Align with ros-humble

Author: traversaro

.github/workflows/main.yml

@@ -21,14 +21,13 @@ jobs:
     - name: Install vinca
       run: |
         pip install git+https://github.com/RoboStack/vinca.git
-
     - name: Generate recipes for linux-64
       run: |
         git clean -fdx
         vinca --multiple --platform linux-64
     - name: Generate azure pipelines for linux-64
       run: |
-        vinca-gha --platform linux-64 --trigger-branch buildbranch_linux -d ./recipes --additional-recipes
+        vinca-gha --platform linux-64 --trigger-branch buildbranch_linux -d ./recipes
     - name: Commit files for linux-64
       run: |
         if [[ -f "linux.yml" ]]; then
@@ -53,7 +52,7 @@ jobs:
         vinca --multiple --platform osx-64
     - name: Generate azure pipelines for osx-64
       run: |
-        vinca-gha --platform osx-64 --trigger-branch buildbranch_osx -d ./recipes --additional-recipes
+        vinca-gha --platform osx-64 --trigger-branch buildbranch_osx -d ./recipes
     - name: Commit files for osx-64
       run: |
         if [[ -f "osx.yml" ]]; then
@@ -78,7 +77,7 @@ jobs:
         vinca --multiple --platform osx-arm64
     - name: Generate azure pipelines for osx-arm64
       run: |
-        vinca-gha --platform osx-arm64 --trigger-branch buildbranch_osx_arm64 -d ./recipes --additional-recipes
+        vinca-gha --platform osx-arm64 --trigger-branch buildbranch_osx_arm64 -d ./recipes
     - name: Commit files for osx-arm64
       run: |
         if [[ -f "osx_arm64.yml" ]]; then
@@ -103,7 +102,8 @@ jobs:
         vinca --multiple --platform win-64
     - name: Generate azure pipelines for win-64
       run: |
-        vinca-gha --platform win-64 --trigger-branch buildbranch_win -d ./recipes --additional-recipes
+        # --batch_size 10 is a workaround for https://github.com/RoboStack/robostack.github.io/issues/105
+        vinca-gha --platform win-64 --trigger-branch buildbranch_win -d ./recipes  --batch_size 10
     - name: Commit files for win-64
       run: |
         if [[ -f "win.yml" ]]; then
@@ -128,7 +128,7 @@ jobs:
         vinca --multiple --platform linux-aarch64
     - name: Generate azure pipelines for linux-aarch64
       run: |
-        vinca-gha --platform linux-aarch64 --trigger-branch buildbranch_linux_aarch64 -d ./recipes --additional-recipes
+        vinca-gha --platform linux-aarch64 --trigger-branch buildbranch_linux_aarch64 -d ./recipes
     - name: Commit files for linux-aarch64
       run: |
         if [[ -f "linux_aarch64.yml" ]]; then

.scripts/build_unix.sh

@@ -26,8 +26,15 @@ if [[ "$target" == *"osx"* ]]; then
     export PATH=$(echo $PATH | tr ":" "\n" | grep -v 'homebrew' | xargs | tr ' ' ':')
 fi
 
-extra_channel=""
-cross_compile=""
+if [[ "$target" == "emscripten-wasm32" ]]; then
+    extra_channel="-c https://repo.mamba.pm/emscripten-forge"
+    cross_compile="--target-platform emscripten-wasm32 --test skip"
+
+else
+    extra_channel=""
+    cross_compile=""
+fi
+
 
 for recipe in ${CURRENT_RECIPES[@]}; do
 	pixi run -v rattler-build build \

.scripts/build_win.bat

@@ -25,5 +25,14 @@ for %%X in (%CURRENT_RECIPES%) do (
     rem -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml
 )
 
-pixi run upload "%CONDA_BLD_PATH%\win-64\*.conda" --force
-if errorlevel 1 exit 1
+:: Check if .conda files exist in the win-64 directory
+dir /b "%CONDA_BLD_PATH%\win-64\*.conda" >nul 2>&1
+if errorlevel 1 (
+    :: No files found, display warning
+    echo Warning: No .conda files found in %CONDA_BLD_PATH%\win-64
+    echo This might be due to all the packages being skipped
+) else (
+    :: Files found, run the upload command
+    pixi run upload "%CONDA_BLD_PATH%\win-64\*.conda" --force
+    if errorlevel 1 exit 1
+)

check_patches_clean_apply.py

@@ -172,3 +172,4 @@ def main() -> None:
 
 if __name__ == "__main__":
     main()
+

conda_build_config.yaml

@@ -17,7 +17,7 @@ graphviz:
 
 # Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697
 cmake:
-  - 3.* 
+  - 3.*
 
 cdt_name:  # [linux]
   - conda  # [linux]
@@ -51,8 +51,8 @@ cxx_compiler_version:          # [unix]
   - 18                         # [osx]
 
 libzenohc:
-  - 1.3.4
+  - 1.4.0
 libzenohcxx:
-  - 1.3.4
+  - 1.4.0
 libcap:
   - 2.71

pixi.lock

@@ -23,10 +23,10 @@ git = "*"
 
 [pypi-dependencies]
 # This is tipically the latest commit on main branch
-vinca = { git = "https://github.com/RoboStack/vinca.git", rev = "b0cc367fe249bc96ebf6ce49927d4e1d4aeb13b1" }
+vinca = { git = "https://github.com/RoboStack/vinca.git", rev = "7d3a05e01d6898201a66ba2cf6ea771250671f58" }
 # Uncomment this line to work with a local vinca for faster iteration, but remember to comment it back
 # (and regenerate the pixi.lock) once you push the modified commit to the repo
-#vinca = { path = "../vinca", editable = true }
+# vinca = { path = "../vinca", editable = true }
 
 [tasks]
 remove-recipes = { cmd = "rm -rf recipes_only_patch; rm -rf recipes; mkdir recipes" }

pixi.toml

@@ -138,8 +138,10 @@ diagnostic_aggregator:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 diagnostic_updater:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+octomap_ros:
+  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 rviz_ogre_vendor:
   additional_cmake_args: "-DRVIZ_OGRE_VENDOR_MANGLE_NAME_OF_LIBRARIES_USED_BY_RVIZ=ON"
 # Remove once https://github.com/PickNikRobotics/data_tamer/pull/58 is merged and released
 data_tamer_cpp:
-  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+  additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"

pkg_additional_info.yaml

@@ -39,8 +39,6 @@ bullet:
   robostack: [bullet]
 bzip2:
   robostack: [bzip2]
-cartographer:
-  robostack: [cartographer]
 ca-certificates:
   robostack: [ca-certificates]
 cargo:
@@ -132,7 +130,11 @@ glut:
     osx: []
     win64: [freeglut]
 google-mock:
-  robostack: [gmock]
+  robostack:
+    linux: [gmock]
+    osx: [gmock]
+    win64: [gmock]
+    emscripten: []
 graphicsmagick:
   robostack: [graphicsmagick]
 graphviz:
@@ -264,6 +266,8 @@ libcurl-dev:
   robostack: [libcurl]
 libdc1394-dev:
   robostack: [libdc1394]
+libdraco-dev:
+  robostack: [draco]
 libdw-dev:
   robostack:
     linux: [elfutils]
@@ -345,6 +349,8 @@ liblz4-dev:
   robostack: [lz4]
 libmicrohttpd:
   robostack: [libmicrohttpd]
+libnanoflann-dev:
+  robostack: [nanoflann]
 libncurses-dev:
   robostack:
     linux: [ncurses]
@@ -371,6 +377,8 @@ libomp-dev:
     linux: [libgomp]
     osx: [llvm-openmp]
     win64: []
+libopen3d-dev:
+  robostack: [open3d, REQUIRE_OPENGL]
 libopenblas-dev:
   robostack: [libblas]
 libopencv-dev:
@@ -923,6 +931,8 @@ qt5-qmake:
   robostack: [qt-main, REQUIRE_OPENGL]
 qtbase5-dev:
   robostack: [qt-main, REQUIRE_OPENGL]
+range-v3:
+  robostack: [range-v3]
 rapidjson-dev:
   robostack: [rapidjson]
 roboticstoolbox-python:
@@ -964,7 +974,7 @@ sshpass:
 subversion:
   robostack: [subversion]
 suitesparse:
-  robostack: [suitesparse]
+  robostack: [suitesparse, blas-devel]
 sqlite3:
   robostack: [sqlite 3.*]
 swig: