Full Rebuild (Sync) July 2025: bump ros2-distro-mutex to 0.7.0 and build_number to 13

[traversaro]

Major changes:

• Changed default RMW_IMPLEMENTATION to rmw_cyclonedds_cpp on macOS, to avoid fastdds problems.
• Update snapshot to July 2025
• Rebuild with rmw_zenoh_cpp 0.1.2 for compatibility with .deb packages
• Add grid_map packages on macOS (fix feat: add grid map into aarch64 and macos #247)
• Consolidate all vinca files in a single vinca.yaml that uses platform selectors
• Get rid of all manually maintained additional recipes

Fix #326 .
Fix #325 .

[wolfv]

@traversaro vinca fails with:

Traceback (most recent call last):
  File "<frozen runpy>", line [19](https://github.com/RoboStack/ros-humble/actions/runs/16070021587/job/45352381592?pr=320#step:12:20)8, in _run_module_as_main
  File "<frozen runpy>", line 88, in _run_code
  File "D:\a\ros-humble\ros-humble\.pixi\envs\beta\Scripts\vinca.EXE\__main__.py", line 10, in <module>
  File "D:\a\ros-humble\ros-humble\.pixi\envs\beta\Lib\site-packages\vinca\main.py", line 1183, in main
    pkg_build_number = get_pkg_build_number(selected_bn, pkg["name"], vinca_conf)
                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "D:\a\ros-humble\ros-humble\.pixi\envs\beta\Lib\site-packages\vinca\utils.py", line 87, in get_pkg_build_number
    pkg_additional_info = get_pkg_additional_info(pkg_name, vinca_conf)
                          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "D:\a\ros-humble\ros-humble\.pixi\envs\beta\Lib\site-packages\vinca\utils.py", line 83, in get_pkg_additional_info
    pkg_additional_info = vinca_conf["_pkg_additional_info"].get(normalized_name, {})
                          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'NoneType' object has no attribute 'get'

[traversaro]

@traversaro vinca fails with:

Traceback (most recent call last):
  File "<frozen runpy>", line [19](https://github.com/RoboStack/ros-humble/actions/runs/16070021587/job/45352381592?pr=320#step:12:20)8, in _run_module_as_main
  File "<frozen runpy>", line 88, in _run_code
  File "D:\a\ros-humble\ros-humble\.pixi\envs\beta\Scripts\vinca.EXE\__main__.py", line 10, in <module>
  File "D:\a\ros-humble\ros-humble\.pixi\envs\beta\Lib\site-packages\vinca\main.py", line 1183, in main
    pkg_build_number = get_pkg_build_number(selected_bn, pkg["name"], vinca_conf)
                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "D:\a\ros-humble\ros-humble\.pixi\envs\beta\Lib\site-packages\vinca\utils.py", line 87, in get_pkg_build_number
    pkg_additional_info = get_pkg_additional_info(pkg_name, vinca_conf)
                          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "D:\a\ros-humble\ros-humble\.pixi\envs\beta\Lib\site-packages\vinca\utils.py", line 83, in get_pkg_additional_info
    pkg_additional_info = vinca_conf["_pkg_additional_info"].get(normalized_name, {})
                          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'NoneType' object has no attribute 'get'

Yes, this still a work in process, let me mark as draft to make it clear.

[traversaro]

@traversaro vinca fails with:

Traceback (most recent call last):
  File "<frozen runpy>", line [19](https://github.com/RoboStack/ros-humble/actions/runs/16070021587/job/45352381592?pr=320#step:12:20)8, in _run_module_as_main
  File "<frozen runpy>", line 88, in _run_code
  File "D:\a\ros-humble\ros-humble\.pixi\envs\beta\Scripts\vinca.EXE\__main__.py", line 10, in <module>
  File "D:\a\ros-humble\ros-humble\.pixi\envs\beta\Lib\site-packages\vinca\main.py", line 1183, in main
    pkg_build_number = get_pkg_build_number(selected_bn, pkg["name"], vinca_conf)
                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "D:\a\ros-humble\ros-humble\.pixi\envs\beta\Lib\site-packages\vinca\utils.py", line 87, in get_pkg_build_number
    pkg_additional_info = get_pkg_additional_info(pkg_name, vinca_conf)
                          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "D:\a\ros-humble\ros-humble\.pixi\envs\beta\Lib\site-packages\vinca\utils.py", line 83, in get_pkg_additional_info
    pkg_additional_info = vinca_conf["_pkg_additional_info"].get(normalized_name, {})
                          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'NoneType' object has no attribute 'get'

Fix in RoboStack/vinca#86 (even if for this PR we will soon populate the pkg_additional_info.yaml file, so there will be no problem.

[traversaro]

Ok, the package generation part seems to work fine now, after propagating many cleanups that already happened in ros-jazzy and ros-kilted. Now the check patches is failing, so the fun part of adapting the patches begins. : )

[traversaro]

Ok, I tested the patches (on Linux for now) and beside the low hanging fruits that I already removed, the patches that remain and need to be adapted are:

• ros-humble-backward-ros.patch
• ros-humble-moveit-setup-assistant.patch
• ros-humble-moveit-setup-core-plugins.patch
• ros-humble-moveit-setup-framework.patch
• ros-humble-plotjuggler.patch
• ros-humble-qt-gui-cpp.patch
• ros-humble-ublox-dgnss-node.patch

I am not sure if I am going to work on this in the weekend, so if anyone wants to look into this feel free to do so!

To run the check of patches locally, just run:

git clone  -b fullrebuild202507 https://github.com/traversaro/ros-humble/ 
cd ros-humble
pixi run check-patches

[traversaro]

The patches problem does not affect emscripten that builds a subset of the recipe, so the build is going forward, and it fails with:

 │ Installing test environment
 │ ✔ Successfully updated the test environment
 │ Testing commands:
 │ $PREFIX/bin/python3: 2: exec: /home/runner/work/ros-humble/ros-humble/output/bld/rattler-build_ros-humble-ament-lint-cmake_1751699151/build_env/venv/build/bin/python3: not found
 │ error: unable to find fallback python3 executable
 │ × error Script failed with status 1
 │ × error 
 │ × error Script execution failed.
 │ × error 
 │ × error   Work directory: /home/runner/work/ros-humble/ros-humble/output/test/test_ros-humble-ament-lint-cmakedSlLYA/test
 │ × error   Prefix: /home/runner/work/ros-humble/ros-humble/output/test/test_ros-humble-ament-lint-cmakedSlLYA/test_run_env
 │ × error   Build prefix: None
 │ × error 
 │ × error To run the script manually, use the following command:
 │ × error 
 │ × error   cd "/home/runner/work/ros-humble/ros-humble/output/test/test_ros-humble-ament-lint-cmakedSlLYA/test" && ./conda_build.sh
 │ × error 
 │ × error To run commands interactively in the build environment:
 │ × error 
 │ × error   cd "/home/runner/work/ros-humble/ros-humble/output/test/test_ros-humble-ament-lint-cmakedSlLYA/test" && source build_env.sh
 │
 ╰─────────────────── (took 0 seconds)

[Tobias-Fischer]

We need to disable testing for cross compiled builds for emscripten

[traversaro]

We need to disable testing for cross compiled builds for emscripten

Good point!

[Tobias-Fischer]

For wasm-cpp we need to add bzip2 and a few others as run dependencies - how does that work now?

[traversaro]

Windows PR is finally green! Now the PR is ready for review, just in time for the sync or rmw_zenoh_cpp 0.1.2:

• http://discourse.ros.org/t/preparing-for-humble-sync-and-patch-release-2025-07-18/45250
• https://discourse.openrobotics.org/t/wire-breaking-change-in-rmw-zenoh-for-ros-2-jazzy/44367/15

[traversaro]

@Tobias-Fischer @wolfv any comment on this? The corresponding update in apt packages of rmw_zenoh with the breaking change was released, so I would like to merge this to ensure that new installation of humble via robostack and apt are compatible even when using RMW zenoh. I know that the PR is gigantic, but hopefully it contains a lot of cleanup that should make it much more easy to do rebuilds in the future.

[Tobias-Fischer]

Thanks so much @traversaro - let's see how we go on the main branch :)

[traversaro]

Thanks so much @traversaro - let's see how we go on the main branch :)

Great! I have been monitoring the CI on the main branches, and the Linux and macOS have been failing a few times with the Tokyo runtime panic error or similar, but a restart was sufficient to fix them. The Windows job is instead quite stable, it has been running for ~10 hours without any problem.

[traversaro]

Thanks so much @traversaro - let's see how we go on the main branch :)

Great! I have been monitoring the CI on the main branches, and the Linux and macOS have been failing a few times with the Tokyo runtime panic error or similar, but a restart was sufficient to fix them. The Windows job is instead quite stable, it has been running for ~10 hours without any problem.

After 14.5 hours, the Windows build job is done:

[traversaro]

fyi @idesign0 this PR have added all the packages you reported me as missing on macOS!