Full rebuild Septmber 2026 : bump ros2-distro-mutex to 0.21.0 and build number to 26 and switch to new pinning mechanism by traversaro · Pull Request #43 · RoboStack/ros-rolling

traversaro · 2026-09-01T22:56:37Z

In particular, I would like to test the new pinning machinery introduced in RoboStack/vinca#138 . This effectively updates OpenCV to 5.* that I guess is mostly untested in ROS world (also other rolling distro efforts like's idesign0's brew one, nix overlay and bazel just ping opencv to 4.*) so I would expect a few failures due to that.

traversaro · 2026-09-02T05:34:24Z

RoboStack patch	Package version	Classification	Upstream resolution / required action
ros-rolling-foxglove-bridge.patch	3.5.0	Needs updating	Upstream changed substantially for Foxglove SDK 0.27.0. Refresh the platform selection, archive hashes and Apple framework linking.
ros-rolling-gz-ros2-control.osx.patch	4.0.1	Upstreamed	Remove. Fixed by ros-controls/gz_ros2_control#900.
ros-rolling-moveit-ros-control-interface.patch	2.15.1	Upstreamed	Remove. Fixed by moveit/moveit2#3818, specifically commit 73a9f195.
ros-rolling-moveit-ros-perception.patch	2.15.1	Upstreamed	Remove. Fixed by moveit/moveit2#3818, specifically commit 6af0c951.
ros-rolling-rcl-yaml-param-parser.patch	10.5.2	Upstreamed	Remove. Fixed by ros2/rcl#1325.
ros-rolling-rcutils.patch	7.2.2	Upstreamed	Remove. The thread-linking part is ros2/rcutils#579; the atomic-initializer compatibility was subsequently incorporated in the same 7.2.2 release series.
ros-rolling-ros-gz-bridge.win.patch	4.0.1	Upstreamed	Remove. Fixed by gazebosim/ros_gz#930.
ros-rolling-sbg-driver.patch	3.4.0	Upstreamed	Remove. Upstream commit 8c7d9d1d; no associated PR was found.

mini-1235 · 2026-09-02T07:47:10Z

+  - 2.17                       # [linux and not riscv64]
+  - 2.39                       # [linux and riscv64]
+  - 2.17                       # [linux and (x86_64 or aarch64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
+  - 12.0            # [osx]


I think we will run into quite a few errors on macOS if we pin this below 14.0. I'm curious whether there's any way to "force update" this generated file. #31 (comment)

Yes, we can add the override in vinca_pinning.yaml's pinning_overrides.

Ah, okay, cool. I didn't notice that

traversaro · 2026-09-02T07:54:01Z

The build fails with:

Run pixi run rattler-build build --recipe-dir recipes --target-platform linux-64 -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-rolling --skip-existing

 ╭─ Finding outputs from recipe
 │ Loading variant config file: "./conda_build_config.yaml"
 │ Found 1 variants
 │ 
 │ Build variant: ros2-ament-cmake-cpplint-0.21.1-np2py314hbf8ec49_26
 │ 
 │ ╭──────────────────────┬────────────────────╮
 │ │ Variant              ┆ Version            │
 │ ╞══════════════════════╪════════════════════╡
 │ │ build_platform       ┆ "linux-64"         │
 │ │ c_compiler           ┆ "gcc"              │
 │ │ c_compiler_version   ┆ "15"               │
 │ │ c_stdlib             ┆ "sysroot"          │
 │ │ c_stdlib_version     ┆ "2.17"             │
 │ │ channel_sources      ┆ "conda-forge"      │
 │ │ channel_targets      ┆ "conda-forge main" │
 │ │ cxx_compiler         ┆ "gxx"              │
 │ │ cxx_compiler_version ┆ "15"               │
 │ │ numpy                ┆ "2"                │
 │ │ python               ┆ "3.14.* *_cp314"   │
 │ │ target_platform      ┆ "linux-64"         │
 │ ╰──────────────────────┴────────────────────╯
 │
 ╰─────────────────── (took 0 seconds)
Error:   × channel_sources and channels cannot both be set at the same time

Error: Process completed with exit code 1.

probably we need to remove the channels from the invocation, and override that.

traversaro · 2026-09-02T08:28:37Z

Also updating the compiler bring its own regressions:

 │ │ [15/28] Building C object CMakeFiles/rmw.dir/src/time.c.o
 │ │ FAILED: [code=1] CMakeFiles/rmw.dir/src/time.c.o 
 │ │ $BUILD_PREFIX/bin/x86_64-conda-linux-gnu-cc -DROS_PACKAGE_NAME=\"rmw\" -D__STDC_WANT_LIB_EXT1__=1 -Drmw_EXPORTS -I$SRC_DIR/ros2-rmw/src/work/include -isystem $PREFIX/include/rcutils -isystem $PREFIX/include/rosidl_dynamic_typesupport -isystem $PREFIX/include/rosidl_runtime_c -isystem $PREFIX/include/rosidl_buffer -isystem $PREFIX/include/rosidl_typesupport_interface -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -fno-merge-constants -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/ros2-rmw-7.11.1 -fdebug-prefix-map=$PREFIX=/usr/local/src/conda-prefix -D__STDC_FORMAT_MACROS=1 -O3 -DNDEBUG -std=gnu17 -fPIC -Wall -Wextra -Wpedantic -fvisibility=hidden -MD -MT CMakeFiles/rmw.dir/src/time.c.o -MF CMakeFiles/rmw.dir/src/time.c.o.d -o CMakeFiles/rmw.dir/src/time.c.o -c $SRC_DIR/ros2-rmw/src/work/src/time.c
 │ │ In file included from $SRC_DIR/ros2-rmw/src/work/src/time.c:15:
 │ │ $SRC_DIR/ros2-rmw/src/work/include/rmw/time.h:60:1: error: unknown type name 'bool'
 │ │    60 | bool
 │ │       | ^~~~
 │ │ $SRC_DIR/ros2-rmw/src/work/include/rmw/time.h:29:1: note: 'bool' is defined in header '<stdbool.h>'; this is probably fixable by adding '#include <stdbool.h>'
 │ │    28 | #include "rmw/visibility_control.h"
 │ │   +++ |+#include <stdbool.h>
 │ │    29 | 
 │ │ $SRC_DIR/ros2-rmw/src/work/src/time.c:21:1: error: unknown type name 'bool'
 │ │    21 | bool
 │ │       | ^~~~
 │ │ $SRC_DIR/ros2-rmw/src/work/src/time.c:16:1: note: 'bool' is defined in header '<stdbool.h>'; this is probably fixable by adding '#include <stdbool.h>'
 │ │    15 | #include "rmw/time.h"
 │ │   +++ |+#include <stdbool.h>
 │ │    16 | 
 │ │ [16/28] Building C object CMakeFiles/rmw.dir/src/security_options.c.o
 │ │ [17/28] Building C object CMakeFiles/rmw.dir/src/qos_string_conversions.c.o
 │ │ [18/28] Building C object CMakeFiles/rmw.dir/src/subscription_content_filter_options.c.o
 │ │ [19/28] Building C object CMakeFiles/rmw.dir/src/subscription_options.c.o

fixed upstream in ros2/rmw#423 .

The inclusion of <stdbool.h> in time.h resolves compilation issues caused by changes in the include chain of rcutils.

traversaro · 2026-09-02T09:14:46Z

New failure:

2026-09-02T08:53:05.9228526Z │ │ -- Build files have been written to: $SRC_DIR/build 2026-09-02T08:53:05.9402960Z │ │ [1/9] Generating rcl_yaml_param_parser/version.h 
2026-09-02T08:53:05.9877985Z │ │ [2/9] Building C object CMakeFiles/rcl_yaml_param_parser.dir/src/parse.c.o 2026-09-02T08:53:05.9907717Z │ │ FAILED: [code=1] CMakeFiles/rcl_yaml_param_parser.dir/src/parse.c.o 2026-09-02T08:53:05.9942071Z │ │ $BUILD_PREFIX/bin/aarch64-conda-linux-gnu-cc -DRCL_YAML_PARAM_PARSER_BUILDING_DLL -DROS_PACKAGE_NAME=\"rcl_yaml_param_parser\" -D__STDC_WANT_LIB_EXT1__=1 -Drcl_yaml_param_parser_EXPORTS -I$SRC_DIR/ros2-rcl-yaml-param-parser/src/work/include -I$SRC_DIR/build/ament_generate_version_header/rcl_yaml_param_parser -isystem $PREFIX/include/rcutils -isystem $PREFIX/include/rmw -isystem $PREFIX/include/rosidl_dynamic_typesupport -isystem $PREFIX/include/rosidl_runtime_c -isystem $PREFIX/include/rosidl_buffer -isystem $PREFIX/include/rosidl_typesupport_interface -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O3 -pipe -fno-merge-constants -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/ros2-rcl-yaml-param-parser-10.5.2 -fdebug-prefix-map=$PREFIX=/usr/local/src/conda-prefix -D__STDC_FORMAT_MACROS=1 -O3 -DNDEBUG -fPIC -fvisibility=hidden -Wall -Wextra -Wpedantic -Wformat=2 -Wconversion -Wsign-conversion -MD -MT CMakeFiles/rcl_yaml_param_parser.dir/src/parse.c.o -MF CMakeFiles/rcl_yaml_param_parser.dir/src/parse.c.o.d -o CMakeFiles/rcl_yaml_param_parser.dir/src/parse.c.o -c $SRC_DIR/ros2-rcl-yaml-param-parser/src/work/src/parse.c 2026-09-02T08:53:06.0008107Z │ │ $SRC_DIR/ros2-rcl-yaml-param-parser/src/work/src/parse.c:32:10: fatal error: threads.h: No such file or directory 
2026-09-02T08:53:06.0037688Z │ │ 32 | #include <threads.h> 2026-09-02T08:53:06.0097697Z │ │ | ^~~~~~~~~~~ 2026-09-02T08:53:06.0127350Z │ │ compilation terminated. 2026-09-02T08:53:06.0197898Z │ │ [3/9] Building C object CMakeFiles/rcl_yaml_param_parser.dir/src/namespace.c.o 2026-09-02T08:53:06.0309272Z │ │ [4/9] Building C object CMakeFiles/rcl_yaml_param_parser.dir/src/node_params.c.o 2026-09-02T08:53:06.0465583Z │ │ [5/9] Building C object CMakeFiles/rcl_yaml_param_parser.dir/src/add_to_arrays.c.o 2026-09-02T08:53:06.0681625Z │ │ [6/9] Building C object CMakeFiles/rcl_yaml_param_parser.dir/src/yaml_variant.c.o 2026-09-02T08:53:06.0918668Z │ │ [7/9] Building C object CMakeFiles/rcl_yaml_param_parser.dir/src/parser.c.o 2026-09-02T08:53:06.0919762Z │ │ ninja: build stopped: subcommand failed. 2026-09-02T08:53:06.0936849Z │ │ × error Script failed with status 1 2026-09-02T08:53:06.0937206Z │ │ × error

this is similar to what @mini-1235 mentioned, we need to override an higher c_stdlib_version version for linux-* platforms w.r.t. to the default one used in conda-forge, as we had before.

traversaro · 2026-09-02T09:19:00Z

On macOS we have an actual failure OpenCV 5 failure:

2026-09-02T09:13:14.4951450Z  │ │ +CXX_FOR_BUILD=$BUILD_PREFIX/bin/arm64-apple-darwin20.0.0-clang++
2026-09-02T09:13:14.4954540Z  │ │ +CXX=arm64-apple-darwin20.0.0-clang++
2026-09-02T09:13:14.4959630Z  │ │ +CXXFLAGS=-ftree-vectorize -fPIC -fstack-protector-strong -O2 -pipe -stdlib=libc++ -fvisibility-inlines-hidden -fmessage-length=0 -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/ros2-image-geometry-4.1.0 -fdebug-prefix-map=$PREFIX=/usr/local/src/conda-prefix
2026-09-02T09:13:14.4963680Z  │ │ +DEBUG_CXXFLAGS=-ftree-vectorize -fPIC -fstack-protector-strong -O2 -pipe -stdlib=libc++ -fvisibility-inlines-hidden -fmessage-length=0 -Og -g -Wall -Wextra -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/ros2-image-geometry-4.1.0 -fdebug-prefix-map=$PREFIX=/usr/local/src/conda-prefix
2026-09-02T09:13:14.5110180Z  │ │ USING PYTHON_EXECUTABLE=$PREFIX/bin/python
2026-09-02T09:13:14.5112470Z  │ │ USING PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
2026-09-02T09:13:14.5265940Z  │ │ Using Python 3.14
2026-09-02T09:13:14.5577170Z  │ │ Using PYTHON_INSTALL_DIR: lib/python3.14/site-packages
2026-09-02T09:13:14.6518060Z  │ │ CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
2026-09-02T09:13:14.6519840Z  │ │   Compatibility with CMake < 3.10 will be removed from a future version of
2026-09-02T09:13:14.6520820Z  │ │ Ignoring COMPILE_WARNING_AS_ERROR target property and CMAKE_COMPILE_WARNING_AS_ERROR variable.
2026-09-02T09:13:14.6521380Z  │ │   CMake.
2026-09-02T09:13:14.6523970Z  │ │   Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
2026-09-02T09:13:14.6525460Z  │ │   to tell CMake that the project requires at least <min> but has been updated
2026-09-02T09:13:14.6526100Z  │ │   to work with policies introduced by <max> or earlier.
2026-09-02T09:13:14.6526990Z  │ │ This warning is for project developers.  Use -Wno-author or -Wno-deprecated
2026-09-02T09:13:14.6527400Z  │ │ to suppress it.
2026-09-02T09:13:15.7194830Z  │ │ -- The C compiler identification is Clang 21.1.8
2026-09-02T09:13:16.0564250Z  │ │ -- The CXX compiler identification is Clang 21.1.8
2026-09-02T09:13:16.1075260Z  │ │ -- Detecting C compiler ABI info
2026-09-02T09:13:16.3369340Z  │ │ -- Detecting C compiler ABI info - done
2026-09-02T09:13:16.3595210Z  │ │ -- Check for working C compiler: $BUILD_PREFIX/bin/arm64-apple-darwin20.0.0-clang - skipped
2026-09-02T09:13:16.3616320Z  │ │ -- Detecting C compile features
2026-09-02T09:13:16.3622020Z  │ │ -- Detecting C compile features - done
2026-09-02T09:13:16.3697550Z  │ │ -- Detecting CXX compiler ABI info
2026-09-02T09:13:16.5651430Z  │ │ -- Detecting CXX compiler ABI info - done
2026-09-02T09:13:16.5830690Z  │ │ -- Check for working CXX compiler: $BUILD_PREFIX/bin/arm64-apple-darwin20.0.0-clang++ - skipped
2026-09-02T09:13:16.5832800Z  │ │ -- Detecting CXX compile features
2026-09-02T09:13:16.5892550Z  │ │ -- Detecting CXX compile features - done
2026-09-02T09:13:16.6201790Z  │ │ -- Found ament_cmake_python: 2.9.1 ($PREFIX/share/ament_cmake_python/cmake)
2026-09-02T09:13:16.6326320Z  │ │ -- Found ament_cmake_ros: 0.16.0 ($PREFIX/share/ament_cmake_ros/cmake)
2026-09-02T09:13:17.4304200Z  │ │ CMake Error at $BUILD_PREFIX/share/cmake-4.4/Modules/FindPackageHandleStandardArgs.cmake:290 (message):
2026-09-02T09:13:17.4305910Z  │ │   Could NOT find OpenCV (missing: calib3d) (found version "5.0.0")
2026-09-02T09:13:17.4307050Z  │ │ Call Stack (most recent call first):
2026-09-02T09:13:17.4312230Z  │ │   $BUILD_PREFIX/share/cmake-4.4/Modules/FindPackageHandleStandardArgs.cmake:654 (_FPHSA_FAILURE_MESSAGE)
2026-09-02T09:13:17.4314820Z  │ │ -- Configuring incomplete, errors occurred!
2026-09-02T09:13:17.4316870Z  │ │   $PREFIX/lib/cmake/opencv5/OpenCVConfig.cmake:356 (find_package_handle_standard_args)
2026-09-02T09:13:17.4318190Z  │ │   CMakeLists.txt:18 (find_package)
2026-09-02T09:13:17.4348790Z  │ │ × error Script failed with status 1

traversaro added 2 commits September 2, 2026 00:52

Do full rebuild with new pinning mechanism

55eef52

Continue to pin zenoh and build a single Python version

63c5adf

Refresh patches

3f1d4c7

mini-1235 reviewed Sep 2, 2026

View reviewed changes

Fix Foxglove patch application

95e635e

traversaro added 2 commits September 2, 2026 10:12

Remove inherited build channel sources

7265576

Remove channel_targets

f488366

rmw: Add missing stdbool.h include to time.h

49f2d81

The inclusion of <stdbool.h> in time.h resolves compilation issues caused by changes in the include chain of rcutils.

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Full rebuild Septmber 2026 : bump ros2-distro-mutex to 0.21.0 and build number to 26 and switch to new pinning mechanism - #43

Full rebuild Septmber 2026 : bump ros2-distro-mutex to 0.21.0 and build number to 26 and switch to new pinning mechanism#43
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