/lib/karto_sdk/src/Mapper.cpp index e969404..d87d33f 100644 @@ -210,3 +217,10 @@ index 916a207..18c2fa2 100644 } } // server side never times out from lifecycle manager +diff --git a/CMakeLists.txt b/CMakeLists.txt +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -93,2 +93,2 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON) + add_definitions(-DQT_NO_KEYWORDS) +-find_package(Boost REQUIRED system serialization filesystem thread) ++find_package(Boost REQUIRED serialization filesystem thread) From 83709d5af15ae68c2d3dbc43391762258322f196 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Sun, 21 Jun 2026 19:26:00 +1000 Subject: [PATCH 30/34] More fixes --- patch/ros-kilted-warehouse-ros-sqlite.patch | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100644 patch/ros-kilted-warehouse-ros-sqlite.patch diff --git a/patch/ros-kilted-warehouse-ros-sqlite.patch b/patch/ros-kilted-warehouse-ros-sqlite.patch new file mode 100644 index 000000000..b670a49b1 --- /dev/null +++ b/patch/ros-kilted-warehouse-ros-sqlite.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 79137d2..1b480aa 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -8,7 +8,7 @@ endif() + find_package(ament_cmake REQUIRED) + find_package(sqlite3_vendor REQUIRED) + find_package(SQLite3 REQUIRED) +-find_package(Boost REQUIRED COMPONENTS filesystem system thread) ++find_package(Boost REQUIRED COMPONENTS filesystem thread) + find_package(class_loader REQUIRED) + find_package(OpenSSL REQUIRED) + find_package(rclcpp REQUIRED) From 2bfc2ef80cd2f97c48b222a3f55df2134d1be22b Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Sun, 21 Jun 2026 19:35:26 +1000 Subject: [PATCH 31/34] Fixes --- patch/ros-kilted-ouster-ros.patch | 79 +++++++++++++++++++++------ patch/ros-kilted-ouster-ros.win.patch | 27 --------- pkg_additional_info.yaml | 3 +- 3 files changed, 64 insertions(+), 45 deletions(-) delete mode 100644 patch/ros-kilted-ouster-ros.win.patch diff --git a/patch/ros-kilted-ouster-ros.patch b/patch/ros-kilted-ouster-ros.patch index 045f339e6..fb850095a 100644 --- a/patch/ros-kilted-ouster-ros.patch +++ b/patch/ros-kilted-ouster-ros.patch @@ -1,20 +1,65 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index aa0f0b2..0724118 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -24,13 +24,20 @@ find_package(tf2_eigen REQUIRED) + find_package(OpenCV REQUIRED) + + # ==== Options ==== +-add_compile_options(-Wall -Wextra) ++if(MSVC) ++ add_compile_options(/W2) ++ add_compile_definitions(NOMINMAX _USE_MATH_DEFINES WIN32_LEAN_AND_MEAN) ++else() ++ add_compile_options(-Wall -Wextra) ++endif() + if(NOT DEFINED CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + endif() + option(CMAKE_POSITION_INDEPENDENT_CODE "Build position independent code." ON) + ++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) ++ + set(_ouster_ros_INCLUDE_DIRS + "include;" + "ouster-sdk/ouster_sensor/include;" +diff --git a/ouster-sdk/CMakeLists.txt b/ouster-sdk/CMakeLists.txt +index 4c6e3ac..5d17a19 100644 +--- a/ouster-sdk/CMakeLists.txt ++++ b/ouster-sdk/CMakeLists.txt +@@ -53,0 +54 @@ option(BUILD_DEBIAN_FOR_GITHUB "Build debian for github ci" OFF) ++option(OUSTER_USE_VCPKG_IF_AVAILABLE "Use VCPKG_ROOT env variable if available" ON) +diff --git a/ouster-sdk/cmake/Findlibzip.cmake b/ouster-sdk/cmake/Findlibzip.cmake +index 0de2ad5..388f145 100644 +--- a/ouster-sdk/cmake/Findlibzip.cmake ++++ b/ouster-sdk/cmake/Findlibzip.cmake +@@ -42 +42 @@ find_library(libzip_LIBRARIES NAMES +- libzip libzip.so libzip.dylib ++ libzip libzip.so libzip.dylib zip +diff --git a/ouster-sdk/cmake/VcpkgEnv.cmake b/ouster-sdk/cmake/VcpkgEnv.cmake +index c46f0f0..9d3741b 100644 +--- a/ouster-sdk/cmake/VcpkgEnv.cmake ++++ b/ouster-sdk/cmake/VcpkgEnv.cmake +@@ -5,2 +5,2 @@ +-# set toolchain file if VCPKG_ROOT is defind +-if(DEFINED ENV{VCPKG_ROOT} AND NOT DEFINED CMAKE_TOOLCHAIN_FILE) ++# set toolchain file if VCPKG_ROOT is defined, and OUSTER_USE_VCPKG_IF_AVAILABLE is ON ++if(OUSTER_USE_VCPKG_IF_AVAILABLE AND DEFINED ENV{VCPKG_ROOT} AND NOT DEFINED CMAKE_TOOLCHAIN_FILE) +@@ -13 +13 @@ endif() +-if(DEFINED ENV{VCPKG_TARGET_TRIPLET} AND NOT DEFINED VCPKG_TARGET_TRIPLET) ++if(OUSTER_USE_VCPKG_IF_AVAILABLE AND DEFINED ENV{VCPKG_TARGET_TRIPLET} AND NOT DEFINED VCPKG_TARGET_TRIPLET) +diff --git a/ouster-sdk/ouster_client/CMakeLists.txt b/ouster-sdk/ouster_client/CMakeLists.txt +index f17eeb4..d0bf100 100644 +--- a/ouster-sdk/ouster_client/CMakeLists.txt ++++ b/ouster-sdk/ouster_client/CMakeLists.txt +@@ -51 +51 @@ target_link_libraries(ouster_client +-target_compile_definitions(ouster_client PRIVATE EIGEN_MPL2_ONLY) ++target_compile_definitions(ouster_client PRIVATE EIGEN_MPL2_ONLY FMT_HEADER_ONLY) diff --git a/ouster-sdk/ouster_client/include/ouster/version.h b/ouster-sdk/ouster_client/include/ouster/version.h +index 7867e3a..ef4539f 100644 --- a/ouster-sdk/ouster_client/include/ouster/version.h +++ b/ouster-sdk/ouster_client/include/ouster/version.h -@@ -13,6 +13,15 @@ - #include "ouster/deprecation.h" - #include "ouster/visibility.h" - -+// glibc may expose major/minor macros through sys/types.h, which breaks -+// Version's field names when this header is included after libc headers. -+#ifdef major -+#undef major -+#endif -+ -+#ifdef minor -+#undef minor -+#endif -+ - namespace ouster { - namespace sdk { - namespace core { +@@ -47 +47 @@ struct OUSTER_API_CLASS Version { +- : major(maj), minor(min), patch(pat) {} ++ : major{maj}, minor{min}, patch{pat} {} diff --git a/patch/ros-kilted-ouster-ros.win.patch b/patch/ros-kilted-ouster-ros.win.patch deleted file mode 100644 index 97643f592..000000000 --- a/patch/ros-kilted-ouster-ros.win.patch +++ /dev/null @@ -1,27 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index e07dcf4..8d23997 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -23,13 +23,21 @@ find_package(pcl_conversions REQUIRED) - find_package(tf2_eigen REQUIRED) - - # ==== Options ==== --add_compile_options(-Wall -Wextra) -+if(MSVC) -+ add_compile_options(/W2) -+ add_compile_definitions(NOMINMAX _USE_MATH_DEFINES WIN32_LEAN_AND_MEAN) -+else() -+ add_compile_options(-Wall -Wextra) -+endif() -+ - if(NOT DEFINED CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - endif() - option(CMAKE_POSITION_INDEPENDENT_CODE "Build position independent code." ON) - -+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) -+ - set(_ouster_ros_INCLUDE_DIRS - include - ouster-sdk/ouster_client/include diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index 25e4f6afb..22889b4b8 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -46,6 +46,7 @@ coal: generate_dummy_package_with_run_deps: dep_name: coal max_pin: 'x.x.x' + override_version: '3.0.3' eigenpy: generate_dummy_package_with_run_deps: dep_name: eigenpy @@ -55,7 +56,7 @@ pinocchio: dep_name: pinocchio max_pin: 'x.x.x' # the version on ros is outdated w.r.t. to the conda-forge one - override_version: '3.9.0' + override_version: '4.0.0' gtsam: generate_dummy_package_with_run_deps: dep_name: gtsam From 580b751a2947f43312981b1737d5af86efa7771b Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Mon, 22 Jun 2026 07:36:37 +1000 Subject: [PATCH 32/34] complete local osx-arm64 rebuild --- pkg_additional_info.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index 22889b4b8..9bc2f476a 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -51,6 +51,7 @@ eigenpy: generate_dummy_package_with_run_deps: dep_name: eigenpy max_pin: 'x.x.x' + override_version: '3.13.0' pinocchio: generate_dummy_package_with_run_deps: dep_name: pinocchio From 2d44d7ac771dbe9199fec816ba4b5cc09c92a36e Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Mon, 22 Jun 2026 09:35:28 +1000 Subject: [PATCH 33/34] Change IGNORE_CACHE_AND_DO_FULL_REBUILD to 'false' --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 26ecb20a9..ed6c70702 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -7,7 +7,7 @@ env: # Change to 'true' to enable the cache upload as artifacts 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: 'true' + IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false' jobs: build: From fc91368ce2f03330aa526c09600542ef6b503f15 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Tue, 23 Jun 2026 07:54:03 +1000 Subject: [PATCH 34/34] Update cache deletion for motion planner --- .github/workflows/testpr.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index ed6c70702..7be1067f1 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -101,7 +101,7 @@ jobs: - name: Delete specific outdated cache entries shell: bash -l {0} run: | - rm -rf ${{ matrix.folder_cache }}/ros-kilted-mrt-cmake-modules* 2>/dev/null || true + rm -rf ${{ matrix.folder_cache }}/ros-kilted-chomp-motion-planner* 2>/dev/null || true mkdir -p ${{ matrix.folder_cache }} pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force