Update Lyrical rosdistro snapshot

.github/workflows/testpr.yml

@@ -75,13 +75,31 @@ jobs:
     - name: Generate recipes
       shell: bash -l {0}
       run: |
-        mkdir -p recipes
-        pixi run -v vinca --platform ${{ matrix.platform }} -m -n
+        set -e
+        for attempt in 1 2 3; do
+          rm -rf recipes
+          mkdir -p recipes
+          if pixi run -v vinca --platform ${{ matrix.platform }} -m -n; then
+            break
+          fi
+          if [[ "${attempt}" == "3" ]]; then
+            echo "Recipe generation failed after ${attempt} attempts" >&2
+            exit 1
+          fi
+          echo "Recipe generation attempt ${attempt} failed; retrying..." >&2
+          sleep 15
+        done
+        # Avoid concurrent Git clone cache corruption when many ROS packages
+        # share the same release repository.
+        pixi run python use_github_source_archives.py
 
     - name: Check patches
       shell: bash -l {0}
       run: |
-        pixi run check-patches
+        # Recipes were already generated for the matrix platform and their Git
+        # sources converted to archives. Do not use the Pixi task here because
+        # its generate-recipes dependency would overwrite both changes.
+        pixi run python check_patches_clean_apply.py
 
     - name: Restore build cache
       id: cache-restore
@@ -94,6 +112,28 @@ jobs:
         restore-keys: |
           ${{ runner.os }}-${{ matrix.platform }}-pr-${{ github.event.pull_request.number }}-
 
+    - name: Restore latest partial-build artifact
+      if: ${{ steps.cache-restore.outputs.cache-hit != 'true' && env.IGNORE_CACHE_AND_DO_FULL_REBUILD != 'true' }}
+      shell: bash -l {0}
+      env:
+        GH_TOKEN: ${{ github.token }}
+      run: |
+        # A hosted job canceled at the hard six-hour limit cannot reliably save
+        # its actions/cache entry, but always() still uploads its partial output
+        # as an artifact. Recover the newest such checkpoint on the next run.
+        prefix="cache-${{ matrix.platform }}-"
+        artifact_id=$(gh api "repos/${GITHUB_REPOSITORY}/actions/artifacts?per_page=100" \
+          --jq '.artifacts | map(select(.expired == false and (.name | startswith("'"${prefix}"'")))) | sort_by(.created_at) | last | .id // empty')
+        if [[ -n "${artifact_id}" ]]; then
+          echo "Restoring partial-build artifact ${artifact_id}"
+          gh api "repos/${GITHUB_REPOSITORY}/actions/artifacts/${artifact_id}/zip" > partial-cache.zip
+          mkdir -p ${{ matrix.folder_cache }}
+          pixi run python -m zipfile -e partial-cache.zip ${{ matrix.folder_cache }}
+          rm partial-cache.zip
+        else
+          echo "No partial-build artifact found for ${{ matrix.platform }}"
+        fi
+
     - name: Optional force full rebuild
       if: ${{ env.IGNORE_CACHE_AND_DO_FULL_REBUILD == 'true' }}
       shell: bash -l {0}
@@ -103,7 +143,17 @@ jobs:
     - name: Delete specific outdated cache entries
       shell: bash -l {0}
       run: |
-        # rm -rf ${{ matrix.folder_cache }}/ros-lyrical-pcl-conversions* 2>/dev/null || true
+        # nav2-util was cached before its exported angles dependency was
+        # propagated; force replacement without discarding the full rebuild.
+        rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-util-* 2>/dev/null || true
+        rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-route-* 2>/dev/null || true
+        rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-ros-common-* 2>/dev/null || true
+        # Build 23 caches contain a mixture of pre- and post-mutex-migration
+        # packages with identical filenames. Remove them now that this rebuild
+        # uses build 24, otherwise strict local-channel priority can select an
+        # incompatible package requiring the old mutex.
+        rm -rf ${{ matrix.folder_cache }}/*_23.conda 2>/dev/null || true
+        rm -rf ${{ matrix.folder_cache }}/ros2-distro-mutex-*-lyrical_23.conda 2>/dev/null || true
         mkdir -p ${{ matrix.folder_cache }}
         pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
 
@@ -113,8 +163,34 @@ jobs:
         ls ${{ matrix.folder_cache }} || true
 
     - name: Build recipes
+      id: build-recipes
       shell: bash -l {0}
       run: |
+        set -e
+        # rattler-build orders build and host dependencies, but runtime-only
+        # dependencies do not create build-graph edges. A mutex migration makes
+        # old runtime packages unusable, so run tolerant passes to populate the
+        # new mutex generation before the final strict validation. Four passes
+        # also let the build recover when an earlier failed run saved little or
+        # no usable cache.
+        pass_count=4
+        # Hosted macOS and Windows jobs have a hard six-hour limit. Their
+        # partial-artifact checkpoint provides the bootstrap state, so use one
+        # tolerant pass followed by strict validation to stay within the limit.
+        if [[ "${{ matrix.platform }}" == osx-* || "${{ matrix.platform }}" == "win-64" ]]; then
+          pass_count=1
+        fi
+
+        for pass in $(seq 1 "${pass_count}"); do
+          echo "Dependency-tolerant build pass ${pass}/${pass_count}"
+          rm -rf ${{ matrix.folder_cache }}/../src_cache/git
+          pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --continue-on-failure --skip-existing || true
+          # Each rattler-build invocation resolves against channel repodata read
+          # at startup. Publish this pass's new artifacts before the next pass.
+          pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
+        done
+
+        rm -rf ${{ matrix.folder_cache }}/../src_cache/git
         pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing
 
