Full Rebuild June 2025: bump ros2-distro-mutex to 0.9.0 and build_number to 7

.github/workflows/testpr.yml

@@ -37,9 +37,9 @@ jobs:
         persist-credentials: false # otherwise, the token used is the GITHUB_TOKEN, instead of your personal token
         fetch-depth: 0 # otherwise, you will failed to push refs to dest repo
 
-    - uses: prefix-dev/[email protected].1
+    - uses: prefix-dev/[email protected].8
       with:
-        pixi-version: v0.41.1
+        pixi-version: v0.44.0
         environments: beta
         frozen: true
 

additional_recipes/ros2-distro-mutex/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros2-distro-mutex
-  version: 0.8.0
+  version: 0.9.0
 
 build:
   number: 0
@@ -30,10 +30,11 @@ requirements:
   run_constraints:
     - libboost 1.86.*
     - libboost-devel 1.86.*
-    - pcl 1.14.1.*
+    - pcl 1.15.0.*
     - gazebo 11.*
     - libprotobuf 5.29.3.*
     - libxml2 2.13.*
+    - vtk 9.4.2.*
 
   run_exports:
     weak:

patch/dependencies.yaml

@@ -239,3 +239,7 @@ zenoh_cpp_vendor:
   add_host: ["libzenohc", "libzenohcxx"]
 rmw_zenoh_cpp:
   add_host: ["libzenohc", "libzenohcxx"]
+autoware_utils_pcl:
+  add_host: ["REQUIRE_OPENGL"]
+autoware_utils_debug:
+  add_host: ["fmt"]

patch/ros-jazzy-autoware-cmake.win.patch

@@ -0,0 +1,16 @@
+diff --git a/cmake/autoware_package.cmake b/cmake/autoware_package.cmake
+index 2f46006..3d63a70 100644
+--- a/cmake/autoware_package.cmake
++++ b/cmake/autoware_package.cmake
+@@ -78,6 +78,11 @@ macro(autoware_package)
+     )
+   endif()
+
++  if(MSVC)
++    add_compile_definitions(_USE_MATH_DEFINES)
++    set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++  endif()
++
+   # Find test dependencies
+   if(BUILD_TESTING)
+     find_package(ament_lint_auto REQUIRED)

patch/ros-jazzy-autoware-utils-debug.patch

@@ -0,0 +1,18 @@
+diff --git a/autoware_utils_debug/CMakeLists.txt b/autoware_utils_debug/CMakeLists.txt
+index a823eda..92f0906 100644
+--- a/autoware_utils_debug/CMakeLists.txt
++++ b/autoware_utils_debug/CMakeLists.txt
+@@ -2,11 +2,13 @@ cmake_minimum_required(VERSION 3.14)
+ project(autoware_utils_debug)
+
+ find_package(autoware_cmake REQUIRED)
++find_package(fmt REQUIRED)
+ autoware_package()
+
+ ament_auto_add_library(${PROJECT_NAME} SHARED
+   "src/time_keeper.cpp"
+ )
++target_link_libraries(${PROJECT_NAME} fmt::fmt)
+
+ if(BUILD_TESTING)
+   file(GLOB_RECURSE test_files test/*.cpp)

patch/ros-jazzy-autoware-utils-system.win.patch

@@ -0,0 +1,32 @@
+diff --git a/src/backtrace.cpp b/src/backtrace.cpp
+index 3bdfa8f..ee27f35 100644
+--- a/src/backtrace.cpp
++++ b/src/backtrace.cpp
+@@ -16,7 +16,9 @@
+
+ #include <rclcpp/rclcpp.hpp>
+
++#if !defined(_MSC_VER)
+ #include <execinfo.h>
++#endif
+
+ #include <iostream>
+ #include <memory>
+@@ -29,6 +31,7 @@ namespace autoware_utils_system
+ // cppcheck-suppress unusedFunction
+ void print_backtrace()
+ {
++#if !defined(_MSC_VER)
+   constexpr size_t max_frames = 100;
+   void * addrlist[max_frames + 1];
+
+@@ -49,5 +52,9 @@ void print_backtrace()
+
+   free(symbol_list);
+ }
++#else
++  return;
++}
++#endif
+
+ }  // namespace autoware_utils_system

patch/ros-jazzy-controller-interface.osx.patch

@@ -0,0 +1,13 @@
+diff --git a/src/controller_interface_base.cpp b/src/controller_interface_base.cpp
+index 532544ab3..22229eb8a 100644
+--- a/src/controller_interface_base.cpp
++++ b/src/controller_interface_base.cpp
+@@ -153,7 +153,7 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
+     {
+       RCLCPP_WARN(
+         get_node()->get_logger(),
+-        "The update rate of the controller : '%ld Hz' cannot be higher than the update rate of the "
++        "The update rate of the controller : '%lld Hz' cannot be higher than the update rate of the "
+         "controller manager : '%d Hz'. Setting it to the update rate of the controller manager.",
+         update_rate, update_rate_);
+     }

patch/ros-jazzy-ffmpeg-encoder-decoder.unix.patch

@@ -12,22 +12,10 @@ index 0e2521c..94625e5 100644
  };
  }  // namespace ffmpeg_encoder_decoder
 diff --git a/src/decoder.cpp b/src/decoder.cpp
-index 0a12d25..9737ffe 100644
+index 5458f21..a2762aa 100644
 --- a/src/decoder.cpp
 +++ b/src/decoder.cpp
-@@ -38,7 +38,11 @@ Decoder::~Decoder() { reset(); }
- void Decoder::reset()
- {
-   if (codecContext_) {
-+#if LIBAVFORMAT_VERSION_MAJOR < 59
-     avcodec_close(codecContext_);
-+#else
-+    avcodec_free_context(&codecContext_);
-+#endif
-     av_free(codecContext_);
-     codecContext_ = NULL;
-   }
-@@ -255,7 +259,7 @@ bool Decoder::decodePacket(
+@@ -256,7 +256,7 @@ bool Decoder::decodePacket(
        image->header.stamp = it->second;
        ptsToStamp_.erase(it);
  #ifdef USE_AV_FLAGS
@@ -37,22 +25,10 @@ index 0a12d25..9737ffe 100644
        callback_(image, decodedFrame_->key_frame);  // deliver callback
  #endif
 diff --git a/src/encoder.cpp b/src/encoder.cpp
-index d5c15ca..1086f35 100644
+index ed6ca85..0aa3412 100644
 --- a/src/encoder.cpp
 +++ b/src/encoder.cpp
-@@ -54,7 +54,11 @@ static void free_frame(AVFrame ** frame)
- void Encoder::closeCodec()
- {
-   if (codecContext_) {
-+#if LIBAVFORMAT_VERSION_MAJOR < 59
-     avcodec_close(codecContext_);
-+#else
-+    avcodec_free_context(&codecContext_);
-+#endif
-     codecContext_ = nullptr;
-   }
-   free_frame(&frame_);
-@@ -208,11 +212,19 @@ void Encoder::doOpenCodec(int width, int height)
+@@ -211,11 +211,19 @@ void Encoder::doOpenCodec(int width, int height)
    setAVOption("tune", tune_);
    setAVOption("delay", delay_);
    setAVOption("crf", crf_);
@@ -72,25 +48,3 @@ index d5c15ca..1086f35 100644
 
    err = avcodec_open2(codecContext_, codec, NULL);
    utils::check_for_err("cannot open codec", err);
-diff --git a/src/utils.cpp b/src/utils.cpp
-index da089e4..01e8eea 100644
---- a/src/utils.cpp
-+++ b/src/utils.cpp
-@@ -104,8 +104,15 @@ enum AVPixelFormat get_preferred_pixel_format(
- std::vector<enum AVPixelFormat> get_encoder_formats(const AVCodec * c)
- {
-   std::vector<enum AVPixelFormat> formats;
--  if (c && c->pix_fmts) {
--    for (const auto * p = c->pix_fmts; *p != AV_PIX_FMT_NONE; ++p) {
-+#if LIBAVUTIL_VERSION_MAJOR > 59 || (LIBAVUTIL_VERSION_MAJOR == 59 && LIBAVUTIL_VERSION_MINOR >= 39)
-+  const enum AVPixelFormat *pix_fmts = NULL;
-+  avcodec_get_supported_config(NULL, c, AV_CODEC_CONFIG_PIX_FORMAT, 0, (const void **) &pix_fmts, NULL);
-+  if (c && pix_fmts) {
-+#else
-+  const enum AVPixelFormat *pix_fmts = c->pix_fmts;
-+  if (c && pix_fmts) {
-+#endif
-+    for (const auto * p = pix_fmts; *p != AV_PIX_FMT_NONE; ++p) {
-       formats.push_back(*p);
-     }
-   }

