Full Rebuild (Sync) of June 2026: bump ros2-distro-mutex to 0.15.0 and build_number to 19

.github/workflows/testpr.yml

@@ -63,7 +63,8 @@ jobs:
     # For some reason, the Strawberry perl's pkg-config is found
     # instead of the conda's one, so let's delete the /c/Strawberry directory
     # Furthermore, we also need to remove an older SDK that is used and can result in compilation problems
-    - name: Debug pkg-config problem
+    # And we also remove the vcpkg installed in the image, to avoid that projects pick it
+    - name: Remove problematic files of GitHub Actions images
       if: contains(matrix.os, 'windows')
       shell: bash -l {0}
       run: |
@@ -107,8 +108,8 @@ jobs:
     - name: Delete specific outdated cache entries
       shell: bash -l {0}
       run: |
-        # rm -rf ${{ matrix.folder_cache }}/ros-jazzy-<pkg>* || true
-        pixi run rattler-index fs output --force
+        # rm -rf ${{ matrix.folder_cache }}/ros-jazzy-mrt-cmake-modules* || true
+        pixi run rattler-index fs ${CONDA_BLD_PATH:-output} --force
         exit 0
 
     - name: See packages restored by cache

conda_build_config.yaml

@@ -1,37 +1,58 @@
 numpy:
   - 2
+
 assimp:
-  - 5
+  - 6
+# Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697
+cmake:
+  - 3.*
+eigen_abi_devel:
+  - '5.0.1'
 libprotobuf:
-  - 6.31.1
+  - 6.33.5
 protobuf:
-  - 6.31.1
-spdlog:
-  - 1.17
-pugixml:
-  - '1.15'
-libopencv:
-  - 4.12.0
-libxml2:
-  - 2.14.*
+  - 6.33.5
+fmt:
+  - '12.1'
 graphviz:
-  - 14.*
+  - '14'
+jsoncpp:
+  - 1.9.7
+libopencv:
+  - 4.13.0
+libmujoco:
+  - 3.8.1
 # Mitigation for
 # https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380
 libcap:
   - 2.77
-fmt:
-  - 12.1
+libhwloc:
+  - 2.12.2
+libxml2:
+  - '2.14'
+libzenohc:
+  - 1.9.0
+libzenohcxx:
+  - 1.9.0
 lua:
   - 5.4
+pugixml:
+  - '1.15'
+shaderc:
+  - '2026.2'
+spdlog:
+  - 1.17
 tbb:
   - '2022'
 tbb_devel:
   - '2022'
+urdfdom:
+  - '6.0'
+urdfdom_headers:
+  - '3.0'
+vtk:
+  - 9.6.2
 
-# Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697
-cmake:
-  - 3.*
 
 cdt_name:  # [linux]
   - conda  # [linux]
@@ -47,7 +68,7 @@ c_compiler:
   - vs2022                     # [win]
 c_compiler_version:            # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 c_stdlib:
   - sysroot                    # [linux]
   - macosx_deployment_target   # [osx]
@@ -62,28 +83,11 @@ cxx_compiler:
   - vs2022                     # [win]
 cxx_compiler_version:          # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 
 lbr_fri_client_sdk:
   - '1.11'
   - '1.14'
   - '1.15'
   - '1.16'
   - '1.17'
-
-libzenohc:
-  - 1.7.2
-libzenohcxx:
-  - 1.7.2
-
-libhwloc:
-  - 2.12.2
-
-eigen_abi_devel:
-  - '3.4.0'
-
-urdfdom:
-  - '4.0'
-
-libmujoco:
-  - 3.5.0

patch/dependencies.yaml

@@ -101,8 +101,6 @@ nav2_util:
   add_host: ["libboost-devel"]
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}"]
-nav2_mppi_controller:
-  add_build: ["${{ 'clang <19' if osx }}"]
 ompl:
   add_host: ["ompl"]
 pybind11_vendor:

patch/ros-jazzy-ament-cmake-core.patch

@@ -0,0 +1,18 @@
+diff --git a/cmake/package_templates/templates_2_cmake.py b/cmake/package_templates/templates_2_cmake.py
+index b7c0faf..328cc38 100644
+--- a/cmake/package_templates/templates_2_cmake.py
++++ b/cmake/package_templates/templates_2_cmake.py
+@@ -68,12 +68,7 @@ def generate_cmake_code():
+     """
+     variables = []
+
+-    if not IS_WINDOWS:
+-        variables.append((
+-            'ENVIRONMENT_HOOK_LIBRARY_PATH',
+-            '"%s"' % get_environment_hook_template_path('library_path.sh')))
+-    else:
+-        variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
++    variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
+
+     ext = '.bat.in' if IS_WINDOWS else '.sh.in'
+     variables.append((

patch/ros-jazzy-ament-package.patch

@@ -0,0 +1,22 @@
+diff --git a/ament_package/template/environment_hook/library_path.sh b/ament_package/template/environment_hook/library_path.sh
+deleted file mode 100644
+index 292e518..0000000
+--- a/ament_package/template/environment_hook/library_path.sh
++++ /dev/null
+@@ -1,16 +0,0 @@
+-# copied from ament_package/template/environment_hook/library_path.sh
+-
+-# detect if running on Darwin platform
+-_UNAME=`uname -s`
+-_IS_DARWIN=0
+-if [ "$_UNAME" = "Darwin" ]; then
+-  _IS_DARWIN=1
+-fi
+-unset _UNAME
+-
+-if [ $_IS_DARWIN -eq 0 ]; then
+-  ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+-else
+-  ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+-fi
+-unset _IS_DARWIN

patch/ros-jazzy-apriltag-ros.patch

@@ -15,3 +15,15 @@ index c906851..b48600f 100644
  endif()
 
  option(ASAN "use AddressSanitizer to detect memory issues" OFF)
+diff --git a/src/conversion.cpp b/src/conversion.cpp
+--- a/src/conversion.cpp
++++ b/src/conversion.cpp
+@@ -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);

patch/ros-jazzy-bonxai-ros.patch

@@ -142,6 +142,48 @@ index 34a3231..5bb8938 100644
 
  #include "mask.hpp"
 
+diff --git a/bonxai_core/include/bonxai/mask.hpp b/bonxai_core/include/bonxai/mask.hpp
+index 0000000..0000001 100644
+--- a/bonxai_core/include/bonxai/mask.hpp
++++ b/bonxai_core/include/bonxai/mask.hpp
+@@ -30,6 +30,7 @@ class Mask {
+
+   Mask(const Mask& other);
+   Mask(Mask&& other);
++  Mask& operator=(Mask&& other);
+
+   ~Mask();
+
+@@ -294,6 +295,27 @@ inline Mask::Mask(Mask&& other)
+   } else {
+     std::swap(words_, other.words_);
+   }
+ }
+
++inline Mask& Mask::operator=(Mask&& other) {
++  if (this == &other) {
++    return *this;
++  }
++  if (WORD_COUNT > 8) {
++    delete[] words_;
++  }
++  SIZE = other.SIZE;
++  WORD_COUNT = other.WORD_COUNT;
++  if (WORD_COUNT <= 8) {
++    words_ = static_words_;
++    for (uint32_t i = 0; i < WORD_COUNT; ++i) {
++      words_[i] = other.words_[i];
++    }
++  } else {
++    words_ = other.words_;
++    other.words_ = nullptr;
++  }
++  return *this;
++}
++
+ inline Mask::~Mask() {
+   if (WORD_COUNT > 8) {
+     delete[] words_;
 diff --git a/bonxai_core/include/bonxai/grid_coord.hpp b/bonxai_core/include/bonxai/grid_coord.hpp
 index da8fb7d..1f9727b 100644
 --- a/bonxai_core/include/bonxai/grid_coord.hpp

patch/ros-jazzy-clearpath-diagnostics.patch

@@ -0,0 +1,28 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: RoboStack <maintainers@robostack.org>
+Date: Wed, 13 May 2026 23:30:00 +0000
+Subject: [PATCH] Undef glibc major/minor macros before Version class
+
+glibc's <sys/sysmacros.h> (pulled in transitively on aarch64) defines
+major()/minor() as macros that expand to gnu_dev_major/gnu_dev_minor,
+colliding with clearpath::Version's int members.
+---
+--- a/include/clearpath_diagnostics/clearpath_diagnostic_updater.hpp	2026-05-13 23:40:50.389941101 -0700
++++ b/include/clearpath_diagnostics/clearpath_diagnostic_updater.hpp	2026-05-13 23:43:40.451520115 -0700
+@@ -47,6 +47,16 @@
+ #include "clearpath_platform_msgs/msg/status.hpp"
+ #include "clearpath_platform_msgs/msg/stop_status.hpp"
+
++// glibc's <sys/sysmacros.h> defines major/minor as macros that expand to
++// gnu_dev_major/gnu_dev_minor, which collides with clearpath::Version's
++// member names. Undefine them before declaring the class.
++#ifdef major
++#undef major
++#endif
++#ifdef minor
++#undef minor
++#endif
++
+ namespace clearpath
+ {
+

patch/ros-jazzy-control-toolbox.patch

@@ -0,0 +1,25 @@
+From 934aa700fb5a8a89101e5b67c5dcb1dc7c5e0b80 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio@traversaro.it>
+Date: Fri, 29 May 2026 09:42:03 +0200
+Subject: [PATCH] Define _USE_MATH_DEFINES for each target that links
+ control_toolbox on WIN32
+
+---
+ control_toolbox/CMakeLists.txt | 4 +++-
+ 1 file changed, 3 insertions(+), 1 deletion(-)
+
+diff --git a/control_toolbox/CMakeLists.txt b/control_toolbox/CMakeLists.txt
+index eba96b58..cacf9ad6 100644
+--- a/control_toolbox/CMakeLists.txt
++++ b/control_toolbox/CMakeLists.txt
+@@ -52,7 +52,9 @@ target_link_libraries(control_toolbox PUBLIC
+   realtime_tools::realtime_tools
+ )
+ target_compile_definitions(control_toolbox PRIVATE "CONTROL_TOOLBOX_BUILDING_LIBRARY")
+-
++if(WIN32)
++  target_compile_definitions(control_toolbox PUBLIC "_USE_MATH_DEFINES")
++endif()
+
+ ########################
+ # Build control filters