Full Rebuild (Sync) November 2025: bump ros2-distro-mutex to 0.12.0 and build_number to 12

.github/workflows/testpr.yml

@@ -7,7 +7,7 @@ env:
   # Change to 'true' to enable the cache upload as artifacts
   SAVE_CACHE_AS_ARTIFACT: 'false'
   # 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:
     strategy:

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*"]
 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-jazzy-ros-workspace", "git-lfs"]
 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*"]
 nao_lola:
   add_host: ["libboost-devel"]
 ros_ign_gazebo:
-  add_host: ["ros-jazzy-std-msgs", "ros-jazzy-rclcpp", "REQUIRE_OPENGL"]
+  add_host: ["ros-jazzy-std-msgs", "ros-jazzy-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:
   # binutils is added only on linux to avoid the -liberty library not found in macos
   # see https://github.com/RoboStack/ros-jazzy/pull/95#issuecomment-3113166166
@@ -111,62 +111,62 @@ 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-jazzy-rclpy"]
   add_run: ["ros-jazzy-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"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 geometric_shapes:
   add_host: ["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"]
 # TODO unvendor?!
@@ -235,9 +235,9 @@ gz_ogre_next_vendor:
 rosx_introspection:
   add_host: ["rapidjson"]
 gz_ros2_control:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 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:
@@ -247,7 +247,7 @@ 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"]
 image_tools:
@@ -259,4 +259,4 @@ camera_calibration:
 livox_ros_driver2:
   add_host: ["livox-sdk2"]
 moveit2_tutorials:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]

patch/ros-jazzy-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);

patch/ros-jazzy-foxglove-bridge.patch

@@ -0,0 +1,23 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a72a85b..9550019 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -70,6 +70,18 @@ else()
+   elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+     set(FOXGLOVE_SDK_PLATFORM "x86_64-unknown-linux-gnu")
+     set(FOXGLOVE_SDK_SHA "574c3ce006d6131d6519b416f25ef37c5b2a0721ef49c894286c79a5a5e0b4fc")
++  elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64")
++    set(FOXGLOVE_SDK_PLATFORM "aarch64-apple-darwin")
++    set(FOXGLOVE_SDK_SHA "015d660ede95ad4d37f84e83e8ebbe81545f1d3c9fea4a24667baf692267f151")
++  elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
++    set(FOXGLOVE_SDK_PLATFORM "x86_64-apple-darwin")
++    set(FOXGLOVE_SDK_SHA "07a1903013639ae872be9fcee8ccf72224a20cc142e642063a226ba2c2b54196")
++  elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "ARM64")
++    set(FOXGLOVE_SDK_PLATFORM "aarch64-pc-windows-msvc")
++    set(FOXGLOVE_SDK_SHA "caa797bad483ee2f1013c39a8997a409a45515f15e62ead9011351f12596f57d")
++  elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64")
++    set(FOXGLOVE_SDK_PLATFORM "x86_64-pc-windows-msvc")
++    set(FOXGLOVE_SDK_SHA "906a5658a207dfe929a6b75f39e0064efdb6182d923e695617fcfa10d311f349")
+   else()
+     message(FATAL_ERROR "Unsupported platform/architecture combination: ${CMAKE_SYSTEM_PROCESSOR}-${CMAKE_SYSTEM_NAME}")
+   endif()