patch/ros-jazzy-hardware-interface.patch

@@ -0,0 +1,53 @@
+diff --git a/include/hardware_interface/types/statistics_types.hpp b/include/hardware_interface/types/statistics_types.hpp
+index ba22a47c9..8083b66f7 100644
+--- a/include/hardware_interface/types/statistics_types.hpp
++++ b/include/hardware_interface/types/statistics_types.hpp
+@@ -22,7 +22,12 @@
+
+ #include "libstatistics_collector/moving_average_statistics/moving_average.hpp"
+ #include "libstatistics_collector/moving_average_statistics/types.hpp"
++#if !defined(_WIN32) && !defined(__APPLE__)
+ #include "realtime_tools/mutex.hpp"
++#define DEFAULT_MUTEX realtime_tools::prio_inherit_mutex
++#else
++#define DEFAULT_MUTEX std::mutex
++#endif
+
+ namespace ros2_control
+ {
+@@ -49,7 +54,7 @@ public:
+    */
+   void update_statistics(const std::shared_ptr<MovingAverageStatisticsCollector> & statistics)
+   {
+-    std::unique_lock<realtime_tools::prio_inherit_mutex> lock(mutex_);
++    std::unique_lock<DEFAULT_MUTEX> lock(mutex_);
+     if (statistics->GetCount() > 0)
+     {
+       statistics_data.average = statistics->Average();
+@@ -71,7 +76,7 @@ public:
+    */
+   void set_reset_statistics_sample_count(unsigned int reset_sample_count)
+   {
+-    std::unique_lock<realtime_tools::prio_inherit_mutex> lock(mutex_);
++    std::unique_lock<DEFAULT_MUTEX> lock(mutex_);
+     reset_statistics_sample_count_ = reset_sample_count;
+   }
+
+@@ -90,7 +95,7 @@ public:
+    */
+   const StatisticData & get_statistics() const
+   {
+-    std::unique_lock<realtime_tools::prio_inherit_mutex> lock(mutex_);
++    std::unique_lock<DEFAULT_MUTEX> lock(mutex_);
+     return statistics_data;
+   }
+
+@@ -100,7 +105,7 @@ private:
+   /// Number of samples to reset the statistics
+   unsigned int reset_statistics_sample_count_ = std::numeric_limits<unsigned int>::max();
+   /// Mutex to protect the statistics data
+-  mutable realtime_tools::prio_inherit_mutex mutex_;
++  mutable DEFAULT_MUTEX mutex_;
+ };
+ }  // namespace ros2_control
+

patch/ros-jazzy-hardware-interface.unix.patch

@@ -1,19 +1,3 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index b4e0f6cab..896175fad 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -1,11 +1,6 @@
- cmake_minimum_required(VERSION 3.16)
- project(hardware_interface LANGUAGES CXX)
-
--if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
--  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow
--          -Werror=missing-braces)
--endif()
--
- # using this instead of visibility macros
- # S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
- set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 diff --git a/include/hardware_interface/async_components.hpp b/include/hardware_interface/async_components.hpp
 index 052c4ba92..85efed01f 100644
 --- a/include/hardware_interface/async_components.hpp

patch/ros-jazzy-hardware-interface.win.patch

@@ -1,8 +1,20 @@
-diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
-index b4e0f6cab0..50120726bb 100644
---- a/hardware_interface/CMakeLists.txt
-+++ b/hardware_interface/CMakeLists.txt
-@@ -57,3 +57,4 @@ target_include_directories(mock_components PUBLIC
-+target_link_libraries(mock_components PUBLIC hardware_interface)
- ament_target_dependencies(mock_components PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-
+diff --git a/include/hardware_interface/handle.hpp b/include/hardware_interface/handle.hpp
+index 6fbb547e6..372895a18 100644
+--- a/include/hardware_interface/handle.hpp
++++ b/include/hardware_interface/handle.hpp
+@@ -39,10 +39,15 @@ namespace
+ template <typename T>
+ std::string get_type_name()
+ {
++#ifdef _MSC_VER
++  const char* name = typeid(T).name();
++  return std::string(name);
++#else
+   int status = 0;
+   std::unique_ptr<char[], void (*)(void *)> res{
+     abi::__cxa_demangle(typeid(T).name(), nullptr, nullptr, &status), std::free};
+   return (status == 0) ? res.get() : typeid(T).name();
++#endif
+ }
+ }  // namespace
+