Beluga for Lyrical

.github/workflows/testpr.yaml

@@ -259,9 +259,12 @@ jobs:
         extra=()
         # shorter work dirs for MAX_PATH on Windows
         [ "$PLATFORM" == "win-64" ] && extra+=(--no-build-id)
-        # independent recipes side by side, with a shared jobserver keeping them at the
-        # runner's cores in total; Windows has no jobserver, and was no faster with two
-        [ "$PLATFORM" != "win-64" ] && extra+=(--parallel-builds "3:$(getconf _NPROCESSORS_ONLN)")
+        # Temporarily one at a time everywhere, as in tools/robostack.py (PARALLEL_BUILDS):
+        # rattler-build 0.77 gives two variants of a recipe started in the same second the
+        # same build directory (prefix-dev/rattler-build#2898, e.g. beluga's hdf5 variants).
+        # Back to --parallel-builds "3:$(getconf _NPROCESSORS_ONLN)" off Windows once
+        # prefix-dev/rattler-build#2899 is released.
+        extra+=(--parallel-builds 1)
         pixi run rs "$DISTRO" build --target-platform "$PLATFORM" "${extra[@]}" 2>&1 | tee rattler-build.log
         status=${PIPESTATUS[0]}
         echo "exit-code=${status}" >> "$GITHUB_OUTPUT"

distros/lyrical/ci.yaml

@@ -23,4 +23,5 @@ full_rebuild: false
 #
 # Remember that dependents are not rebuilt automatically: evict them as well if
 # they must pick up the change.
-evict_cache: []
+evict_cache:
+  - beluga  # patch changed (result_of, _LIBCPP_DISABLE_AVAILABILITY)

distros/lyrical/rosdistro_additional_recipes.yaml

@@ -346,6 +346,18 @@ autoware_velocity_smoother:
   tag: release/humble/autoware_velocity_smoother/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
+beluga:  # Until: https://github.com/Ekumen-OS/beluga/issues/587
+  tag: release/jazzy/beluga/2.1.1-1
+  url: https://github.com/ros2-gbp/beluga-release.git
+  version: 2.1.1
+beluga_amcl:  # Until: https://github.com/Ekumen-OS/beluga/issues/587
+  tag: release/jazzy/beluga_amcl/2.1.1-1
+  url: https://github.com/ros2-gbp/beluga-release.git
+  version: 2.1.1
+beluga_ros:  # Until: https://github.com/Ekumen-OS/beluga/issues/587
+  tag: release/jazzy/beluga_ros/2.1.1-1
+  url: https://github.com/ros2-gbp/beluga-release.git
+  version: 2.1.1
 better_launch:
   tag: 1.3.0
   url: https://github.com/dfki-ric/better_launch.git

shared/patch/ros2-beluga.osx.patch

@@ -1,14 +1,17 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index b94a7f1..cacf183 100644
+index b94a7f1..2d3f68d 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -72,6 +72,9 @@ target_include_directories(
+@@ -72,6 +72,12 @@ target_include_directories(
              "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
  target_link_libraries(${PROJECT_NAME} INTERFACE ${_deps})
  target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_17)
 +# libc++ only has the execution policies with -fexperimental-library
 +target_compile_options(${PROJECT_NAME} INTERFACE $<$<CXX_COMPILER_ID:AppleClang,Clang>:-fexperimental-library>)
 +target_link_options(${PROJECT_NAME} INTERFACE $<$<CXX_COMPILER_ID:AppleClang,Clang>:-fexperimental-library>)
++# which in C++20 also brings in <chrono>'s tzdb, unavailable for the system libc++; conda-forge's
++# libc++ is the one used at runtime
++target_compile_definitions(${PROJECT_NAME} INTERFACE $<$<CXX_COMPILER_ID:AppleClang,Clang>:_LIBCPP_DISABLE_AVAILABILITY>)
  target_compile_definitions(${PROJECT_NAME} INTERFACE EIGEN_NO_DEBUG
                                                       SOPHUS_USE_BASIC_LOGGING)
 

shared/patch/ros2-beluga.patch

@@ -11,6 +11,19 @@ index 5c08a64..b94a7f1 100644
  if(BUILD_TESTING)
    message(STATUS "Build testing enabled.")
    enable_testing()
+diff --git a/include/beluga/algorithm/unscented_transform.hpp b/include/beluga/algorithm/unscented_transform.hpp
+index c7ebd13..170738c 100644
+--- a/include/beluga/algorithm/unscented_transform.hpp
++++ b/include/beluga/algorithm/unscented_transform.hpp
+@@ -80,7 +80,7 @@ template <
+     typename MeanDerived,
+     typename CovarianceDerived,
+     typename TransferFn,
+-    typename TransformedT = std::result_of_t<TransferFn(MeanDerived)>,
++    typename TransformedT = std::invoke_result_t<TransferFn, MeanDerived>,
+     typename MeanFn = detail::default_weighted_mean_fn,
+     typename ResidualFn = std::minus<TransformedT>>
+ auto unscented_transform(
 diff --git a/include/beluga/policies/on_motion.hpp b/include/beluga/policies/on_motion.hpp
 index 9d7ad43..5cb6d95 100644
 --- a/include/beluga/policies/on_motion.hpp
@@ -63,4 +76,4 @@ index 21d4d6f..35aff49 100644
 +  const H5::H5File file(path_to_hdf5_file.string(), H5F_ACC_RDONLY);
    const H5::DataSet means_dataset = file.openDataSet("means");
    const H5::DataSet covariances_dataset = file.openDataSet("covariances");
-   const H5::DataSet resolution_dataset = file.openDataSet("resolution");
+   const H5::DataSet resolution_dataset = file.openDataSet("resolution");