Merge remote-tracking branch 'upstream/main' into add-ouster-ros

Author: wep21

.github/workflows/testpr.yml

@@ -25,7 +25,7 @@ jobs:
           - os: macos-14
             platform: osx-arm64
             additional_recipes: []
-          - os: windows-2019
+          - os: windows-2022
             platform: win-64
             additional_recipes: []
 
@@ -37,9 +37,9 @@ jobs:
         persist-credentials: false # otherwise, the token used is the GITHUB_TOKEN, instead of your personal token
         fetch-depth: 0 # otherwise, you will failed to push refs to dest repo
 
-    - uses: prefix-dev/[email protected].1
+    - uses: prefix-dev/[email protected].8
       with:
-        pixi-version: v0.41.1
+        pixi-version: v0.44.0
         environments: beta
         frozen: true
 

additional_recipes/ros2-distro-mutex/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros2-distro-mutex
-  version: 0.8.0
+  version: 0.9.0
 
 build:
   number: 0
@@ -30,10 +30,11 @@ requirements:
   run_constraints:
     - libboost 1.86.*
     - libboost-devel 1.86.*
-    - pcl 1.14.1.*
+    - pcl 1.15.0.*
     - gazebo 11.*
     - libprotobuf 5.29.3.*
     - libxml2 2.13.*
+    - vtk 9.4.2.*
 
   run_exports:
     weak:

conda_build_config.yaml

@@ -28,8 +28,7 @@ python_impl:
 c_compiler:
   - gcc                        # [linux]
   - clang                      # [osx]
-  - vs2019                     # [win and x86_64]
-  - vs2022                     # [win and arm64]
+  - vs2022                     # [win]
 c_compiler_version:            # [unix]
   - 13                         # [linux]
   - 18                         # [osx]
@@ -44,15 +43,14 @@ c_stdlib_version:              # [unix]
 cxx_compiler:
   - gxx                        # [linux]
   - clangxx                    # [osx]
-  - vs2019                     # [win and x86_64]
-  - vs2022                     # [win and arm64]
+  - vs2022                     # [win]
 cxx_compiler_version:          # [unix]
   - 13                         # [linux]
   - 18                         # [osx]
 
 libzenohc:
-  - 1.2.1
+  - 1.3.4
 libzenohcxx:
-  - 1.2.1
+  - 1.3.4
 libcap:
   - 2.71

patch/dependencies.yaml

@@ -239,3 +239,7 @@ zenoh_cpp_vendor:
   add_host: ["libzenohc", "libzenohcxx"]
 rmw_zenoh_cpp:
   add_host: ["libzenohc", "libzenohcxx"]
+autoware_utils_pcl:
+  add_host: ["REQUIRE_OPENGL"]
+autoware_utils_debug:
+  add_host: ["fmt"]

patch/ros-jazzy-autoware-cmake.win.patch

@@ -0,0 +1,16 @@
+diff --git a/cmake/autoware_package.cmake b/cmake/autoware_package.cmake
+index 2f46006..3d63a70 100644
+--- a/cmake/autoware_package.cmake
++++ b/cmake/autoware_package.cmake
+@@ -78,6 +78,11 @@ macro(autoware_package)
+     )
+   endif()
+ 
++  if(MSVC)
++    add_compile_definitions(_USE_MATH_DEFINES)
++    set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++  endif()
++
+   # Find test dependencies
+   if(BUILD_TESTING)
+     find_package(ament_lint_auto REQUIRED)

patch/ros-jazzy-autoware-utils-debug.patch

@@ -0,0 +1,18 @@
+diff --git a/autoware_utils_debug/CMakeLists.txt b/autoware_utils_debug/CMakeLists.txt
+index a823eda..92f0906 100644
+--- a/autoware_utils_debug/CMakeLists.txt
++++ b/autoware_utils_debug/CMakeLists.txt
+@@ -2,11 +2,13 @@ cmake_minimum_required(VERSION 3.14)
+ project(autoware_utils_debug)
+ 
+ find_package(autoware_cmake REQUIRED)
++find_package(fmt REQUIRED)
+ autoware_package()
+ 
+ ament_auto_add_library(${PROJECT_NAME} SHARED
+   "src/time_keeper.cpp"
+ )
++target_link_libraries(${PROJECT_NAME} fmt::fmt)
+ 
+ if(BUILD_TESTING)
+   file(GLOB_RECURSE test_files test/*.cpp)

patch/ros-jazzy-autoware-utils-system.win.patch

@@ -0,0 +1,32 @@
+diff --git a/src/backtrace.cpp b/src/backtrace.cpp
+index 3bdfa8f..ee27f35 100644
+--- a/src/backtrace.cpp
++++ b/src/backtrace.cpp
+@@ -16,7 +16,9 @@
+ 
+ #include <rclcpp/rclcpp.hpp>
+ 
++#if !defined(_MSC_VER)
+ #include <execinfo.h>
++#endif
+ 
+ #include <iostream>
+ #include <memory>
+@@ -29,6 +31,7 @@ namespace autoware_utils_system
+ // cppcheck-suppress unusedFunction
+ void print_backtrace()
+ {
++#if !defined(_MSC_VER)
+   constexpr size_t max_frames = 100;
+   void * addrlist[max_frames + 1];
+ 
+@@ -49,5 +52,9 @@ void print_backtrace()
+ 
+   free(symbol_list);
+ }
++#else
++  return;
++}
++#endif
+ 
+ }  // namespace autoware_utils_system

patch/ros-jazzy-behaviortree-cpp.patch

@@ -0,0 +1,13 @@
+diff --git a/src/controller_interface_base.cpp b/src/controller_interface_base.cpp
+index 532544ab3..22229eb8a 100644
+--- a/src/controller_interface_base.cpp
++++ b/src/controller_interface_base.cpp
+@@ -153,7 +153,7 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
+     {
+       RCLCPP_WARN(
+         get_node()->get_logger(),
+-        "The update rate of the controller : '%ld Hz' cannot be higher than the update rate of the "
++        "The update rate of the controller : '%lld Hz' cannot be higher than the update rate of the "
+         "controller manager : '%d Hz'. Setting it to the update rate of the controller manager.",
+         update_rate, update_rate_);
+     }