Full rebuild June 2026 bump ros2-distro-mutex to 0.17.0 and build number to 21

.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     - name: Delete specific outdated cache entries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-lyrical-moveit-core* 2>/dev/null || true
+        # rm -rf ${{ matrix.folder_cache }}/ros-lyrical-pcl-conversions* 2>/dev/null || true
         mkdir -p ${{ matrix.folder_cache }}
         pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
 

conda_build_config.yaml

@@ -1,7 +1,14 @@
 numpy:
   - 2
 assimp:
-  - 6.0.3
+  - 6.0.5
+# Boost 1.90 migration: conda-forge's global pin is still 1.88, but the
+# boost-python / geometry stack (eigenpy 3.13, pinocchio, ...) has already
+# moved to 1.90, so we pin ahead to build the whole distro against 1.90.
+libboost_devel:
+  - '1.90'
+libboost_python_devel:
+  - '1.90'
 libprotobuf:
   - 6.33.5
 protobuf:

patch/ros-lyrical-apriltag-ros.patch

@@ -1,5 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 20bdedf..4e9d53d 100644
+index 75d5822..ff9d333 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -5,8 +5,10 @@ project(apriltag_ros)
@@ -15,68 +15,3 @@ index 20bdedf..4e9d53d 100644
  endif()
 
  option(ASAN "use AddressSanitizer to detect memory issues" OFF)
-diff --git a/src/AprilTagNode.cpp b/src/AprilTagNode.cpp
-index c13bf26..4dcbc0e 100644
---- a/src/AprilTagNode.cpp
-+++ b/src/AprilTagNode.cpp
-@@ -13,7 +13,7 @@
- #include <rclcpp_components/register_node_macro.hpp>
- #include <sensor_msgs/msg/camera_info.hpp>
- #include <sensor_msgs/msg/image.hpp>
--#include <tf2_ros/transform_broadcaster.h>
-+#include <tf2_ros/transform_broadcaster.hpp>
-
- // apriltag
- #include "tag_functions.hpp"
-@@ -99,13 +99,13 @@ AprilTagNode::AprilTagNode(const rclcpp::NodeOptions& options)
-     td(apriltag_detector_create()),
-     // topics
-     sub_cam(image_transport::create_camera_subscription(
--        this,
-+        *this,
-         this->get_node_topics_interface()->resolve_topic_name("image_rect"),
-         std::bind(&AprilTagNode::onCamera, this, std::placeholders::_1, std::placeholders::_2),
-         declare_parameter("image_transport", "raw", descr({}, true)),
--        rmw_qos_profile_sensor_data)),
-+        rclcpp::SensorDataQoS())),
-     pub_detections(create_publisher<apriltag_msgs::msg::AprilTagDetectionArray>("detections", rclcpp::QoS(1))),
--    tf_broadcaster(this)
-+    tf_broadcaster(*this)
- {
-     // read-only parameters
-     const std::string tag_family = declare_parameter("family", "36h11", descr("tag family", true));
-diff --git a/src/conversion.cpp b/src/conversion.cpp
-index b9b30a8..16a8d66 100644
---- a/src/conversion.cpp
-+++ b/src/conversion.cpp
-@@ -4,7 +4,7 @@
- #include <geometry_msgs/msg/quaternion.hpp>
- #include <geometry_msgs/msg/vector3.hpp>
- #include <opencv2/core/mat.hpp>
--#include <tf2/convert.h>
-+#include <tf2/convert.hpp>
-
- template<>
- void tf2::convert(const Eigen::Quaterniond& eigen_quat, geometry_msgs::msg::Quaternion& msg_quat)
-@@ -56,7 +56,7 @@ tf2::toMsg(const std::pair<cv::Mat_<double>, cv::Mat_<double>>& pose)
-
-     // convert compact rotation vector to angle-axis to quaternion
-     const Eigen::Map<const Eigen::Vector3d> rvec(reinterpret_cast<double*>(pose.second.data));
--    const Eigen::Quaterniond q({rvec.norm(), rvec.normalized()});
-+    const Eigen::Quaterniond q(Eigen::AngleAxisd(rvec.norm(), rvec.normalized()));
-
-     geometry_msgs::msg::Transform t;
-     tf2::convert(pose.first, t.translation);
-diff --git a/src/pose_estimation.cpp b/src/pose_estimation.cpp
-index 35a9e11..3fb8446 100644
---- a/src/pose_estimation.cpp
-+++ b/src/pose_estimation.cpp
-@@ -3,7 +3,7 @@
- #include <apriltag/apriltag_pose.h>
- #include <apriltag/common/homography.h>
- #include <opencv2/calib3d.hpp>
--#include <tf2/convert.h>
-+#include <tf2/convert.hpp>
-
-
- geometry_msgs::msg::Transform

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

@@ -1,112 +1,80 @@
 diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp
-index 2229aadc..3a1c838c 100644
+index 601db6c..fc18e1c 100644
 --- a/src/ros2_foxglove_bridge.cpp
 +++ b/src/ros2_foxglove_bridge.cpp
-@@ -305,7 +305,7 @@ 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);
-@@ -372,7 +372,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
+@@ -492,7 +492,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
+       const TopicAndDatatype topicAndSchemaName = {topic, schemaName};
+       if (latestTopics.find(topicAndSchemaName) == latestTopics.end()) {
+         const auto channelId = channel.id();
+-        RCLCPP_INFO(this->get_logger(), "Removing channel %lu for topic \"%s\" (%s)", channelId,
++        RCLCPP_INFO(this->get_logger(), "Removing channel %llu for topic \"%s\" (%s)", channelId,
+                     topic.c_str(), schemaName.c_str());
+         // Remove any active subscriptions for this channel
+         _subscriptions.erase(channelId);
+@@ -562,7 +562,7 @@ 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())});
      }
-
-     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())});
-   }
-@@ -593,14 +593,14 @@ void FoxgloveBridge::subscribeConnectionGraph(bool subscribe) {
+@@ -827,7 +827,7 @@ 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);
-
-@@ -608,7 +608,7 @@ void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetada
-   // calling this callback?
-   auto it = _channels.find(channelId);
-   if (it == _channels.end()) {
+-  RCLCPP_INFO(this->get_logger(), "received subscribe request for channel %lu from client %u",
++  RCLCPP_INFO(this->get_logger(), "received subscribe request for channel %llu from client %u",
+               channelId, client.id);
+   createOrIncrementSubscription(channelId, client.id, false, client.sink_id);
+ }
+@@ -880,7 +880,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl
+                                                          std::optional<SinkId> sinkId) {
+   auto channelIt = _channels.find(channelId);
+   if (channelIt == _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;
    }
-@@ -638,7 +638,7 @@ 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;
-@@ -646,19 +646,19 @@ void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetada
+@@ -911,7 +911,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl
+     auto [it, inserted] = _subscriptions.emplace(channelId, std::move(channelSub));
+     subIt = it;
 
-   _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());
+-    RCLCPP_INFO(this->get_logger(), "Created ROS subscription on %s (%s) for channel %lu",
++    RCLCPP_INFO(this->get_logger(), "Created ROS subscription on %s (%s) for channel %llu",
+                 topic.c_str(), datatype.c_str(), channelId);
+   }
+
+@@ -935,7 +935,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl
  }
 
