jazzy gz vendor fixes

distros/distro-overlay.nix

@@ -171,7 +171,7 @@ let
 
     # Switch to Qt6 for python 3.13
     python-qt-binding = rosSuper.python-qt-binding.overrideAttrs ({
-      patches ? [], propagatedBuildInputs ? [], ...
+      patches ? [], propagatedBuildInputs ? [], postPatch ? "", ...
     }: {
       patches = patches ++ [
         # ref. https://github.com/ros-visualization/python_qt_binding/pull/143
@@ -191,10 +191,27 @@ let
           hash = "sha256-+ou08BZCIhRMDi9GMyAOLmdoGJNZaqLpA7nMszZOFgg=";
         })
       ];
-      propagatedBuildInputs = propagatedBuildInputs ++ (with rosSelf.pythonPackages; [
+      # PySide6 libs are eg. PySide6/QtGui.abi3.so.1, not libpyside6_QtGui.abi3.so
+      postPatch = postPatch + ''
+        substituteInPlace cmake/pyside_config.py \
+          --replace-fail \
+            "return glob if sys.platform == 'win32' else 'lib' + glob" \
+            "return glob" \
+          --replace-fail \
+            "return 'so.*'" \
+            "return 'so*'" \
+          --replace-fail \
+            "'shiboken' in basename" \
+            "'shiboken6' == os.path.basename(os.path.dirname(lib_name))" \
+          --replace-fail \
+            "'pyside6' in basename" \
+            "'PySide6' == os.path.basename(os.path.dirname(lib_name))"
+      '';
+      propagatedBuildInputs = self.lib.lists.filter (p: p.name != "pyqt5") (propagatedBuildInputs ++ (with rosSelf.pythonPackages; [
         pyside6
         pyqt6-sip
-      ]);
+        shiboken6
+      ]));
 
       dontWrapQtApps = true;
 
@@ -256,10 +273,51 @@ let
       '';
     });
 
+    qt-gui= rosSuper.qt-gui.overrideAttrs ({
+      propagatedBuildInputs ? [], ...
+    }: {
+      propagatedBuildInputs = self.lib.lists.filter (p: p.name != "pyqt5") propagatedBuildInputs;
+    });
+
+    qt-gui-cpp = rosSuper.qt-gui-cpp.overrideAttrs (
+      {
+        patches ? [ ],
+        propagatedBuildInputs ? [ ],
+        nativeBuildInputs ? [ ],
+        ...
+      }:
+      {
+        patches = patches ++ [
+          # ref. https://github.com/ros-visualization/qt_gui_core/pull/309, just to allow the other patch to apply
+          (self.fetchpatch {
+            url = "https://github.com/ros-visualization/qt_gui_core/commit/d07b80eac7657fe56b6581e94fa67b91056715a2.patch";
+            hash = "sha256-99nUTiYqUm6R+YmM0hfk3+C3uyzHqmW8b8xkb+oM6TY=";
+            stripLen = 1;
+            revert = true;
+          })
+          # Qt 5 -> 6
+          # ref. https://github.com/ros-visualization/qt_gui_core/pull/293
+          (self.fetchpatch {
+            url = "https://github.com/ros-visualization/qt_gui_core/commit/21941697c5584dc73968a8b50c51df2aef929562.patch";
+            hash = "sha256-4MO4X0AyK9X7UsVBxVosR9bx+62tZgXgJ3a6n2q5E1A=";
+            stripLen = 1;
+          })
+        ];
+        nativeBuildInputs = nativeBuildInputs ++ [ self.breakpointHook ];
+        propagatedBuildInputs = propagatedBuildInputs ++ [ rosSelf.tinyxml2-vendor ]
+        ++ (with rosSelf.pythonPackages; [
+          pyside6
+          pyqt6-sip
+          shiboken6
+        ]);
+      }
+    );
+
     rqt-image-view = rosSuper.rqt-image-view.overrideAttrs ({
-      nativeBuildInputs ? [], postFixup ? "", ...
+      buildInputs ? [], nativeBuildInputs ? [], postFixup ? "", ...
     }: {
       dontWrapQtApps = false;
+      buildInputs = super.lib.lists.filter (p: p.pname != "qtbase") buildInputs;
       nativeBuildInputs = nativeBuildInputs ++ [ self.qt5.wrapQtAppsHook ];
       postFixup = postFixup + ''
         wrapQtApp "$out/lib/rqt_image_view/rqt_image_view"

distros/rolling/gz-gui-vendor/vendored-source.json

@@ -1,7 +1,7 @@
 {
   "gz_gui_vendor": {
     "url": "https://github.com/gazebosim/gz-gui.git",
-    "rev": "gz-gui9_9.0.1",
-    "hash": "sha256-ZBDgd37TPBOldorGZimsCk57fVa7tTc8wRwUGFBZnDk="
+    "rev": "gz-gui10_10.0.0",
+    "hash": "sha256-s34FtTFWV6+qakYz6atZfl20y7u8KQAU58a63FghhKc="
   }
 }

distros/rolling/gz-launch-vendor/vendored-source.json

@@ -1,7 +1,7 @@
 {
   "gz_launch_vendor": {
     "url": "https://github.com/gazebosim/gz-launch.git",
-    "rev": "gz-launch8_8.0.1",
-    "hash": "sha256-el+4sVBOmeBj8VJqKut8pIhVJeyEyodrt6titunbBF0="
+    "rev": "gz-launch9_9.0.0",
+    "hash": "sha256-fRzRFsnhK0IiOLNyB9JrYgX0D2vPXQ7rxp7JXCMd3hQ="
   }
 }

distros/rolling/gz-sim-vendor/vendored-source.json

@@ -1,7 +1,7 @@
 {
   "gz_sim_vendor": {
     "url": "https://github.com/gazebosim/gz-sim.git",
-    "rev": "gz-sim9_9.1.0",
-    "hash": "sha256-niVXuqMvEhwCW2NcrEhIChh3DsD2M8ZTspDi+zF0kBc="
+    "rev": "gz-sim10_10.0.0",
+    "hash": "sha256-bdirXA6m7dHcAWDbaWfxabURm541DaYFSz81j4+kiG8="
   }
 }

distros/rolling/overrides.nix

@@ -56,6 +56,9 @@ in {
       '';
   });
 
+  freeimage = if lib.isDerivation self.freeimage then null else
+    builtins.abort "Remove this override as freeimage was removed from nixpkgs";
+
   gazebo = self.gazebo_11;
 
   geometric-shapes = rosSuper.geometric-shapes.overrideAttrs({
@@ -85,7 +88,22 @@ in {
 
   gz-cmake-vendor = lib.patchAmentVendorGit rosSuper.gz-cmake-vendor { };
 
-  gz-common-vendor = (lib.patchAmentVendorGit rosSuper.gz-common-vendor { }).overrideAttrs ({
+  gz-common-vendor = (lib.patchAmentVendorGit rosSuper.gz-common-vendor {
+    patchesFor.gz_common_vendor = [
+      # Patch needed for the #725 below to apply cleanly
+      (self.fetchpatch2 {
+        name = "fix-image-channeldata-for-16-bit-rgb-a-images";
+        url = "https://github.com/gazebosim/gz-common/commit/58c6eaa7bd9c048264f3e0b33a36a744cca8d18c.patch";
+        hash = "sha256-y2fQp6IdEykIgS/vMMN4rTctY0btBQy+vLI1mlaQKJc=";
+      })
+      # https://github.com/gazebosim/gz-common/pull/725
+      (self.fetchpatch2 {
+        name = "replace-freeimage-dependency-with-stb-rolling-version";
+        url = "https://github.com/wentasah/gz-common/commit/8d18342302b7586b5b34c3cd12f2ef26e148b6ab.patch";
+        hash = "sha256-rI9hqtbwYWhakIo1I8DEElbMZYkchG4lzUUt8lr8XnU=";
+      })
+    ];
+  }).overrideAttrs ({
     nativeBuildInputs ? [], ...
   }: {
     # https://github.com/gazebo-release/gz_common_vendor/pull/2
@@ -96,17 +114,9 @@ in {
 
   gz-fuel-tools-vendor = lib.patchAmentVendorGit rosSuper.gz-fuel-tools-vendor { };
 
-  gz-gui-vendor = (lib.patchGzAmentVendorGit rosSuper.gz-gui-vendor { }).overrideAttrs ({
-    postInstall ? "", ...
-  }: {
-    # "RPATH of binary libGrid3D.so contains a forbidden reference to
-    # /build/" (see https://github.com/gazebosim/gz-gui/issues/627).
-    postInstall = postInstall + ''
-      ${self.patchelf}/bin/patchelf --remove-rpath $out/lib64/gz-gui-9/plugins/libGrid3D.so
-    '';
-  });
+  gz-gui-vendor = lib.patchAmentVendorGit rosSuper.gz-gui-vendor { };
 
-  gz-launch-vendor = lib.patchGzAmentVendorGit rosSuper.gz-launch-vendor { };
+  gz-launch-vendor = lib.patchAmentVendorGit rosSuper.gz-launch-vendor { };
 
   gz-math-vendor = lib.patchAmentVendorGit rosSuper.gz-math-vendor { };
 
@@ -120,23 +130,26 @@ in {
 
   gz-plugin-vendor = lib.patchAmentVendorGit rosSuper.gz-plugin-vendor { };
 
-  gz-rendering-vendor = lib.patchAmentVendorGit rosSuper.gz-rendering-vendor { };
+  gz-rendering-vendor = (lib.patchAmentVendorGit rosSuper.gz-rendering-vendor { }).overrideAttrs({
+    nativeBuildInputs ? [],
+    ...
+  }: {
+    nativeBuildInputs = nativeBuildInputs ++ [ self.pkg-config ];
+  });
 
   gz-sensors-vendor = lib.patchAmentVendorGit rosSuper.gz-sensors-vendor { };
 
-  gz-sim-vendor = lib.patchGzAmentVendorGit rosSuper.gz-sim-vendor { };
+  gz-sim-vendor = lib.patchAmentVendorGit rosSuper.gz-sim-vendor { };
 
   gz-tools-vendor = (lib.patchAmentVendorGit rosSuper.gz-tools-vendor { }).overrideAttrs({
     nativeBuildInputs ? [],
     propagatedNativeBuildInputs ? [],
     qtWrapperArgs ? [],
     postFixup ? "", ...
   }: {
-    nativeBuildInputs = nativeBuildInputs ++ [ self.qt5.wrapQtAppsHook ];
+    nativeBuildInputs = nativeBuildInputs ++ [ self.qt6.wrapQtAppsHook ];
     propagatedNativeBuildInputs = propagatedNativeBuildInputs ++ [
-      self.qt5.qtquickcontrols2
-      self.qt5.qtgraphicaleffects
-      self.pkg-config
+      self.qt6.qtbase
     ];
     qtWrapperArgs = qtWrapperArgs ++ [
       # Gazebo is currently broken on Wayland
@@ -358,4 +371,29 @@ in {
       export NIX_ZENOH_OPAQUE_TYPES_CARGO_CONFIG=$PWD/nix-zenoh-opaque-types/.cargo/config.toml
     '';
   });
+
+  gz = rosSelf.buildEnv {
+    name = "gz";
+    paths = with rosSelf; [
+      gz-cmake-vendor
+      gz-common-vendor
+      gz-fuel-tools-vendor
+      gz-gui-vendor
+      gz-launch-vendor
+      gz-math-vendor
+      gz-msgs-vendor
+      gz-physics-vendor
+      gz-plugin-vendor
+      gz-rendering-vendor
+      gz-sensors-vendor
+      gz-sim-vendor
+      gz-tools-vendor
+      gz-transport-vendor
+      gz-utils-vendor
+      sdformat-vendor
+      gz-dartsim-vendor
+      gz-ogre-next-vendor
+      self.qt6.wrapQtAppsHook
+    ];
+  };
 }

distros/ros2-overlay.nix

@@ -4,6 +4,7 @@ rosSelf: rosSuper: with rosSelf.lib; {
   # TODO: remove once https://github.com/ros/rosdistro/pull/43895 is merged
   python = rosSelf.python3;
   pythonPackages = rosSelf.python.pkgs;
+  qt5 = self.qt6;
 
   ament-cmake-core = rosSuper.ament-cmake-core.overrideAttrs ({
     propagatedBuildInputs ? [],

flake.nix

@@ -55,9 +55,4 @@
       };
     };
 
-  nixConfig = {
-    extra-substituters = [ "https://ros.cachix.org" ];
-    extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
-  };
-
 }

pkgs/ogre/1.9.nix

@@ -5,7 +5,6 @@
 , libGLU
 , libGL
 , freetype
-, freeimage
 , zziplib
 , xorgproto
 , libXrandr
@@ -62,7 +61,6 @@ stdenv.mkDerivation rec {
     libGLU
     libGL
     freetype
-    freeimage
     zziplib
     xorgproto
     libXrandr