     - name: See packages that will be saved in cache
@@ -125,7 +201,9 @@ jobs:
 
     - name: Save build cache
       uses: actions/cache/save@v5
-      if: always()
+      # Preserve useful partial builds, but do not let a recipe-generation or
+      # patch-check failure replace the restore prefix with an empty cache.
+      if: ${{ always() && (steps.build-recipes.outcome == 'success' || steps.build-recipes.outcome == 'failure') }}
       with:
         path: |
           ${{ matrix.folder_cache }}
@@ -134,7 +212,18 @@ jobs:
     - name: Generate GitHub Actions workflows to catch post-PR problems
       shell: bash -l {0}
       run: |
-        pixi run vinca-gha --platform ${{ matrix.platform }} --trigger-branch dummy_build_branch_as_it_is_unused -d ./recipes
+        set -e
+        for attempt in 1 2 3; do
+          if pixi run vinca-gha --platform ${{ matrix.platform }} --trigger-branch dummy_build_branch_as_it_is_unused -d ./recipes; then
+            break
+          fi
+          if [[ "${attempt}" == "3" ]]; then
+            echo "Workflow generation failed after ${attempt} attempts" >&2
+            exit 1
+          fi
+          echo "Workflow generation attempt ${attempt} failed; retrying..." >&2
+          sleep 15
+        done
 
     - name: Upload build cache as artifact
       if: ${{ always() && env.SAVE_CACHE_AS_ARTIFACT == 'true' }}

check_patches_clean_apply.py

@@ -189,6 +189,12 @@ def run_rattler_build_individually(recipes: List[Path]) -> None:
         print("\n Running:", " ".join(cmd), "\n", flush=True)
         try:
             proc = subprocess.run(cmd, text=True, capture_output=True, errors="replace", encoding="utf-8")
+            # rattler-build's shared Git source cache can occasionally retain
+            # tag refs whose objects were not fetched. Retry from a clean Git
+            # cache rather than reporting a spurious patch failure.
+            if proc.returncode != 0 and "Git error: Git fetch failed" in proc.stderr:
+                shutil.rmtree(ROOT_DIR / "output" / "src_cache" / "git", ignore_errors=True)
+                proc = subprocess.run(cmd, text=True, capture_output=True, errors="replace", encoding="utf-8")
             success = proc.returncode == 0
             results.append(
                 {

conda_build_config.yaml

@@ -28,15 +28,15 @@ graphviz:
 # Mitigation for
 # https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380
 libcap:
-  - 2.77
+  - 2.78
 fmt:
   - 12.1
 lua:
   - 5.4
 tbb:
-  - '2022'
+  - '2023'
 tbb_devel:
-  - '2022'
+  - '2023'
 
 # Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697
 cmake:
@@ -60,7 +60,7 @@ c_compiler:
   - vs2022                     # [win]
 c_compiler_version:            # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 c_stdlib:
   - sysroot                    # [linux]
   - macosx_deployment_target   # [osx]
@@ -75,12 +75,12 @@ cxx_compiler:
   - vs2022                     # [win]
 cxx_compiler_version:          # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 
 libzenohc:
   - 1.9.0
 libzenohcxx:
   - 1.9.0
 
