Update lyrical snapshot

.github/scripts/summarize_rattler_build.py

@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+"""Write a compact rattler-build diagnostic for the GitHub job summary."""
+
+from __future__ import annotations
+
+import argparse
+import os
+import re
+from pathlib import Path
+
+
+ANSI_ESCAPE = re.compile(r"\x1b(?:[@-_][0-?]*[ -/]*[@-~]|\][^\x07]*(?:\x07|\x1b\\))")
+TIMESTAMP = re.compile(r"^\d{4}-\d{2}-\d{2}T\d{2}:\d{2}:\d{2}\.\d+Z\s*")
+DIAGNOSTIC = re.compile(
+    r"(?:Error:\s+×|fatal error(?:\s+[A-Z]+\d+)?:|\berror(?:\s+[A-Z]+\d+)?:|"
+    r"CMake Error(?::|\s+at\b)|FAILED:|Patch application error|"
+    r"Failed to resolve dependencies|Cannot solve the request)",
+    re.IGNORECASE,
+)
+RECIPE_START = re.compile(r"Running build for recipe:|Build variant:")
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--log", type=Path, required=True)
+    parser.add_argument("--platform", required=True)
+    parser.add_argument("--outcome", required=True)
+    return parser.parse_args()
+
+
+def clean(line: str) -> str:
+    cleaned = TIMESTAMP.sub("", ANSI_ESCAPE.sub("", line)).rstrip()
+    if len(cleaned) > 1_000:
+        return cleaned[:1_000] + " … [line truncated]"
+    return cleaned
+
+
+def diagnostic_excerpt(lines: list[str]) -> list[str]:
+    matches = [index for index, line in enumerate(lines) if DIAGNOSTIC.search(line)]
+    if not matches:
+        return []
+
+    # Keep context around the last diagnostics. This includes multiline solver
+    # explanations without flooding the GitHub summary with the complete log.
+    selected: set[int] = set()
+    for index in matches[-20:]:
+        selected.update(range(max(0, index - 2), min(len(lines), index + 14)))
+
+    # Name the recipe that produced the final diagnostic even when dependency
+    # solver output has pushed its heading far outside the context window.
+    first_diagnostic = matches[max(0, len(matches) - 20)]
+    for index in range(first_diagnostic, -1, -1):
+        if RECIPE_START.search(lines[index]):
+            selected.add(index)
+            break
+
+    excerpt: list[str] = []
+    previous = -2
+    for index in sorted(selected):
+        if previous >= 0 and index > previous + 1:
+            excerpt.append("...")
+        excerpt.append(lines[index])
+        previous = index
+    return excerpt[-160:]
+
+
+def main() -> None:
+    args = parse_args()
+    run_url = (
+        f"{os.environ.get('GITHUB_SERVER_URL', 'https://github.com')}/"
+        f"{os.environ.get('GITHUB_REPOSITORY', '')}/actions/runs/"
+        f"{os.environ.get('GITHUB_RUN_ID', '')}"
+    )
+    symbol = "✅" if args.outcome == "success" else "❌"
+
+    print(f"## {symbol} rattler-build: `{args.platform}`")
+    print()
+    print(f"Outcome: **{args.outcome}** · [Open workflow run]({run_url})")
+
+    if not args.log.is_file():
+        print("\nNo build log was produced.")
+        return
+
+    lines = [clean(line) for line in args.log.read_text(encoding="utf-8", errors="replace").splitlines()]
+    excerpt = diagnostic_excerpt(lines)
+    if not excerpt:
+        print("\nNo error diagnostics were found in the build log.")
+        return
+
+    print("\n### Final diagnostics\n")
+    print("```text")
+    print("\n".join(excerpt))
+    print("```")
+    print("\nThe complete `rattler-build.log` is available in this run's artifacts.")
+
+
+if __name__ == "__main__":
+    main()

.github/workflows/testpr.yml

@@ -2,6 +2,10 @@ on:
   pull_request:
   workflow_dispatch:
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
 env:
   ROS_VERSION: 2
   PYTHONIOENCODING: utf-8
@@ -51,6 +55,9 @@ jobs:
       run: |
         # Workaround for problem related to long paths
         echo "CONDA_BLD_PATH=C:\\bld\\" >> $GITHUB_ENV
+        # Keep rattler-build's package-specific directory but omit its timestamp
+        # suffix, which can push generated MSVC object paths over MAX_PATH.
+        echo "RATTLER_BUILD_EXTRA_ARGS=--no-build-id" >> $GITHUB_ENV
         mkdir /c/bld
 
     # Workaround for https://github.com/RoboStack/ros-humble/pull/141#issuecomment-1941919816
@@ -72,6 +79,11 @@ jobs:
         rm -rf /c/Strawberry
         rm -rf "/c/Program Files (x86)/Windows Kits/10/Include/10.0.17763.0/"
 
+    - name: Disable git auto-maintenance in source caches
+      shell: bash -l {0}
+      run: |
+        git config --global maintenance.auto false
+
     - name: Generate recipes
       shell: bash -l {0}
       run: |
@@ -103,7 +115,9 @@ 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
+        # You can uncomment/modify the line below in case the cache for some packages becomes corrupted and needs to be regenerated.
+        # Make sure you don't merge these changes, though!
+        # rm -rf ${{ matrix.folder_cache }}/ros-lyrical-moveit-core* 2>/dev/null || true
         mkdir -p ${{ matrix.folder_cache }}
         pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
 
@@ -113,9 +127,33 @@ jobs:
         ls ${{ matrix.folder_cache }} || true
 
     - name: Build recipes
+      id: build-recipes
+      shell: bash -l {0}
+      run: |
+        set +e
+        pixi run rattler-build build ${RATTLER_BUILD_EXTRA_ARGS:-} --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing 2>&1 | tee rattler-build.log
+        build_status=${PIPESTATUS[0]}
+        echo "exit-code=${build_status}" >> "$GITHUB_OUTPUT"
+        exit "$build_status"
+
+    - name: Summarize build result
+      if: always()
       shell: bash -l {0}
       run: |
-        pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing
+        pixi run python .github/scripts/summarize_rattler_build.py \
+          --log rattler-build.log \
+          --platform "${{ matrix.platform }}" \
+          --outcome "${{ steps.build-recipes.outcome }}" \
+          >> "$GITHUB_STEP_SUMMARY"
+
+    - name: Upload build log
+      if: always()
+      uses: actions/upload-artifact@v6
+      with:
+        name: build-log-${{ matrix.platform }}-${{ github.run_id }}-${{ github.run_attempt }}
+        path: rattler-build.log
+        if-no-files-found: warn
+        retention-days: 7
 
     - name: See packages that will be saved in cache
       shell: bash -l {0}
@@ -125,7 +163,8 @@ jobs:
 
     - name: Save build cache
       uses: actions/cache/save@v5
-      if: always()
+      # Save partial output when the build fails or is cancelled by the job timeout; do not save when it was skipped.
+      if: ${{ always() && (steps.build-recipes.outcome == 'success' || steps.build-recipes.outcome == 'failure' || steps.build-recipes.outcome == 'cancelled') }}
       with:
         path: |
           ${{ matrix.folder_cache }}
@@ -137,7 +176,8 @@ jobs:
         pixi run vinca-gha --platform ${{ matrix.platform }} --trigger-branch dummy_build_branch_as_it_is_unused -d ./recipes
 
     - name: Upload build cache as artifact
-      if: ${{ always() && env.SAVE_CACHE_AS_ARTIFACT == 'true' }}
+      # Keep artifacts consistent with the cache: retain partial output from failed or cancelled builds, but not skipped builds.
+      if: ${{ always() && env.SAVE_CACHE_AS_ARTIFACT == 'true' && (steps.build-recipes.outcome == 'success' || steps.build-recipes.outcome == 'failure' || steps.build-recipes.outcome == 'cancelled') }}
       uses: actions/upload-artifact@v6
       with:
         name: cache-${{ matrix.platform }}-${{ github.run_id }}

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

@@ -12,9 +12,9 @@ libboost_devel:
 libboost_python_devel:
   - '1.90'
 libprotobuf:
-  - 6.33.5
+  - 7.35.1
 protobuf:
-  - 6.33.5
+  - 7.35.1
 spdlog:
   - 1.17
 pugixml:
@@ -25,18 +25,26 @@ libxml2:
   - 2.14.*
 graphviz:
   - 14.*
+libgdal:
+  - '3.13'
+libgdal_core:
+  - '3.13'
 # Mitigation for
 # https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380
 libcap:
-  - 2.77
+  - 2.78
+libtheora:
+  - '1.2'
 fmt:
   - 12.1
 lua:
   - 5.4
 tbb:
-  - '2022'
+  - '2023'
 tbb_devel:
-  - '2022'
+  - '2023'
+jsoncpp:
+  - 1.9.8
 
 # Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697
 cmake:
@@ -60,7 +68,7 @@ c_compiler:
   - vs2022                     # [win]
 c_compiler_version:            # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 c_stdlib:
   - sysroot                    # [linux]
   - macosx_deployment_target   # [osx]
@@ -75,12 +83,12 @@ cxx_compiler:
   - vs2022                     # [win]
 cxx_compiler_version:          # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 
 libzenohc:
-  - 1.9.0
+  - 1.10.0
 libzenohcxx:
-  - 1.9.0
+  - 1.10.0
 
 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 +95,14 @@ 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"]
-nav2_util:
-  add_host: ["libboost-devel"]
+  # omplConfig.cmake exports Boost as a dependency.
+  add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode", "libboost-devel"]
+nav2_rviz_plugins:
+  # Qt 6 provides its StateMachine component through the qt6-scxml package.
+  add_host: ["qt6-scxml"]
+  add_run: ["qt6-scxml"]
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}", "ceres-solver * cpu*"]
-nav2_mppi_controller:
-  add_build: ["${{ 'clang <19' if osx }}"]
 ompl:
   add_host: ["ompl"]
 pybind11_json_vendor:
@@ -164,15 +162,24 @@ force_torque_sensor_broadcaster:
   add_host: ["typeguard", "jinja2"]
 ros_gz_sim:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros-lyrical-gz-sensors-vendor"]
+ament_cmake_ros:
+  # Break the test-only runtime cycle so a new mutex migration can bootstrap.
+  remove_run: ["ros-lyrical-rmw-test-fixture-implementation"]
 geometric_shapes:
   add_host: ["libboost-devel", "octomap"]
+rmf_traffic:
+  add_host: ["octomap"]
+  add_run: ["octomap"]
 ros_image_to_qimage:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 rqt_image_overlay:
   add_host: ["${{ '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 }}"]
@@ -275,6 +282,16 @@ 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 +313,7 @@ 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: