Full rebuild May 2026 bump ros2-distro-mutex to 0.16.0 and build number to 20

.github/workflows/testpr.yml

@@ -101,7 +101,7 @@ jobs:
     - name: Delete specific outdated cache entries
       shell: bash -l {0}
       run: |
-        # rm -rf ${{ matrix.folder_cache }}/ros-rolling-rviz-visual-tools* 2>/dev/null || true
+        # rm -rf ${{ matrix.folder_cache }}/ros-rolling-coal* 2>/dev/null || true
         mkdir -p ${{ matrix.folder_cache }}
         pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
 

patch/ros-rolling-cm-executors.patch

@@ -11,3 +11,16 @@ index 4fd2330..e455141 100644
        // clear on reset callback
        if(rcl_timer_set_on_reset_callback(timer_data->rcl_ref.get(), nullptr,
            nullptr) != RCL_RET_OK)
+diff --git a/include/cm_executors/events_cbg_executor.hpp b/include/cm_executors/events_cbg_executor.hpp
+index 3009afe..6ded674 100644
+--- a/include/cm_executors/events_cbg_executor.hpp
++++ b/include/cm_executors/events_cbg_executor.hpp
+@@ -25,7 +25,7 @@
+
+ #include "rclcpp/executor.hpp"
+ #include "rclcpp/macros.hpp"
+-#include "rclcpp/memory_strategies.hpp"
++#include "rclcpp/memory_strategy.hpp"
+ #include "rclcpp/visibility_control.hpp"
+
+ namespace rclcpp

patch/ros-rolling-foxglove-bridge.osx.patch

@@ -1,103 +1,103 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 71deedd3..15821a4e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -86,9 +86,15 @@ target_include_directories(foxglove_cpp_shared SYSTEM
+ target_sources(foxglove_cpp_shared PRIVATE ${FOXGLOVE_SDK_SOURCES})
+ # Import the prebuilt C shared library from the fetched SDK
+ add_library(foxglove-shared SHARED IMPORTED)
+-set_target_properties(foxglove-shared PROPERTIES
+-  IMPORTED_LOCATION ${foxglove_sdk_SOURCE_DIR}/lib/libfoxglove.so
+-)
++if(APPLE)
++  set_target_properties(foxglove-shared PROPERTIES
++    IMPORTED_LOCATION ${foxglove_sdk_SOURCE_DIR}/lib/libfoxglove.dylib
++  )
++else()
++  set_target_properties(foxglove-shared PROPERTIES
++    IMPORTED_LOCATION ${foxglove_sdk_SOURCE_DIR}/lib/libfoxglove.so
++  )
++endif()
+ target_link_libraries(foxglove_cpp_shared PRIVATE foxglove-shared)
+ set_target_properties(foxglove_cpp_shared PROPERTIES
+   INSTALL_RPATH "$ORIGIN"
 diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp
-index 72c11f54..fb799a92 100644
+index 2229aadc..9431dbdd 100644
 --- a/src/ros2_foxglove_bridge.cpp
 +++ b/src/ros2_foxglove_bridge.cpp
-@@ -305,7 +305,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
-     std::string topic(channel.topic());
-     const TopicAndDatatype topicAndSchemaName = {topic, schemaName};
-     if (latestTopics.find(topicAndSchemaName) == latestTopics.end()) {
--      RCLCPP_INFO(this->get_logger(), "Removing channel %lu for topic \"%s\" (%s)", channel.id(),
-+      RCLCPP_INFO(this->get_logger(), "Removing channel %llu for topic \"%s\" (%s)", channel.id(),
-                   topic.c_str(), schemaName.c_str());
-       channel.close();
-       channelIt = _channels.erase(channelIt);
-@@ -372,7 +372,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
+@@ -479,7 +479,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
+       const TopicAndDatatype topicAndSchemaName = {topic, schemaName};
+       if (latestTopics.find(topicAndSchemaName) == latestTopics.end()) {
+         const auto channelId = channel.id();
+-        RCLCPP_INFO(this->get_logger(), "Removing channel %lu for topic \"%s\" (%s)", channelId,
++        RCLCPP_INFO(this->get_logger(), "Removing channel %llu for topic \"%s\" (%s)", channelId,
+                     topic.c_str(), schemaName.c_str());
+         // Remove any active subscriptions for this channel
+         _subscriptions.erase(channelId);
+@@ -549,7 +549,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
+       }
+
+       const ChannelId channelId = channelResult.value().id();
+-      RCLCPP_INFO(this->get_logger(), "Advertising new channel %lu for topic \"%s\"", channelId,
++      RCLCPP_INFO(this->get_logger(), "Advertising new channel %llu for topic \"%s\"", channelId,
+                   topic.c_str());
+       _channels.insert({channelId, std::move(channelResult.value())});
      }
+@@ -814,7 +814,7 @@ void FoxgloveBridge::subscribeConnectionGraph(bool subscribe) {
+ }
 
-     const ChannelId channelId = channelResult.value().id();
--    RCLCPP_INFO(this->get_logger(), "Advertising new channel %lu for topic \"%s\"", channelId,
-+    RCLCPP_INFO(this->get_logger(), "Advertising new channel %llu for topic \"%s\"", channelId,
-                 topic.c_str());
-     _channels.insert({channelId, std::move(channelResult.value())});
-   }
-@@ -593,14 +593,14 @@ void FoxgloveBridge::subscribeConnectionGraph(bool subscribe) {
  void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetadata& client) {
-   if (!client.sink_id.has_value()) {
-     RCLCPP_ERROR(this->get_logger(),
--                 "received subscribe request from client %u for channel %lu but client "
-+                 "received subscribe request from client %u for channel %llu but client "
-                  "has no sink ID",
-                  client.id, channelId);
-     return;
-   }
-
-   RCLCPP_INFO(this->get_logger(),
--              "received subscribe request for channel %lu from client %u (sink %lu)", channelId,
-+              "received subscribe request for channel %llu from client %u (sink %llu)", channelId,
-               client.id, client.sink_id.value());
-   std::lock_guard<std::mutex> lock(_subscriptionsMutex);
-
-@@ -608,7 +608,7 @@ void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetada
-   // calling this callback?
-   auto it = _channels.find(channelId);
-   if (it == _channels.end()) {
+-  RCLCPP_INFO(this->get_logger(), "received subscribe request for channel %lu from client %u",
++  RCLCPP_INFO(this->get_logger(), "received subscribe request for channel %llu from client %u",
+               channelId, client.id);
+   createOrIncrementSubscription(channelId, client.id, false, client.sink_id);
+ }
+@@ -867,7 +867,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl
+                                                          std::optional<SinkId> sinkId) {
+   auto channelIt = _channels.find(channelId);
+   if (channelIt == _channels.end()) {
 -    RCLCPP_ERROR(this->get_logger(), "received subscribe request for unknown channel: %lu",
 +    RCLCPP_ERROR(this->get_logger(), "received subscribe request for unknown channel: %llu",
                   channelId);
      return;
    }
-@@ -638,7 +638,7 @@ void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetada
+@@ -898,7 +898,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl
+     auto [it, inserted] = _subscriptions.emplace(channelId, std::move(channelSub));
+     subIt = it;
 
-   if (!client.sink_id.has_value()) {
-     RCLCPP_ERROR(this->get_logger(),
--                 "received subscribe request for channel %lu but client "
-+                 "received subscribe request for channel %llu but client "
-                  "has no sink ID",
-                  channelId);
-     return;
-@@ -646,19 +646,19 @@ void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetada
+-    RCLCPP_INFO(this->get_logger(), "Created ROS subscription on %s (%s) for channel %lu",
++    RCLCPP_INFO(this->get_logger(), "Created ROS subscription on %s (%s) for channel %llu",
+                 topic.c_str(), datatype.c_str(), channelId);
+   }
 
-   _subscriptions.insert({{channelId, client.id}, subscription});
-   RCLCPP_INFO(this->get_logger(),
--              "created ROS subscription on %s (%s) successfully for channel %lu (client "
--              "%u, sink %lu)",
-+              "created ROS subscription on %s (%s) successfully for channel %llu (client "
-+              "%u, sink %llu)",
-               topic.c_str(), datatype.c_str(), channelId, client.id, client.sink_id.value());
+@@ -922,7 +922,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl
  }
 
  void FoxgloveBridge::unsubscribe(ChannelId channelId, const foxglove::ClientMetadata& client) {
-   std::lock_guard<std::mutex> lock(_subscriptionsMutex);
-
--  RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %lu", channelId);
-+  RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %llu", channelId);
-
-   auto it = _channels.find(channelId);
-   if (it == _channels.end()) {
--    RCLCPP_ERROR(this->get_logger(), "received unsubscribe request for unknown channel %lu",
-+    RCLCPP_ERROR(this->get_logger(), "received unsubscribe request for unknown channel %llu",
-                  channelId);
-     return;
-   }
-@@ -666,7 +666,7 @@ void FoxgloveBridge::unsubscribe(ChannelId channelId, const foxglove::ClientMeta
-   auto subscriptionIt = _subscriptions.find({channelId, client.id});
-   if (subscriptionIt == _subscriptions.end()) {
+-  RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %lu from client %u",
++  RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %llu from client %u",
+               channelId, client.id);
+   removeOrDecrementSubscription(channelId, client.id, false);
+ }
+@@ -938,7 +938,7 @@ void FoxgloveBridge::removeOrDecrementSubscriptionLocked(ChannelId channelId, Cl
+   auto subIt = _subscriptions.find(channelId);
+   if (subIt == _subscriptions.end()) {
      RCLCPP_ERROR(this->get_logger(),
--                 "Client %u tried unsubscribing from channel %lu but a corresponding ROS "
-+                 "Client %u tried unsubscribing from channel %llu but a corresponding ROS "
-                  "subscription doesn't exist",
-                  client.id, channelId);
+-                 "Client %u tried unsubscribing from channel %lu but no subscription exists",
++                 "Client %u tried unsubscribing from channel %llu but no subscription exists",
+                  clientId, channelId);
      return;
-@@ -674,7 +674,7 @@ void FoxgloveBridge::unsubscribe(ChannelId channelId, const foxglove::ClientMeta
-
-   const std::string& topic = subscriptionIt->second->get_topic_name();
-   RCLCPP_INFO(this->get_logger(),
--              "Cleaned up subscription to topic %s for client %u on channel %lu", topic.c_str(),
-+              "Cleaned up subscription to topic %s for client %u on channel %llu", topic.c_str(),
-               client.id, channelId);
-   _subscriptions.erase(subscriptionIt);
+   }
+@@ -953,7 +953,7 @@ void FoxgloveBridge::removeOrDecrementSubscriptionLocked(ChannelId channelId, Cl
+   // If no more subscribers, destroy the ROS subscription
+   if (subIt->second.wsClientIds.empty() && subIt->second.gatewayClientIds.empty()) {
+     RCLCPP_INFO(this->get_logger(),
+-                "Cleaned up ROS subscription for channel %lu (no more subscribers)", channelId);
++                "Cleaned up ROS subscription for channel %llu (no more subscribers)", channelId);
+     _subscriptions.erase(subIt);
+   }
  }
-@@ -778,7 +778,7 @@ void FoxgloveBridge::clientUnadvertise(ClientId clientId, ChannelId clientChanne
+@@ -1092,7 +1092,7 @@ void FoxgloveBridge::clientUnadvertise(ClientId clientId, ChannelId clientChanne
 
    const auto& publisher = it->second.publisher;
    RCLCPP_INFO(this->get_logger(),
@@ -106,3 +106,95 @@ index 72c11f54..fb799a92 100644
                publisher->get_topic_name(), publisher->get_subscription_count(), clientChannelId);
 
    _clientAdvertisedTopics.erase(it);
+@@ -1460,13 +1460,13 @@ void FoxgloveBridge::gatewaySubscribe(uint32_t clientId,
+   auto sinkId = _gateway->sinkId();
+   if (!sinkId.has_value()) {
+     RCLCPP_WARN(this->get_logger(),
+-                "Gateway: subscribe request for channel %lu (\"%s\") from client %u "
++                "Gateway: subscribe request for channel %llu (\"%s\") from client %u "
+                 "but gateway session has no sink ID (reconnecting?); "
+                 "cached transient_local messages will not be replayed",
+                 channel.id(), std::string(channel.topic()).c_str(), clientId);
+   }
+   RCLCPP_INFO(this->get_logger(),
+-              "Gateway: received subscribe request for channel %lu (\"%s\") from client %u",
++              "Gateway: received subscribe request for channel %llu (\"%s\") from client %u",
+               channel.id(), std::string(channel.topic()).c_str(), clientId);
+   createOrIncrementSubscription(channel.id(), clientId, true, sinkId);
+ }
+@@ -1474,7 +1474,7 @@ void FoxgloveBridge::gatewaySubscribe(uint32_t clientId,
+ void FoxgloveBridge::gatewayUnsubscribe(uint32_t clientId,
+                                         const foxglove::ChannelDescriptor& channel) {
+   RCLCPP_INFO(this->get_logger(),
+-              "Gateway: received unsubscribe request for channel %lu (\"%s\") from client %u",
++              "Gateway: received unsubscribe request for channel %llu (\"%s\") from client %u",
+               channel.id(), std::string(channel.topic()).c_str(), clientId);
+   removeOrDecrementSubscription(channel.id(), clientId, true);
+ }
+@@ -1489,7 +1489,7 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId,
+
+   ChannelAndClientId key = {channelId, clientId};
+   if (_gatewayClientAdvertisedTopics.find(key) != _gatewayClientAdvertisedTopics.end()) {
+-    RCLCPP_WARN(this->get_logger(), "Gateway: client %u already advertised channel %lu (\"%s\")",
++    RCLCPP_WARN(this->get_logger(), "Gateway: client %u already advertised channel %llu (\"%s\")",
+                 clientId, channelId, topicName.c_str());
+     return;
+   }
+@@ -1506,7 +1506,7 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId,
+
+   if (topicType.empty()) {
+     RCLCPP_ERROR(this->get_logger(),
+-                 "Gateway: client %u advertised channel %lu (\"%s\") with empty schema name",
++                 "Gateway: client %u advertised channel %llu (\"%s\") with empty schema name",
+                  clientId, channelId, topicName.c_str());
+     return;
+   }
+@@ -1514,12 +1514,12 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId,
+   try {
+     auto ad = createClientPublisher(topicName, topicType, encoding, schemaData, schemaLen);
+     RCLCPP_INFO(this->get_logger(),
+-                "Gateway: client %u is advertising channel %lu \"%s\" (%s) with encoding \"%s\"",
++                "Gateway: client %u is advertising channel %llu \"%s\" (%s) with encoding \"%s\"",
+                 clientId, channelId, topicName.c_str(), topicType.c_str(), encoding.c_str());
+     _gatewayClientAdvertisedTopics.emplace(key, std::move(ad));
+   } catch (const std::exception& ex) {
+     RCLCPP_ERROR(this->get_logger(),
+-                 "Gateway: failed to create publisher for client %u channel %lu (\"%s\"): %s",
++                 "Gateway: failed to create publisher for client %u channel %llu (\"%s\"): %s",
+                  clientId, channelId, topicName.c_str(), ex.what());
+   }
+ }
+@@ -1533,13 +1533,13 @@ void FoxgloveBridge::gatewayClientUnadvertise(uint32_t clientId,
+
+   auto it = _gatewayClientAdvertisedTopics.find(key);
+   if (it == _gatewayClientAdvertisedTopics.end()) {
+-    RCLCPP_WARN(this->get_logger(), "Gateway: client %u unadvertised unknown channel %lu (\"%s\")",
++    RCLCPP_WARN(this->get_logger(), "Gateway: client %u unadvertised unknown channel %llu (\"%s\")",
+                 clientId, channelId, std::string(channel.topic()).c_str());
+     return;
+   }
+
+   RCLCPP_INFO(this->get_logger(),
+-              "Gateway: client %u is no longer advertising channel %lu (\"%s\")", clientId,
++              "Gateway: client %u is no longer advertising channel %llu (\"%s\")", clientId,
+               channelId, it->second.topicName.c_str());
+   _gatewayClientAdvertisedTopics.erase(it);
+
+@@ -1563,7 +1563,7 @@ void FoxgloveBridge::gatewayClientMessage(uint32_t clientId,
+     auto it = _gatewayClientAdvertisedTopics.find(key);
+     if (it == _gatewayClientAdvertisedTopics.end()) {
+       RCLCPP_ERROR(this->get_logger(),
+-                   "Gateway: dropping message from client %u for unknown channel %lu", clientId,
++                   "Gateway: dropping message from client %u for unknown channel %llu", clientId,
+                    channelId);
+       return;
+     }
+@@ -1574,7 +1574,7 @@ void FoxgloveBridge::gatewayClientMessage(uint32_t clientId,
+   try {
+     publishClientData(ad, data, dataLen);
+   } catch (const std::exception& ex) {
+-    RCLCPP_ERROR(this->get_logger(), "Gateway: dropping message from client %u for channel %lu: %s",
++    RCLCPP_ERROR(this->get_logger(), "Gateway: dropping message from client %u for channel %llu: %s",
+                  clientId, channelId, ex.what());
+   }
+ }

patch/ros-rolling-foxglove-bridge.patch

@@ -2,26 +2,26 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 index 9285c891..d8b058ab 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -75,6 +75,18 @@ else()
-   elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+@@ -62,6 +62,18 @@ if (CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aar
+ 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 "f3d2f6a8ba97fedeae13b978f5e8a51dec4803eddfd23b198a292bf9ab6675ff")
+     set(FOXGLOVE_SDK_SHA "b949295e80eb1a9bb356e657b9c2579c886717fac290c4e48a5e9846063bf2e8")
 +  elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64")
 +    set(FOXGLOVE_SDK_PLATFORM "aarch64-apple-darwin")
-+    set(FOXGLOVE_SDK_SHA "6cb695e997e47a61c317177f13dd911c90ec1a95477473e1c5fb86db8a2da8ed")
++    set(FOXGLOVE_SDK_SHA "1c6a32fc25c3a29eb9f3c5156f9c82970a8714523ffc3893ea4e852b977ee1e5")
 +  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 "21cba2f3d032b3d0a921b7eda8ef103393f93f66ab891cbc4851f57c8080b94b")
++    set(FOXGLOVE_SDK_SHA "12249d4b2f16c3ff661f21d19603fb33a82888f0391576269f31f9cc1a4cb7a8")
 +  elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "ARM64")
 +    set(FOXGLOVE_SDK_PLATFORM "aarch64-pc-windows-msvc")
-+    set(FOXGLOVE_SDK_SHA "602676101883defac7494e70fdc6bc8dd2daa1783da07645906ef595e6654a05")
++    set(FOXGLOVE_SDK_SHA "5d4999f3231fbf06c6c54eee00db9cab5c8a96d043dcf143a401c72bf2efec01")
 +  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 "6cdf69d23ae45a1643f6e430b9928c5546679ffa3b9fb54a79f244b93bdc8323")
++    set(FOXGLOVE_SDK_SHA "58c3c5e945623bc02b596f748c82e1c8b82daef7871f11f600ff1a606ac9295d")
    else()
      message(FATAL_ERROR "Unsupported platform/architecture combination: ${CMAKE_SYSTEM_PROCESSOR}-${CMAKE_SYSTEM_NAME}")
    endif()
-@@ -185,6 +197,12 @@ target_link_libraries(foxglove_bridge_component
+@@ -157,6 +169,12 @@ target_link_libraries(foxglove_bridge_component
    rosx_introspection::rosx_introspection
  )