Tobias-Fischer · Oct 9, 2026 · Oct 8, 2026 · Oct 8, 2026 · Oct 9, 2026
diff --git a/.claude/skills/robostack-versions/SKILL.md b/.claude/skills/robostack-versions/SKILL.md
@@ -7,8 +7,8 @@ description: Update ROS package versions (rosdistro snapshot) and conda-forge pi
 
 robostack-bot does the routine part: `update-rosdistro-snapshot` (daily, when a new
 rosdistro sync is tagged) and
-`update-conda-forge-pinning` (weekly, or on request) open PRs that already contain the
-bumps below. Do it by hand when the bot fails or something extra is needed.
+`update-conda-forge-pinning` (daily, when the pinning version or the usable migrations
+change, or on request) open PRs that already contain the bumps below. Do it by hand when the bot fails or something extra is needed.
 
 ## What is pinned where
 
@@ -50,7 +50,8 @@ pixi run rs <d> create-snapshot
 ## Update the conda-forge pinning
 
 ```bash
-pixi run rs update-pinning          # = bot command, for all distributions that follow shared/
+pixi run rs <d> update-pinning      # = bot command: latest pinning + rebuild plan for <d>
+pixi run rs update-pinning          # the same for every distribution
 pixi run rs <d> render-pinning      # after editing shared/pinning or distro.yaml
 pixi run rs <d> check-deps          # solve all non-ROS deps + mutex constraints, nothing built
 ```
@@ -65,9 +66,36 @@ pixi run rs <d> check-deps          # solve all non-ROS deps + mutex constraints
 Exit code 1 means something conflicts. Status of migrations:
 https://conda-forge.org/status/.
 
+`check-deps` takes the requirements of every selected package from vinca (`--source
+recipes` uses `recipes/` instead, which with skip-existing only holds unbuilt packages).
+
+### What the pinning PR rebuilds
+
+`update-pinning` moves the distribution's pinning (its own `distro.yaml` version, or
+the shared one it follows) forward and compares the old and new
+`conda_build_config.yaml` with `vinca-rebuild-plan`: packages with a changed pin among their build or
+host requirements, plus everything that depends on them (host or run, transitively),
+are rebuilt; the rest keep their published builds.
+
+- **Partial rebuild** (the usual case): those packages get `build_number` = highest
+  released build + 1 in `distros/<d>/pkg_additional_info.yaml`, and when the mutex
+  `run_constraints` changed, the mutex gets a new build at the same version
+  (`mutex_package.build_number`), so all other published packages stay installable.
+- **Full rebuild** (more than half of the packages affected): the bump below.
+
+The PR lists the packages and why, the migrations used / waiting for our dependencies'
+feedstocks, and a linux-64 `check-deps` result; it is labelled `dependency-conflict`
+when the new pins can't be installed together.
+
+```bash
+pixi run vinca-rebuild-plan --old <old cbc> --new distros/<d>/conda_build_config.yaml \
+  --vinca-dir distros/<d>/work      # the plan by hand (after `rs <d> prepare`)
+```
+
 ## Rebuild bump (full rebuild)
 
-When the snapshot or the pins change, everything is rebuilt:
+When the snapshot changes (or a pinning change affects most packages), everything is
+rebuilt:
 
 1. `build_number` in `distros/<d>/vinca.yaml` = the highest build number of the
    distribution's released packages + 1, so every package gets a new build.

diff --git a/.github/ISSUE_TEMPLATE/3_robostack_bot.yaml b/.github/ISSUE_TEMPLATE/3_robostack_bot.yaml
@@ -14,7 +14,7 @@ body:
         | `add-package` | anyone | Add ROS packages to the shared package selection (built by every distribution that has them); the PR lists what will be built. A maintainer reviews and merges it. |
         | `update-rosdistro-snapshot` | maintainers | Refresh `rosdistro_snapshot.yaml` to the latest rosdistro sync (master for rolling) and bump the build number (highest released + 1, per-package build numbers removed) and mutex: a full rebuild. The PR lists the version bumps. Runs daily when a new sync is tagged. |
         | `find-stale-packages` | maintainers | List published packages built against pins that no longer match, with the build-number snippet to rebuild them. Replies only. |
-        | `update-conda-forge-pinning` | maintainers | Move the shared conda-forge pinning to the latest version; re-renders `conda_build_config.yaml` and bumps the build number and mutex of the distributions whose pins changed. Runs weekly. |
+        | `update-conda-forge-pinning` | maintainers | Move the distribution's conda-forge pinning to the latest version, with the migrations that are done for its dependencies; rebuilds only the packages that use a changed pin and what depends on them (a full rebuild when that is most of them). The PR lists the packages, the migrations and a dependency check. Runs daily. |
   - type: dropdown
     id: command
     attributes:
@@ -32,7 +32,7 @@ body:
     id: distributions
     attributes:
       label: Distributions
-      description: "`all`: every distribution (for add-package: every one that has the package). Ignored by update-conda-forge-pinning."
+      description: "`all`: every distribution (for add-package: every one that has the package)."
       multiple: true
       options: [all, rolling, lyrical, jazzy, humble]
       default: 0

diff --git a/.github/workflows/bot.yaml b/.github/workflows/bot.yaml
@@ -2,12 +2,15 @@
 #
 # - daily: a snapshot PR for every distribution with a new rosdistro sync (the ROS
 #   release team tags each sync, e.g. jazzy/2026-10-05; `rosdistro_sync: manual` in
-#   distro.yaml opts out, like rolling); Mondays also the shared conda-forge pinning.
+#   distro.yaml opts out, like rolling), and a conda-forge pinning PR when there's a new
+#   pinning version or a migration became usable (only packages using a changed pin, and
+#   what depends on them, are rebuilt; the PR is labelled dependency-conflict when the
+#   new pins can't be installed together).
 # - on demand (owners, members and collaborators):
 #     Actions > robostack-bot > Run workflow, an issue from the "robostack-bot command"
 #     template, or a comment: @robostack-bot <command> [<distro>]
 #   commands: update-rosdistro-snapshot [<distro>...|all] | find-stale-packages [<distro>...|all] |
-#             update-conda-forge-pinning | add-package <pkg>... [<distro>...]
+#             update-conda-forge-pinning [<distro>...|all] | add-package <pkg>... [<distro>...]
 # - package requests (the "Package request" issue form or `@robostack-bot add-package`,
 #   from anyone): the bot opens a PR that adds the packages; maintainers review it.
 #   Every other command is for owners, members and collaborators.
@@ -72,10 +75,8 @@ jobs:
         run: |
           case "$EVENT" in
             schedule)
-              jobs=$(pixi run -q rs rosdistro-syncs)
-              if [ "$(date -u +%u)" = 1 ]; then
-                jobs=$(echo "$jobs" | python3 -c 'import json,sys; print(json.dumps(json.load(sys.stdin) + [{"command":"update-conda-forge-pinning","distro":"","args":"","preview":False}]))')
-              fi ;;
+              # rosdistro syncs, and the conda-forge pinning of every distribution
+              jobs=$(pixi run -q rs rosdistro-syncs | python3 -c 'import json,sys; print(json.dumps(json.load(sys.stdin) + [{"command":"update-conda-forge-pinning","distro":d,"args":"","preview":False} for d in sys.argv[1:]]))' $(ls distros)) ;;
             workflow_dispatch)  # only people with write access can dispatch
               jobs=$(ROBOSTACK_BOT_BODY="@robostack-bot $COMMAND $PACKAGES $DISTRO" ROBOSTACK_BOT_ASSOCIATION=OWNER pixi run -q rs parse-command) ;;
             *)
@@ -132,7 +133,7 @@ jobs:
               pixi run rs add-package $ARGS "${extra[@]}" --summary "$RUNNER_TEMP/summary.md" ;;
             update-rosdistro-snapshot) pixi run rs "$DISTRO" update-snapshot --summary "$RUNNER_TEMP/summary.md" ;;
             find-stale-packages) pixi run rs "$DISTRO" find-stale --summary "$RUNNER_TEMP/summary.md" ;;
-            update-conda-forge-pinning) pixi run rs update-pinning --summary "$RUNNER_TEMP/summary.md" ;;
+            update-conda-forge-pinning) pixi run rs "$DISTRO" update-pinning --summary "$RUNNER_TEMP/summary.md" ;;
           esac
           status=$?
           cat "$RUNNER_TEMP/summary.md" >> "$GITHUB_STEP_SUMMARY" 2>/dev/null
@@ -153,7 +154,9 @@ jobs:
           commit-message: ${{ steps.bot.outputs.title }}
           title: ${{ steps.bot.outputs.title }}
           body-path: ${{ runner.temp }}/summary.md
-          labels: robostack-bot
+          labels: |
+            robostack-bot
+            ${{ steps.bot.outputs.labels }}
       - name: Reply on the issue / pull request
         if: always() && (github.event_name == 'issue_comment' || github.event_name == 'issues')
         env:

diff --git a/README.md b/README.md
@@ -127,7 +127,7 @@ of a distribution uses `full_rebuild: true` there. A new build number goes into
 | `add-package <pkg>... [<distro>...]` | anyone | Adds ROS packages to the shared selection in `shared/vinca.yaml`, in sorted position; every distribution that has them builds them. Opens a PR listing, for the given (default: every) distribution, what will be built on linux-64 (and what is already published as a dependency). Valid ROS package names only, at most 10 per request. |
 | `update-rosdistro-snapshot [<distro>... \| all]` | maintainers | Snapshots the distribution's latest rosdistro sync (the release team's tag, e.g. `jazzy/2026-10-05`, recorded as `rosdistro_sync` in `distro.yaml`; rosdistro master for `rosdistro_sync: manual`, like rolling), then sets `build_number` to the highest build of the distribution's released packages + 1, bumps the mutex minor version and removes all per-package build numbers: a full rebuild. The PR links the sync's announcement and lists the version bumps. Runs daily for distributions with a new sync. |
 | `find-stale-packages [<distro>... \| all]` | maintainers | Published packages built against pins that no longer match, with the build-number snippet to rebuild them. Replies only. |
-| `update-conda-forge-pinning` | maintainers | Moves `shared/pinning/conda_forge.yaml` to the latest conda-forge pinning (migrations selected for the dependencies of all distributions) and re-renders the distributions that follow it. Those whose pins changed get the same build number and mutex bump, and their mutex `run_constraints` of the form `<pkg> <version>.*` follow the new pins. Runs weekly. |
+| `update-conda-forge-pinning [<distro>... \| all]` | maintainers | Moves the distribution's conda-forge pinning (`conda_forge_pinning_version` / `conda_forge_migrations` in `distro.yaml`, or `shared/pinning/conda_forge.yaml` for distributions that follow it) to the latest version, with the migrations that are done for the distribution's dependencies, and re-renders `conda_build_config.yaml`. Only packages that use a changed pin, and everything depending on them, are rebuilt (per-package build numbers, a new build of the mutex at the same version); more than half affected means a full rebuild. Mutex `run_constraints` of the form `<pkg> <version>.*` follow the new pins. The PR lists the rebuilt packages, the migrations used and those waiting for feedstocks, and the dependency check; it is labelled `dependency-conflict` when the pins can't be installed together. Runs daily, one PR per distribution. |
 
 There are three ways to trigger a command:
 - a *Package request* or *robostack-bot command* issue;

diff --git a/distros/humble/ci.yaml b/distros/humble/ci.yaml
@@ -23,8 +23,4 @@ full_rebuild: false
 #
 # Remember that dependents are not rebuilt automatically: evict them as well if
 # they must pick up the change.
-evict_cache:
-  # built from ROS sources under the conda-forge names before shared/vinca.yaml
-  # skipped them; the conda-forge packages must be used instead
-  - cpp-expected
-  - sophus
+evict_cache: []
diff --git a/distros/jazzy/ci.yaml b/distros/jazzy/ci.yaml
@@ -23,10 +23,4 @@ full_rebuild: false
 #
 # Remember that dependents are not rebuilt automatically: evict them as well if
 # they must pick up the change.
-evict_cache:
-  # built from ROS sources under the conda-forge names before shared/vinca.yaml
-  # skipped them; the conda-forge packages must be used instead
-  - cpp-expected
-  - sophus
-  # empty win-64 build from a cancelled run
-  - rmw_fastrtps_shared_cpp
+evict_cache: []
diff --git a/distros/lyrical/ci.yaml b/distros/lyrical/ci.yaml
@@ -23,7 +23,4 @@ full_rebuild: false
 #
 # Remember that dependents are not rebuilt automatically: evict them as well if
 # they must pick up the change.
-evict_cache:
-  - ros_image_to_qimage  # rebuilt with Qt6
-  - openvdb_vendor  # rebuilt with the OpenVDB module path fix
-  - nlohmann_json_schema_validator_vendor  # rebuilt with exported symbols on Windows
+evict_cache: []
diff --git a/pixi.lock b/pixi.lock
diff --git a/pixi.toml b/pixi.toml
@@ -34,7 +34,7 @@ git = "*"
 [pypi-dependencies]
 # One vinca for all distributions.
 # Tobias-Fischer/vinca robostack-integration (RoboStack/vinca#162 + extends, test selectors, gha fix) until merged upstream
-vinca = { git = "https://github.com/Tobias-Fischer/vinca.git", rev = "ed3493cb303e571fd78dd8812869e5b44726acb0" }
+vinca = { git = "https://github.com/Tobias-Fischer/vinca.git", rev = "b5c524bfc06221d8f9345ad851f7d4d9fd9b79b6" }
 # For local development, temporarily use (and regenerate pixi.lock):
 # vinca = { path = "../vinca", editable = true }