lyrical: rosdistro sync 2026-10-05

distros/humble/conda_build_config.yaml

@@ -81,8 +81,8 @@ cuda_compiler:
 cuda_compiler_version:
   - None
   - 12.9                         # [((linux and (x86_64 or aarch64)) or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
-  # pyqt-builder 1.20 defaults to sip ABI 12.20 / 13.13, which needs sip >=6.16
-  # (python_qt_binding / qt_gui_cpp keep sip <6.16); 1.18 targets 12.15 / 13.8.
+  # libopencv 5.0.0 builds for openexr 3.5 need qt6-main >= 6.12, but pyqt6 6.11 (via
+  # qt6-multimedia 6.11) still requires qt6-main 6.11: stay on openexr 3.4 until pyqt6 is rebuilt
 cuda_compiler_version_min:
   - None                       # [not ((linux and (x86_64 or aarch64)) or win64)]
   - 12.9                       # [((linux and (x86_64 or aarch64)) or win64)]
@@ -894,6 +894,8 @@ openblas:
   - 0.3.*
 openexr:
   - '3.4'
+  # pyqt-builder 1.20 defaults to sip ABI 12.20 / 13.13, which needs sip >=6.16
+  # (python_qt_binding / qt_gui_cpp keep sip <6.16); 1.18 targets 12.15 / 13.8.
 openh264:
   - 2.6.0
 openjpeg:

distros/jazzy/conda_build_config.yaml

@@ -81,8 +81,8 @@ cuda_compiler:
 cuda_compiler_version:
   - None
   - 12.9                         # [((linux and (x86_64 or aarch64)) or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
-  # pyqt-builder 1.20 defaults to sip ABI 12.20 / 13.13, which needs sip >=6.16
-  # (python_qt_binding / qt_gui_cpp keep sip <6.16); 1.18 targets 12.15 / 13.8.
+  # libopencv 5.0.0 builds for openexr 3.5 need qt6-main >= 6.12, but pyqt6 6.11 (via
+  # qt6-multimedia 6.11) still requires qt6-main 6.11: stay on openexr 3.4 until pyqt6 is rebuilt
 cuda_compiler_version_min:
   - None                       # [not ((linux and (x86_64 or aarch64)) or win64)]
   - 12.9                       # [((linux and (x86_64 or aarch64)) or win64)]
@@ -894,6 +894,8 @@ openblas:
   - 0.3.*
 openexr:
   - '3.4'
+  # pyqt-builder 1.20 defaults to sip ABI 12.20 / 13.13, which needs sip >=6.16
+  # (python_qt_binding / qt_gui_cpp keep sip <6.16); 1.18 targets 12.15 / 13.8.
 openh264:
   - 2.6.0
 openjpeg:

distros/lyrical/ci.yaml

@@ -23,4 +23,181 @@ full_rebuild: false
 #
 # Remember that dependents are not rebuilt automatically: evict them as well if
 # they must pick up the change.
-evict_cache: []
+evict_cache:  # TEMPORARY (#60): reset to [] before merging
+  # gz_ros2_control: its Windows environment hook points at bin/ (RoboStack/robostack#104)
+  - gz_ros2_control
+  # the generator's rosidl_runtime_rs 0.7 pin (rosidl_buffer sequence layout,
+  # RoboStack/ros-lyrical#17), and every package that generates interfaces,
+  # since each ships its generated Rust crate
+  - rosidl_generator_rs
+  - ackermann-msgs
+  - action-msgs
+  - actuator-msgs
+  - apriltag-msgs
+  - automatika-embodied-agents
+  - automatika-ros-sugar
+  - autoware-adapi-v1-msgs
+  - autoware-adapi-version-msgs
+  - autoware-auto-msgs
+  - autoware-common-msgs
+  - autoware-control-msgs
+  - autoware-internal-debug-msgs
+  - autoware-internal-localization-msgs
+  - autoware-internal-metric-msgs
+  - autoware-internal-msgs
+  - autoware-internal-perception-msgs
+  - autoware-internal-planning-msgs
+  - autoware-localization-msgs
+  - autoware-map-msgs
+  - autoware-motion-velocity-planner
+  - autoware-perception-msgs
+  - autoware-planning-msgs
+  - autoware-sensing-msgs
+  - autoware-system-msgs
+  - autoware-v2x-msgs
+  - autoware-vehicle-msgs
+  - bond
+  - builtin-interfaces
+  - can-msgs
+  - cartographer-ros-msgs
+  - cascade-lifecycle-msgs
+  - cm-executors
+  - composition-interfaces
+  - control-msgs
+  - controller-manager-msgs
+  - data-tamer-msgs
+  - diagnostic-msgs
+  - dwb-msgs
+  - easynav-interfaces
+  - easynav-routes-maps-manager
+  - event-camera-msgs
+  - example-interfaces
+  - ffmpeg-image-transport-msgs
+  - foxglove-msgs
+  - geographic-msgs
+  - geometric-shapes
+  - geometry-msgs
+  - gps-msgs
+  - graph-msgs
+  - grid-map-msgs
+  - irobot-create-msgs
+  - libstatistics-collector
+  - lifecycle-msgs
+  - livox-ros-driver2
+  - logging-demo
+  - map-msgs
+  - marine-acoustic-msgs
+  - marker-msgs
+  - mavros-msgs
+  - microstrain-inertial-driver
+  - microstrain-inertial-msgs
+  - mocap4r2-control-msgs
+  - mocap4r2-marker-viz-srvs
+  - mocap4r2-msgs
+  - mocap4r2-robot-gt-msgs
+  - motion-capture-tracking-interfaces
+  - moveit-msgs
+  - moveit-task-constructor-msgs
+  - mujoco-ros2-control-msgs
+  - nav-2d-msgs
+  - nav-msgs
+  - nav2-msgs
+  - navmap-ros-interfaces
+  - nmea-msgs
+  - object-recognition-msgs
+  - octomap-msgs
+  - ouster-ros
+  - ouster-sensor-msgs
+  - pal-statistics-msgs
+  - pcl-msgs
+  - pendulum-msgs
+  - plansys2-msgs
+  - plotjuggler-msgs
+  - point-cloud-interfaces
+  - polygon-msgs
+  - py-trees-ros-interfaces
+  - radar-msgs
+  - rcl-interfaces
+  - rclcpp
+  - rclpy-message-converter
+  - rclpy-message-converter-msgs
+  - realsense2-camera-msgs
+  - resource-retriever-interfaces
+  - rmf-building-map-msgs
+  - rmf-dispenser-msgs
+  - rmf-door-msgs
+  - rmf-fleet-msgs
+  - rmf-ingestor-msgs
+  - rmf-lift-msgs
+  - rmf-obstacle-msgs
+  - rmf-reservation-msgs
+  - rmf-site-map-msgs
+  - rmf-task-msgs
+  - rmf-traffic-msgs
+  - rmf-visualization-msgs
+  - rmf-visualization-schedule
+  - rmw-dds-common
+  - robot-localization
+  - ros-core
+  - ros-gz-interfaces
+  - ros2-medkit-msgs
+  - ros2-socketcan-msgs
+  - ros2cli-test-interfaces
+  - rosapi-msgs
+  - rosbag2-interfaces
+  - rosbag2-performance-benchmarking-msgs
+  - rosbag2-test-msgdefs
+  - rosbridge-msgs
+  - rosbridge-test-msgs
+  - rosgraph-monitor-msgs
+  - rosgraph-msgs
+  - rosidl-default-generators
+  - rqt-moveit
+  - rqt-py-common
+  - rqt-robot-monitor
+  - rslidar-msg
+  - rtcm-msgs
+  - rviz-2d-overlay-msgs
+  - sbg-driver
+  - sensor-msgs
+  - septentrio-gnss-driver
+  - service-msgs
+  - shape-msgs
+  - sick-safetyscanners2-interfaces
+  - sick-scan-xd
+  - simulation-interfaces
+  - slam-toolbox
+  - slg-msgs
+  - spatio-temporal-voxel-layer
+  - statistics-msgs
+  - std-msgs
+  - std-srvs
+  - stereo-msgs
+  - system-modes-msgs
+  - teleop-tools-msgs
+  - test-msgs
+  - tf2-msgs
+  - theora-image-transport
+  - topic-tools
+  - topic-tools-interfaces
+  - trajectory-msgs
+  - turtlebot3-msgs
+  - turtlesim-msgs
+  - twist-mux-msgs
+  - type-description-interfaces
+  - ublox-msgs
+  - ublox-ubx-interfaces
+  - ublox-ubx-msgs
+  - udp-msgs
+  - unique-identifier-msgs
+  - ur-dashboard-msgs
+  - ur-msgs
+  - urg-node
+  - urg-node-msgs
+  - usb-cam
+  - velodyne-msgs
+  - vision-msgs
+  - visualization-msgs
+  - webots-ros2-msgs
+  - yasmin-msgs
+  - zed-msgs

distros/lyrical/conda_build_config.yaml

@@ -81,6 +81,8 @@ cuda_compiler:
 cuda_compiler_version:
   - None
   - 12.9                         # [((linux and (x86_64 or aarch64)) or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
+  # libopencv 5.0.0 builds for openexr 3.5 need qt6-main >= 6.12, but pyqt6 6.11 (via
+  # qt6-multimedia 6.11) still requires qt6-main 6.11: stay on openexr 3.4 until pyqt6 is rebuilt
 cuda_compiler_version_min:
   - None                       # [not ((linux and (x86_64 or aarch64)) or win64)]
   - 12.9                       # [((linux and (x86_64 or aarch64)) or win64)]
@@ -916,7 +918,7 @@ oneloop:
 openblas:
   - 0.3.*
 openexr:
-  - 3.4
+  - '3.4'
 openh264:
   - 2.6.0
 openjpeg:
@@ -1002,7 +1004,6 @@ python:
 python_impl:
   - cpython
 
-  # ros-lyrical specific (distros/lyrical/distro.yaml)
 python_min:
   # minimum supported python version per CFEP-25
   # bump to next minor version when we drop python versions

distros/lyrical/distro.yaml

@@ -2,9 +2,4 @@
 # (everything else is shared, see the README).
 channel_name: robostack-lyrical
 upload_target: prefix
-conda_forge_pinning_version: 2026.10.09.13.11.31
-conda_forge_migrations: [elfutils0196, giflib6, go_macos, gsl28, gstreamer128, hdf52, libboost190, libhwloc2150, proj99, urdfdom6]
-pinning_overrides:
-  # libopencv 5.0.0 builds for openexr 3.5 need qt6-main >= 6.12, but pyqt6 6.11 (via
-  # qt6-multimedia 6.11) still requires qt6-main 6.11: stay on openexr 3.4 until pyqt6 is rebuilt
-  openexr: ['3.4']
+rosdistro_sync: lyrical/2026-10-05

distros/lyrical/patch/dependencies.yaml

@@ -120,7 +120,17 @@ pcl_conversions:
 pinocchio:
   add_host: ["eigen-abi-devel"]
 plotjuggler:
-  add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros2-ros-workspace"]
+  # PlotJuggler 3.17 is Qt5-only (find_package(Qt5 ...)); the Qt rosdep keys map to Qt6 here
+  remove_host: ["qt6-main"]
+  remove_run: ["qt6-main"]
+  add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros2-ros-workspace", "qt-main"]
+  add_run: ["qt-main"]
+plotjuggler_ros:
+  # Qt5-only like plotjuggler, which it links
+  remove_host: ["qt6-main"]
+  remove_run: ["qt6-main"]
+  add_host: ["qt-main"]
+  add_run: ["qt-main"]
 py_trees:
   add_host: ["hatchling"]
 py_trees_js:
@@ -167,26 +177,8 @@ ros_ign_gazebo:
   add_host: ["ros2-std-msgs", "ros2-rclcpp", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 ros_ign_interfaces:
   add_host: ["ros2-rcl-interfaces"]
-ros_image_to_qimage:
-  # Qt6, like rqt_gui_cpp (patch/ros2-ros-image-to-qimage.patch)
-  remove_host: ["qt-main"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
 rqt_gui_cpp:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-rqt_image_overlay:
-  # Qt6, like rqt_gui_cpp (patch/ros2-rqt-image-overlay.patch)
-  remove_host: ["qt-main"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
-rqt_image_overlay_layer:
-  # Qt6, like rqt_gui_cpp (patch/ros2-rqt-image-overlay-layer.patch)
-  remove_host: ["qt-main"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
-rqt_image_view:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
-  remove_host: ["qt-main"]
-rqt_mocap4r2_control:
-  remove_host: ["qt-main"]
-  remove_run: ["qt-main"]
 rtabmap:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "libboost-devel", "${{ 'libdc1394' if not win }}", "libusb", "vtk"]
 rviz_ogre_vendor:
@@ -201,10 +193,7 @@ sdformat_vendor:
   add_run: ["sdformat"]
 slam_toolbox:
   add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel", "ceres-solver", "qt6-main"]
-  add_run: ["qt6-main"]
-  remove_host: ["qt-main"]
-  remove_run: ["qt-main"]
+  add_host: ["blas-devel", "ceres-solver"]
 spatio_temporal_voxel_layer:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "openvdb"]
 spdlog_vendor:

distros/lyrical/patch/ros2-foxglove-bridge.patch

@@ -1,39 +1,26 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 6171894..f285973 100644
+index 64c1274..774140a 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -97,6 +97,18 @@ if (CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarc
  elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
    set(FOXGLOVE_SDK_PLATFORM "x86_64-unknown-linux-gnu")
-   set(FOXGLOVE_SDK_SHA "4790dad26adaced1a5f81530ed406bab7b60aa202a868eb78cfc04976b9ce6d7")
+   set(FOXGLOVE_SDK_SHA "1a0d8e03a885f01ae7cfb08dc9076090ba2cf8a15b7f46dda11451e2e2758978")
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64")
 +  set(FOXGLOVE_SDK_PLATFORM "aarch64-apple-darwin")
-+  set(FOXGLOVE_SDK_SHA "70c6e59cf757ac0480912c13cb2c630a3839de34eba428ef717411dae6b1688e")
++  set(FOXGLOVE_SDK_SHA "7b7a86a659a86544f23bed793b7913ad71c3f6c595233bbdb20d3968a3ce5a3a")
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
 +  set(FOXGLOVE_SDK_PLATFORM "x86_64-apple-darwin")
-+  set(FOXGLOVE_SDK_SHA "c6092c615523d462a9d3779313b8c033cf923ce30a43dc5305d48fe4f6d26988")
++  set(FOXGLOVE_SDK_SHA "5bae49cac58fb423217e9214452c22faa95b51f5bda7c04469fb1649f8b74ce5")
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "ARM64")
 +  set(FOXGLOVE_SDK_PLATFORM "aarch64-pc-windows-msvc")
-+  set(FOXGLOVE_SDK_SHA "b88abb1bc2c5e230db65cd3d608174f005b3b4563b1c0b2e33db05bc3a2b528b")
++  set(FOXGLOVE_SDK_SHA "8d067b5af329f808142a750e939799bfccb27926ff72b62da54e5280af002d3b")
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64")
 +  set(FOXGLOVE_SDK_PLATFORM "x86_64-pc-windows-msvc")
-+  set(FOXGLOVE_SDK_SHA "ae4ac0f4ab9eb998542a5626cd7870ba011824499fe33fa86936e82ed6502185")
++  set(FOXGLOVE_SDK_SHA "ea4db36121adb0ee61315442ea43603136c6910b4d82814688f507cd6f7fdd3b")
  else()
    message(FATAL_ERROR "Unsupported platform/architecture combination: ${CMAKE_SYSTEM_PROCESSOR}-${CMAKE_SYSTEM_NAME}")
  endif()
-@@ -201,6 +213,12 @@ target_link_libraries(foxglove_bridge_component
-   rosx_introspection::rosx_introspection
- )
-
-+if(APPLE)
-+  find_library(COREFOUNDATION_FRAMEWORK CoreFoundation REQUIRED)
-+  find_library(SECURITY_FRAMEWORK Security REQUIRED)
-+  target_link_libraries(foxglove_bridge_component ${COREFOUNDATION_FRAMEWORK} ${SECURITY_FRAMEWORK})
-+endif()
-+
- rclcpp_components_register_nodes(foxglove_bridge_component "foxglove_bridge::FoxgloveBridge")
- enable_strict_compiler_warnings(foxglove_bridge_component)
- set_target_properties(foxglove_bridge_component PROPERTIES
 diff --git a/src/message_definition_cache.cpp b/src/message_definition_cache.cpp
 index cf2864e..9124c80 100644
 --- a/src/message_definition_cache.cpp