 libhwloc:
-  - 2.12.2
+  - 2.13.0

patch/dependencies.yaml

@@ -49,9 +49,6 @@ rmf_visualization_schedule:
 rmf_fleet_adapter:
   add_host: ["eigen-abi-devel"]
   remove_host: ["eigen"]
-rmf_websocket:
-  add_host: ["asio", "websocketpp"]
-  add_run: ["asio", "websocketpp"]
 behaviortree_cpp:
   add_host: ["libboost-devel", "cppzmq", "zeromq", "sqlite"]
   add_run: ["libboost"]
@@ -98,13 +95,26 @@ backward_ros:
   add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros-lyrical-ament-cmake-libraries"]
 nav2_smac_planner:
   add_build: ["${{ 'llvm-openmp' if osx }}"]
-  add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode"]
+  # omplConfig.cmake exports Boost as a dependency.
+  add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode", "libboost-devel"]
+nav2_map_server:
+  # rosdep does not resolve libuuid on macOS, though conda-forge provides it.
+  add_host: ["libuuid"]
+  add_run: ["libuuid"]
+nav2_rviz_plugins:
+  # Qt 6 provides its StateMachine component through the qt6-scxml package.
+  add_host: ["qt6-scxml"]
+  add_run: ["qt6-scxml"]
+nav2_route:
+  # Both dependencies are exported by nav2_routeConfig.cmake.
+  add_run: ["nanoflann", "nlohmann_json"]
 nav2_util:
   add_host: ["libboost-devel"]
+  # nav2_util exports angles from its CMake config, so downstream consumers
+  # need it in the runtime environment as well.
+  add_run: ["ros-lyrical-angles"]
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}", "ceres-solver * cpu*"]
-nav2_mppi_controller:
-  add_build: ["${{ 'clang <19' if osx }}"]
 ompl:
   add_host: ["ompl"]
 pybind11_json_vendor:
@@ -164,6 +174,21 @@ force_torque_sensor_broadcaster:
   add_host: ["typeguard", "jinja2"]
 ros_gz_sim:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros-lyrical-gz-sensors-vendor"]
+ament_cmake_ros:
+  # Break the test-only runtime cycle so a new mutex migration can bootstrap.
+  remove_run: ["ros-lyrical-rmw-test-fixture-implementation"]
+cyclonedds:
+  # The posh CMake targets reference the iox-roudi executable shipped by the
+  # top-level iceoryx package, so the split devel packages alone are incomplete.
+  add_host: ["iceoryx", "libiceoryx-hoofs-devel", "libiceoryx-posh-devel"]
+  add_run: ["libiceoryx-hoofs", "libiceoryx-posh"]
+  remove_host: ["ros-lyrical-iceoryx-hoofs", "ros-lyrical-iceoryx-posh"]
+  remove_run: ["ros-lyrical-iceoryx-hoofs", "ros-lyrical-iceoryx-posh"]
+rmw_cyclonedds_cpp:
+  add_host: ["libiceoryx-binding-c-devel"]
+  add_run: ["libiceoryx-binding-c"]
+  remove_host: ["ros-lyrical-iceoryx-binding-c"]
+  remove_run: ["ros-lyrical-iceoryx-binding-c"]
 geometric_shapes:
   add_host: ["libboost-devel", "octomap"]
 ros_image_to_qimage:
@@ -172,7 +197,10 @@ rqt_image_overlay:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 slam_toolbox:
   add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel", "ceres-solver * cpu*"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel", "ceres-solver * cpu*", "qt6-main"]
+  add_run: ["qt6-main"]
+  remove_host: ["qt-main"]
+  remove_run: ["qt-main"]
 vision_msgs_rviz_plugins:
   add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"]
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
@@ -267,6 +295,17 @@ autoware_utils_pcl:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 autoware_utils_debug:
   add_host: ["fmt"]
+autoware_osqp_interface:
+  # Autoware 1.7 still uses the OSQP 0.x C API.
+  add_host: ["ros-lyrical-osqp-vendor ==0.2.0"]
+  add_run: ["ros-lyrical-osqp-vendor ==0.2.0"]
+  remove_host: ["ros-lyrical-osqp-vendor"]
+  remove_run: ["ros-lyrical-osqp-vendor"]
+autoware_qp_interface:
+  add_host: ["ros-lyrical-osqp-vendor ==0.2.0"]
+  add_run: ["ros-lyrical-osqp-vendor ==0.2.0"]
+  remove_host: ["ros-lyrical-osqp-vendor"]
+  remove_run: ["ros-lyrical-osqp-vendor"]
 autoware_trajectory:
   add_host: ["fmt", "cpp-expected"]
 autoware_behavior_velocity_planner:
@@ -275,6 +314,16 @@ autoware_behavior_velocity_planner_common:
   add_host: ["cpp-expected"]
 autoware_behavior_velocity_stop_line_module:
   add_host: ["cpp-expected"]
+rmf_task_sequence:
+  # The vendor package's ament config does not load the imported validator
+  # target. Make the conda-forge CMake package directly available.
+  add_host: ["json_schema_validator"]
+  add_run: ["json_schema_validator"]
+rmw_implementation:
+  # These backends are only used by the disabled test suite. Keeping them all
+  # as host dependencies creates a bootstrap cycle during mutex migrations;
+  # the default Fast DDS backend is sufficient to configure the package.
+  remove_host: ["ros-lyrical-rmw-connextdds", "ros-lyrical-rmw-cyclonedds-cpp", "ros-lyrical-rmw-fastrtps-dynamic-cpp", "ros-lyrical-rmw-zenoh-cpp"]
 rclpy:
   add_host: ["typing_extensions"]
   add_run: ["typing_extensions"]
@@ -296,7 +345,7 @@ grid_map_octomap:
   add_host: ["octomap"]
   add_run: ["octomap"]
 py_trees:
-  add_host: ["poetry-core"]
+  add_host: ["hatchling"]
 py_trees_js:
   add_host: ["poetry-core"]
 py_trees_ros: