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

conda_build_config.yaml

@@ -1,23 +1,21 @@
 numpy:
   - 2
 assimp:
-  - 5
+  - 6
 libprotobuf:
-  - 6.31.1
+  - 6.33.5
 protobuf:
-  - 6.31.1
+  - 6.33.5
 spdlog:
   - 1.17
 pugixml:
   - '1.15'
 libopencv:
-  - 4.12.0
+  - 4.13.0
 libxml2:
   - 2.14.*
 graphviz:
   - 14.*
-# Mitigation for
-# https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380
 libcap:
   - 2.77
 fmt:
@@ -47,7 +45,7 @@ c_compiler:
   - vs2022                     # [win]
 c_compiler_version:            # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 c_stdlib:
   - sysroot                    # [linux]
   - macosx_deployment_target   # [osx]
@@ -62,7 +60,7 @@ cxx_compiler:
   - vs2022                     # [win]
 cxx_compiler_version:          # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 
 lbr_fri_client_sdk:
   - '1.11'
@@ -72,18 +70,20 @@ lbr_fri_client_sdk:
   - '1.17'
 
 libzenohc:
-  - 1.7.2
+  - 1.9.0
 libzenohcxx:
-  - 1.7.2
-
+  - 1.9.0
 libhwloc:
   - 2.12.2
 
 eigen_abi_devel:
   - '3.4.0'
 
 urdfdom:
-  - '4.0'
+  - '5.1'
 
 libmujoco:
-  - 3.5.0
+  - 3.8.1
+
+vtk:
+  - 9.6.0

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-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-foxglove-bridge.osx.patch

@@ -1,8 +1,17 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 611816f..597036e 100644
+index 71deedd..602397c 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -185,6 +185,13 @@ target_link_libraries(foxglove_bridge_component
+@@ -87,7 +87,7 @@ target_sources(foxglove_cpp_shared PRIVATE ${FOXGLOVE_SDK_SOURCES})
+ # Import the prebuilt C shared library from the fetched SDK
+ add_library(foxglove-shared SHARED IMPORTED)
+ set_target_properties(foxglove-shared PROPERTIES
+-  IMPORTED_LOCATION ${foxglove_sdk_SOURCE_DIR}/lib/libfoxglove.so
++  IMPORTED_LOCATION ${foxglove_sdk_SOURCE_DIR}/lib/libfoxglove.dylib
+ )
+ target_link_libraries(foxglove_cpp_shared PRIVATE foxglove-shared)
+ set_target_properties(foxglove_cpp_shared PROPERTIES
+@@ -165,6 +165,13 @@ target_link_libraries(foxglove_bridge_component
    rosx_introspection::rosx_introspection
  )
 
@@ -15,107 +24,84 @@ index 611816f..597036e 100644
 +
  rclcpp_components_register_nodes(foxglove_bridge_component "foxglove_bridge::FoxgloveBridge")
  enable_strict_compiler_warnings(foxglove_bridge_component)
-
+ set_target_properties(foxglove_bridge_component PROPERTIES
 diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp
-index 978c732..4883047 100644
+index 2229aad..9431dbd 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(
+@@ -479,7 +479,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
+       const TopicAndDatatype topicAndSchemaName = {topic, schemaName};
+       if (latestTopics.find(topicAndSchemaName) == latestTopics.end()) {
+         const auto channelId = channel.id();
+-        RCLCPP_INFO(this->get_logger(), "Removing channel %lu for topic \"%s\" (%s)", channelId,
++        RCLCPP_INFO(this->get_logger(), "Removing channel %llu for topic \"%s\" (%s)", channelId,
+                     topic.c_str(), schemaName.c_str());
+         // Remove any active subscriptions for this channel
+         _subscriptions.erase(channelId);
+@@ -549,7 +549,7 @@ 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())});
      }
+@@ -814,7 +814,7 @@ void FoxgloveBridge::subscribeConnectionGraph(bool subscribe) {
+ }
 
-     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_INFO(this->get_logger(), "received subscribe request for channel %lu from client %u",
++  RCLCPP_INFO(this->get_logger(), "received subscribe request for channel %llu from client %u",
+               channelId, client.id);
+   createOrIncrementSubscription(channelId, client.id, false, client.sink_id);
+ }
+@@ -867,7 +867,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl
+                                                          std::optional<SinkId> sinkId) {
+   auto channelIt = _channels.find(channelId);
+   if (channelIt == _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
+@@ -898,7 +898,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl
+     auto [it, inserted] = _subscriptions.emplace(channelId, std::move(channelSub));
+     subIt = it;
 
-   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
+-    RCLCPP_INFO(this->get_logger(), "Created ROS subscription on %s (%s) for channel %lu",
++    RCLCPP_INFO(this->get_logger(), "Created ROS subscription on %s (%s) for channel %llu",
+                 topic.c_str(), datatype.c_str(), channelId);
+   }
 
-   _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());
+@@ -922,7 +922,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl
  }
 
  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_INFO(this->get_logger(), "received unsubscribe request for channel %lu from client %u",
++  RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %llu from client %u",
+               channelId, client.id);
+   removeOrDecrementSubscription(channelId, client.id, false);
+ }
+@@ -938,7 +938,7 @@ void FoxgloveBridge::removeOrDecrementSubscriptionLocked(ChannelId channelId, Cl
+   auto subIt = _subscriptions.find(channelId);
+   if (subIt == _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);
+-                 "Client %u tried unsubscribing from channel %lu but no subscription exists",
++                 "Client %u tried unsubscribing from channel %llu but no subscription exists",
+                  clientId, 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);
+   }
+@@ -953,7 +953,7 @@ void FoxgloveBridge::removeOrDecrementSubscriptionLocked(ChannelId channelId, Cl
+   // If no more subscribers, destroy the ROS subscription
+   if (subIt->second.wsClientIds.empty() && subIt->second.gatewayClientIds.empty()) {
+     RCLCPP_INFO(this->get_logger(),
+-                "Cleaned up ROS subscription for channel %lu (no more subscribers)", channelId);
++                "Cleaned up ROS subscription for channel %llu (no more subscribers)", channelId);
+     _subscriptions.erase(subIt);
+   }
  }
-@@ -755,7 +755,7 @@ void FoxgloveBridge::clientUnadvertise(ClientId clientId, ChannelId clientChanne
+@@ -1092,7 +1092,7 @@ void FoxgloveBridge::clientUnadvertise(ClientId clientId, ChannelId clientChanne
 
    const auto& publisher = it->second.publisher;
    RCLCPP_INFO(this->get_logger(),
@@ -124,3 +110,95 @@ index 978c732..4883047 100644
                publisher->get_topic_name(), publisher->get_subscription_count(), clientChannelId);
 
    _clientAdvertisedTopics.erase(it);
+@@ -1460,13 +1460,13 @@ void FoxgloveBridge::gatewaySubscribe(uint32_t clientId,
+   auto sinkId = _gateway->sinkId();
+   if (!sinkId.has_value()) {
+     RCLCPP_WARN(this->get_logger(),
+-                "Gateway: subscribe request for channel %lu (\"%s\") from client %u "
++                "Gateway: subscribe request for channel %llu (\"%s\") from client %u "
+                 "but gateway session has no sink ID (reconnecting?); "
+                 "cached transient_local messages will not be replayed",
+                 channel.id(), std::string(channel.topic()).c_str(), clientId);
+   }
+   RCLCPP_INFO(this->get_logger(),
+-              "Gateway: received subscribe request for channel %lu (\"%s\") from client %u",
++              "Gateway: received subscribe request for channel %llu (\"%s\") from client %u",
+               channel.id(), std::string(channel.topic()).c_str(), clientId);
+   createOrIncrementSubscription(channel.id(), clientId, true, sinkId);
+ }
+@@ -1474,7 +1474,7 @@ void FoxgloveBridge::gatewaySubscribe(uint32_t clientId,
+ void FoxgloveBridge::gatewayUnsubscribe(uint32_t clientId,
+                                         const foxglove::ChannelDescriptor& channel) {
+   RCLCPP_INFO(this->get_logger(),
+-              "Gateway: received unsubscribe request for channel %lu (\"%s\") from client %u",
++              "Gateway: received unsubscribe request for channel %llu (\"%s\") from client %u",
+               channel.id(), std::string(channel.topic()).c_str(), clientId);
+   removeOrDecrementSubscription(channel.id(), clientId, true);
+ }
+@@ -1489,7 +1489,7 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId,
+
+   ChannelAndClientId key = {channelId, clientId};
+   if (_gatewayClientAdvertisedTopics.find(key) != _gatewayClientAdvertisedTopics.end()) {
+-    RCLCPP_WARN(this->get_logger(), "Gateway: client %u already advertised channel %lu (\"%s\")",
++    RCLCPP_WARN(this->get_logger(), "Gateway: client %u already advertised channel %llu (\"%s\")",
+                 clientId, channelId, topicName.c_str());
+     return;
+   }
+@@ -1506,7 +1506,7 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId,
+
+   if (topicType.empty()) {
+     RCLCPP_ERROR(this->get_logger(),
+-                 "Gateway: client %u advertised channel %lu (\"%s\") with empty schema name",
++                 "Gateway: client %u advertised channel %llu (\"%s\") with empty schema name",
+                  clientId, channelId, topicName.c_str());
+     return;
+   }
+@@ -1514,12 +1514,12 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId,
+   try {
+     auto ad = createClientPublisher(topicName, topicType, encoding, schemaData, schemaLen);
+     RCLCPP_INFO(this->get_logger(),
+-                "Gateway: client %u is advertising channel %lu \"%s\" (%s) with encoding \"%s\"",
++                "Gateway: client %u is advertising channel %llu \"%s\" (%s) with encoding \"%s\"",
+                 clientId, channelId, topicName.c_str(), topicType.c_str(), encoding.c_str());
+     _gatewayClientAdvertisedTopics.emplace(key, std::move(ad));
+   } catch (const std::exception& ex) {
+     RCLCPP_ERROR(this->get_logger(),
+-                 "Gateway: failed to create publisher for client %u channel %lu (\"%s\"): %s",
++                 "Gateway: failed to create publisher for client %u channel %llu (\"%s\"): %s",
+                  clientId, channelId, topicName.c_str(), ex.what());
+   }
+ }
+@@ -1533,13 +1533,13 @@ void FoxgloveBridge::gatewayClientUnadvertise(uint32_t clientId,
+
+   auto it = _gatewayClientAdvertisedTopics.find(key);
+   if (it == _gatewayClientAdvertisedTopics.end()) {
+-    RCLCPP_WARN(this->get_logger(), "Gateway: client %u unadvertised unknown channel %lu (\"%s\")",
++    RCLCPP_WARN(this->get_logger(), "Gateway: client %u unadvertised unknown channel %llu (\"%s\")",
+                 clientId, channelId, std::string(channel.topic()).c_str());
+     return;
+   }
+
+   RCLCPP_INFO(this->get_logger(),
+-              "Gateway: client %u is no longer advertising channel %lu (\"%s\")", clientId,
++              "Gateway: client %u is no longer advertising channel %llu (\"%s\")", clientId,
+               channelId, it->second.topicName.c_str());
+   _gatewayClientAdvertisedTopics.erase(it);
+
+@@ -1563,7 +1563,7 @@ void FoxgloveBridge::gatewayClientMessage(uint32_t clientId,
+     auto it = _gatewayClientAdvertisedTopics.find(key);
+     if (it == _gatewayClientAdvertisedTopics.end()) {
+       RCLCPP_ERROR(this->get_logger(),
+-                   "Gateway: dropping message from client %u for unknown channel %lu", clientId,
++                   "Gateway: dropping message from client %u for unknown channel %llu", clientId,
+                    channelId);
+       return;
+     }
+@@ -1574,7 +1574,7 @@ void FoxgloveBridge::gatewayClientMessage(uint32_t clientId,
+   try {
+     publishClientData(ad, data, dataLen);
+   } catch (const std::exception& ex) {
+-    RCLCPP_ERROR(this->get_logger(), "Gateway: dropping message from client %u for channel %lu: %s",
++    RCLCPP_ERROR(this->get_logger(), "Gateway: dropping message from client %u for channel %llu: %s",
+                  clientId, channelId, ex.what());
+   }
+ }