  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;
-   }
-@@ -666,7 +666,7 @@ void FoxgloveBridge::unsubscribe(ChannelId channelId, const foxglove::ClientMeta
-  auto subscriptionIt = _subscriptions.find({channelId, client.id});
-  if (subscriptionIt == _subscriptions.end()) {
+-  RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %lu from client %u",
++  RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %llu from client %u",
+               channelId, client.id);
+   removeOrDecrementSubscription(channelId, client.id, false);
+ }
+@@ -951,7 +951,7 @@ void FoxgloveBridge::removeOrDecrementSubscriptionLocked(ChannelId channelId, Cl
+   auto subIt = _subscriptions.find(channelId);
+   if (subIt == _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);
+-                 "Client %u tried unsubscribing from channel %lu but no subscription exists",
++                 "Client %u tried unsubscribing from channel %llu but no subscription exists",
+                  clientId, channelId);
      return;
-@@ -674,7 +674,7 @@ 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);
- }
-@@ -752,7 +752,7 @@ void FoxgloveBridge::clientAdvertise(ClientId clientId, const foxglove::ClientCh
-     auto publisher = this->create_generic_publisher(topicName, topicType, qos, publisherOptions);
-
+   }
+@@ -966,7 +966,7 @@ void FoxgloveBridge::removeOrDecrementSubscriptionLocked(ChannelId channelId, Cl
+   // If no more subscribers, destroy the ROS subscription
+   if (subIt->second.wsClientIds.empty() && subIt->second.gatewayClientIds.empty()) {
      RCLCPP_INFO(this->get_logger(),
--                "Client ID %d is advertising \"%s\" (%s) on channel %d with encoding \"%s\"",
-+                "Client ID %u is advertising \"%s\" (%s) on channel %u with encoding \"%s\"",
-                 clientId, topicName.c_str(), topicType.c_str(), channel.id, encoding.c_str());
-
-     // Store the new topic advertisement
-@@ -778,7 +778,7 @@ void FoxgloveBridge::clientUnadvertise(ClientId clientId, ChannelId clientChanne
+-                "Cleaned up ROS subscription for channel %lu (no more subscribers)", channelId);
++                "Cleaned up ROS subscription for channel %llu (no more subscribers)", channelId);
+     _subscriptions.erase(subIt);
+   }
+ }
+@@ -1105,7 +1105,7 @@ void FoxgloveBridge::clientUnadvertise(ClientId clientId, ChannelId clientChanne
 
    const auto& publisher = it->second.publisher;
    RCLCPP_INFO(this->get_logger(),
@@ -115,3 +83,95 @@ index 2229aadc..3a1c838c 100644
                publisher->get_topic_name(), publisher->get_subscription_count(), clientChannelId);
 
    _clientAdvertisedTopics.erase(it);
+@@ -1585,13 +1585,13 @@ void FoxgloveBridge::gatewaySubscribe(uint32_t clientId,
+   auto sinkId = _gateway->sinkId();
+   if (!sinkId.has_value()) {
+     RCLCPP_WARN(this->get_logger(),
+-                "Gateway: subscribe request for channel %lu (\"%s\") from client %u "
++                "Gateway: subscribe request for channel %llu (\"%s\") from client %u "
+                 "but gateway session has no sink ID (reconnecting?); "
+                 "cached transient_local messages will not be replayed",
+                 channel.id(), std::string(channel.topic()).c_str(), clientId);
+   }
+   RCLCPP_INFO(this->get_logger(),
+-              "Gateway: received subscribe request for channel %lu (\"%s\") from client %u",
++              "Gateway: received subscribe request for channel %llu (\"%s\") from client %u",
+               channel.id(), std::string(channel.topic()).c_str(), clientId);
+   createOrIncrementSubscription(channel.id(), clientId, true, sinkId);
+ }
+@@ -1599,7 +1599,7 @@ void FoxgloveBridge::gatewaySubscribe(uint32_t clientId,
+ void FoxgloveBridge::gatewayUnsubscribe(uint32_t clientId,
+                                         const foxglove::ChannelDescriptor& channel) {
+   RCLCPP_INFO(this->get_logger(),
+-              "Gateway: received unsubscribe request for channel %lu (\"%s\") from client %u",
++              "Gateway: received unsubscribe request for channel %llu (\"%s\") from client %u",
+               channel.id(), std::string(channel.topic()).c_str(), clientId);
+   removeOrDecrementSubscription(channel.id(), clientId, true);
+ }
+@@ -1614,7 +1614,7 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId,
+
+   ChannelAndClientId key = {channelId, clientId};
+   if (_gatewayClientAdvertisedTopics.find(key) != _gatewayClientAdvertisedTopics.end()) {
+-    RCLCPP_WARN(this->get_logger(), "Gateway: client %u already advertised channel %lu (\"%s\")",
++    RCLCPP_WARN(this->get_logger(), "Gateway: client %u already advertised channel %llu (\"%s\")",
+                 clientId, channelId, topicName.c_str());
+     return;
+   }
+@@ -1631,7 +1631,7 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId,
+
+   if (topicType.empty()) {
+     RCLCPP_ERROR(this->get_logger(),
+-                 "Gateway: client %u advertised channel %lu (\"%s\") with empty schema name",
++                 "Gateway: client %u advertised channel %llu (\"%s\") with empty schema name",
+                  clientId, channelId, topicName.c_str());
+     return;
+   }
+@@ -1639,12 +1639,12 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId,
+   try {
+     auto ad = createClientPublisher(topicName, topicType, encoding, schemaData, schemaLen);
+     RCLCPP_INFO(this->get_logger(),
+-                "Gateway: client %u is advertising channel %lu \"%s\" (%s) with encoding \"%s\"",
++                "Gateway: client %u is advertising channel %llu \"%s\" (%s) with encoding \"%s\"",
+                 clientId, channelId, topicName.c_str(), topicType.c_str(), encoding.c_str());
+     _gatewayClientAdvertisedTopics.emplace(key, std::move(ad));
+   } catch (const std::exception& ex) {
+     RCLCPP_ERROR(this->get_logger(),
+-                 "Gateway: failed to create publisher for client %u channel %lu (\"%s\"): %s",
++                 "Gateway: failed to create publisher for client %u channel %llu (\"%s\"): %s",
+                  clientId, channelId, topicName.c_str(), ex.what());
+   }
+ }
+@@ -1658,13 +1658,13 @@ void FoxgloveBridge::gatewayClientUnadvertise(uint32_t clientId,
+
+   auto it = _gatewayClientAdvertisedTopics.find(key);
+   if (it == _gatewayClientAdvertisedTopics.end()) {
+-    RCLCPP_WARN(this->get_logger(), "Gateway: client %u unadvertised unknown channel %lu (\"%s\")",
++    RCLCPP_WARN(this->get_logger(), "Gateway: client %u unadvertised unknown channel %llu (\"%s\")",
+                 clientId, channelId, std::string(channel.topic()).c_str());
+     return;
+   }
+
+   RCLCPP_INFO(this->get_logger(),
+-              "Gateway: client %u is no longer advertising channel %lu (\"%s\")", clientId,
++              "Gateway: client %u is no longer advertising channel %llu (\"%s\")", clientId,
+               channelId, it->second.topicName.c_str());
+   _gatewayClientAdvertisedTopics.erase(it);
+
+@@ -1688,7 +1688,7 @@ void FoxgloveBridge::gatewayClientMessage(uint32_t clientId,
+     auto it = _gatewayClientAdvertisedTopics.find(key);
+     if (it == _gatewayClientAdvertisedTopics.end()) {
+       RCLCPP_ERROR(this->get_logger(),
+-                   "Gateway: dropping message from client %u for unknown channel %lu", clientId,
++                   "Gateway: dropping message from client %u for unknown channel %llu", clientId,
+                    channelId);
+       return;
+     }
+@@ -1699,7 +1699,7 @@ void FoxgloveBridge::gatewayClientMessage(uint32_t clientId,
+   try {
+     publishClientData(ad, data, dataLen);
+   } catch (const std::exception& ex) {
+-    RCLCPP_ERROR(this->get_logger(), "Gateway: dropping message from client %u for channel %lu: %s",
++    RCLCPP_ERROR(this->get_logger(), "Gateway: dropping message from client %u for channel %llu: %s",
+                  clientId, channelId, ex.what());
+   }
+ }