From 030b4b3d0f8d284f57438e6cb2a55cf170734204 Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Wed, 9 Sep 2026 20:37:58 +0200 Subject: [PATCH 01/11] Forward port packages we use from Jazzy --- pkg_additional_info.yaml | 4 ++-- vinca.yaml | 26 +++++++++++++++++++++----- 2 files changed, 23 insertions(+), 7 deletions(-) diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index 886bd8a01..dad735739 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -88,6 +88,8 @@ libcamera: override_version: '0.5.2' libcurl_vendor: additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK" +libg2o: + additional_cmake_args: "-DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF -DBUILD_LGPL_SHARED_LIBS=ON" liblz4_vendor: additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK" librealsense2: @@ -133,8 +135,6 @@ pybind11_vendor: additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR" robot_state_publisher: additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON" -libg2o: - additional_cmake_args: "-DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF -DBUILD_LGPL_SHARED_LIBS=ON" rosx_introspection: additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON" rviz_ogre_vendor: diff --git a/vinca.yaml b/vinca.yaml index 08de91adc..3836e45e7 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -9,9 +9,9 @@ conda_index: build_number: 22 mutex_package: - name: "ros2-distro-mutex" - version: "0.18.0" - upper_bound: "x.x" + name: ros2-distro-mutex + version: 0.18.0 + upper_bound: x.x run_constraints: - libboost 1.90.* - libboost-devel 1.90.* @@ -130,6 +130,7 @@ packages_select_by_deps: - moveit-task-constructor-demo - moveit-visual-tools - nav2_bringup + - nav2_loopback_sim - nav2_minimal_tb3_sim - nav2_minimal_tb4_sim - navigation2 @@ -147,8 +148,7 @@ packages_select_by_deps: - py_trees_ros_tutorials - rmw_zenoh_cpp # requested in https://github.com/RoboStack/ros-humble/issues/252 - robot - - robot-localization - - rtabmap + - robot_localization - ros2_control - ros2_controllers - ros2_fmt_logger @@ -162,12 +162,16 @@ packages_select_by_deps: - rosidl_buffer_backend - rosidl_buffer_backend_registry - rosidl_buffer_py + - rosidlcpp - rqt_robot_monitor - rqt_runtime_monitor + - rtabmap + - rtest - rviz_visual_tools - sbg_driver - simulation - slam_toolbox + - spatio_temporal_voxel_layer - teleop - teleop-tools - turtlebot3 @@ -198,6 +202,8 @@ packages_select_by_deps: - livox_ros_driver2 - mavros - py_binding_tools + - realsense2_camera + - realsense2_description - rmf_demos - swri_serial_util # Serial communication only implemented for linux - v4l2_camera # Depends on v4l that is only available on linux @@ -253,6 +259,16 @@ packages_select_by_deps: - swri_console # Until sync of: https://github.com/ros/rosdistro/pull/49750 - trac_ik - velodyne + - yasmin + - yasmin_cli + - yasmin_demos + - yasmin_editor + - yasmin_factory + - yasmin_msgs + - yasmin_pcl + - yasmin_plugins_manager + - yasmin_ros + - yasmin_viewer patch_dir: patch rosdistro_snapshot: rosdistro_snapshot.yaml From 25911b9620cc6e5eed6029604576ffa0e1132893 Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Thu, 10 Sep 2026 07:30:57 +0200 Subject: [PATCH 02/11] Update snapshot for realsense --- rosdistro_snapshot.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml index 31d03af7d..52a3a4b04 100644 --- a/rosdistro_snapshot.yaml +++ b/rosdistro_snapshot.yaml @@ -2328,9 +2328,9 @@ libphidget22: url: https://github.com/ros2-gbp/phidgets_drivers-release.git version: 2.4.0 librealsense2: - tag: release/lyrical/librealsense2/2.57.7-7 + tag: release/lyrical/librealsense2/2.58.4-1 url: https://github.com/ros2-gbp/librealsense2-release.git - version: 2.57.7 + version: 2.58.4 libstatistics_collector: tag: release/lyrical/libstatistics_collector/2.1.2-1 url: https://github.com/ros2-gbp/libstatistics_collector-release.git @@ -3900,17 +3900,17 @@ rcutils: url: https://github.com/ros2-gbp/rcutils-release.git version: 7.1.1 realsense2_camera: - tag: release/lyrical/realsense2_camera/4.57.7-3 + tag: release/lyrical/realsense2_camera/4.58.4-1 url: https://github.com/ros2-gbp/realsense-ros-release.git - version: 4.57.7 + version: 4.58.4 realsense2_camera_msgs: - tag: release/lyrical/realsense2_camera_msgs/4.57.7-3 + tag: release/lyrical/realsense2_camera_msgs/4.58.4-1 url: https://github.com/ros2-gbp/realsense-ros-release.git - version: 4.57.7 + version: 4.58.4 realsense2_description: - tag: release/lyrical/realsense2_description/4.57.7-3 + tag: release/lyrical/realsense2_description/4.58.4-1 url: https://github.com/ros2-gbp/realsense-ros-release.git - version: 4.57.7 + version: 4.58.4 realtime_tools: tag: release/lyrical/realtime_tools/5.2.0-3 url: https://github.com/ros2-gbp/realtime_tools-release.git From eb654541fcdac6fb3ec86613648cb8955a064161 Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Thu, 10 Sep 2026 07:43:01 +0200 Subject: [PATCH 03/11] fixup! Update snapshot for realsense --- vinca.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/vinca.yaml b/vinca.yaml index 3836e45e7..7920f6ed8 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -119,6 +119,7 @@ packages_select_by_deps: - joy_teleop - key_teleop - lanelet2 + - librealsense2 - magic_enum - mouse_teleop - moveit From 41e009f70c2954e61dc00f6d4f0653a00f8fb3b6 Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Thu, 10 Sep 2026 07:59:13 +0200 Subject: [PATCH 04/11] fixup! Update snapshot for realsense --- pkg_additional_info.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index dad735739..0a1bbfb4c 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -93,6 +93,7 @@ libg2o: liblz4_vendor: additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK" librealsense2: + build_number: 23 generate_dummy_package_with_run_deps: dep_name: librealsense max_pin: 'x.x' From 1c147f9ee8552f59c87c06957ef3c230688028ff Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Thu, 10 Sep 2026 08:02:16 +0200 Subject: [PATCH 05/11] fixup! fixup! Update snapshot for realsense --- pkg_additional_info.yaml | 1 - vinca.yaml | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index 0a1bbfb4c..dad735739 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -93,7 +93,6 @@ libg2o: liblz4_vendor: additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK" librealsense2: - build_number: 23 generate_dummy_package_with_run_deps: dep_name: librealsense max_pin: 'x.x' diff --git a/vinca.yaml b/vinca.yaml index 7920f6ed8..df1ce8326 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -203,7 +203,7 @@ packages_select_by_deps: - livox_ros_driver2 - mavros - py_binding_tools - - realsense2_camera + # - realsense2_camera # Needs newer version of librealsense2? - realsense2_description - rmf_demos - swri_serial_util # Serial communication only implemented for linux From 8be5ac01a9c7ec5dd69b1cd969914086202ccae6 Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Thu, 10 Sep 2026 08:19:22 +0200 Subject: [PATCH 06/11] fixup! Forward port packages we use from Jazzy --- vinca.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/vinca.yaml b/vinca.yaml index df1ce8326..192d4fd18 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -163,7 +163,6 @@ packages_select_by_deps: - rosidl_buffer_backend - rosidl_buffer_backend_registry - rosidl_buffer_py - - rosidlcpp - rqt_robot_monitor - rqt_runtime_monitor - rtabmap From 5898b4f3b2063574499b061ac336863de56c795c Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Thu, 10 Sep 2026 08:33:55 +0200 Subject: [PATCH 07/11] Update snapshot for yasmin --- rosdistro_snapshot.yaml | 40 ++++++++++++++++++++-------------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml index 52a3a4b04..5f48f3884 100644 --- a/rosdistro_snapshot.yaml +++ b/rosdistro_snapshot.yaml @@ -5992,45 +5992,45 @@ yaml_cpp_vendor: url: https://github.com/ros2-gbp/yaml_cpp_vendor-release.git version: 9.2.1 yasmin: - tag: release/lyrical/yasmin/5.0.0-3 + tag: release/lyrical/yasmin/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_cli: - tag: release/lyrical/yasmin_cli/5.0.0-3 + tag: release/lyrical/yasmin_cli/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_demos: - tag: release/lyrical/yasmin_demos/5.0.0-3 + tag: release/lyrical/yasmin_demos/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_editor: - tag: release/lyrical/yasmin_editor/5.0.0-3 + tag: release/lyrical/yasmin_editor/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_factory: - tag: release/lyrical/yasmin_factory/5.0.0-3 + tag: release/lyrical/yasmin_factory/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_msgs: - tag: release/lyrical/yasmin_msgs/5.0.0-3 + tag: release/lyrical/yasmin_msgs/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_pcl: - tag: release/lyrical/yasmin_pcl/5.0.0-3 + tag: release/lyrical/yasmin_pcl/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_plugins_manager: - tag: release/lyrical/yasmin_plugins_manager/5.0.0-3 + tag: release/lyrical/yasmin_plugins_manager/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_ros: - tag: release/lyrical/yasmin_ros/5.0.0-3 + tag: release/lyrical/yasmin_ros/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 yasmin_viewer: - tag: release/lyrical/yasmin_viewer/5.0.0-3 + tag: release/lyrical/yasmin_viewer/6.1.1-1 url: https://github.com/ros2-gbp/yasmin-release.git - version: 5.0.0 + version: 6.1.1 zbar_ros: tag: release/lyrical/zbar_ros/0.7.0-3 url: https://github.com/ros2-gbp/zbar_ros-release.git From dcf9ea6f2062e836586d9dabf6dc65b4dc445a73 Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Mon, 14 Sep 2026 13:26:44 +0200 Subject: [PATCH 08/11] libopenvdb-dev --- pkg_additional_info.yaml | 10 +++++----- robostack.yaml | 2 ++ 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml index 80bc97df3..539c01932 100644 --- a/pkg_additional_info.yaml +++ b/pkg_additional_info.yaml @@ -206,15 +206,15 @@ gz_transport_vendor: build_number: 24 nav2_map_server: build_number: 24 -rmw_implementation: - build_number: 24 -rmw_test_fixture_implementation: - build_number: 24 rcl: build_number: 24 rclpy: build_number: 24 -test_rmw_implementation: +rmw_implementation: + build_number: 24 +rmw_test_fixture_implementation: build_number: 24 rosbag2_cpp: build_number: 24 +test_rmw_implementation: + build_number: 24 diff --git a/robostack.yaml b/robostack.yaml index f4297de89..24b1e1fe9 100644 --- a/robostack.yaml +++ b/robostack.yaml @@ -413,6 +413,8 @@ libopencv-imgproc-dev: win64: [py-opencv, libopencv] libopenni-dev: robostack: [] +libopenvdb-dev: + robostack: [openvdb] liborocos-kdl: robostack: [orocos-kdl] liborocos-kdl-dev: From ba73d0785cdfbc27a21c246d4b7063caa8562c5e Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Mon, 14 Sep 2026 13:32:08 +0200 Subject: [PATCH 09/11] fixup! libopenvdb-dev --- patch/dependencies.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index d1cd7f1ae..41f0f8c11 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -100,6 +100,10 @@ nav2_constrained_smoother: add_host: ["${{ 'openblas' if win }}", "ceres-solver"] ompl: add_host: ["ompl"] +openvdb_vendor: + add_host: ["openvdb"] +spatio_temporal_voxel_layer: + add_host: [libgl-devel, libopengl-devel, openvdb] pybind11_json_vendor: add_host: ["pybind11_json"] add_run: ["pybind11_json"] From 4429e686260b1e5f92c38a1cfcd42df51576385e Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Mon, 5 Oct 2026 19:49:28 +0200 Subject: [PATCH 10/11] Split realsense to own PR --- vinca.yaml | 3 --- 1 file changed, 3 deletions(-) diff --git a/vinca.yaml b/vinca.yaml index d6c4b6397..6383bd786 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -120,7 +120,6 @@ packages_select_by_deps: - joy_teleop - key_teleop - lanelet2 - - librealsense2 - magic_enum - mouse_teleop - moveit @@ -224,8 +223,6 @@ packages_select_by_deps: - livox_ros_driver2 - mavros - py_binding_tools - - realsense2_camera - - realsense2_description - rmf_demos - swri_serial_util # Serial communication only implemented for linux - v4l2_camera # Depends on v4l that is only available on linux From 5a6f3647ddeae18d188abb4320680846b1b87011 Mon Sep 17 00:00:00 2001 From: Tim Clephas Date: Tue, 6 Oct 2026 08:37:19 +0200 Subject: [PATCH 11/11] spatio to own PR --- patch/dependencies.yaml | 4 ---- robostack.yaml | 2 -- vinca.yaml | 1 - 3 files changed, 7 deletions(-) diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index c2c450268..9fd6c2c1b 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -104,10 +104,6 @@ nav2_constrained_smoother: add_host: ["${{ 'openblas' if win }}", "ceres-solver"] ompl: add_host: ["ompl"] -openvdb_vendor: - add_host: ["openvdb"] -spatio_temporal_voxel_layer: - add_host: [libgl-devel, libopengl-devel, openvdb] pybind11_json_vendor: add_host: ["pybind11_json"] add_run: ["pybind11_json"] diff --git a/robostack.yaml b/robostack.yaml index 53d1c09bc..9b68233bb 100644 --- a/robostack.yaml +++ b/robostack.yaml @@ -417,8 +417,6 @@ libopencv-imgproc-dev: win64: [py-opencv, libopencv] libopenni-dev: robostack: [] -libopenvdb-dev: - robostack: [openvdb] liborocos-kdl: robostack: [orocos-kdl] liborocos-kdl-dev: diff --git a/vinca.yaml b/vinca.yaml index 6383bd786..5454ba767 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -190,7 +190,6 @@ packages_select_by_deps: - sbg_driver - simulation - slam_toolbox - - spatio_temporal_voxel_layer - teleop - teleop-tools - toppra