Merge branch 'main' into add-rtest-package

Author: Tobias-Fischer

.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     - name: Delete specific outdated cache entries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-kilted-autoware-trajectory* 2>/dev/null || true
+        # rm -rf ${{ matrix.folder_cache }}/ros-kilted-rosx* 2>/dev/null || true
         mkdir -p ${{ matrix.folder_cache }}
         pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
 

AGENTS.md

@@ -17,7 +17,7 @@ Working notes for future coding agents in a RoboStack repo. Replace $DISTRO with
 
 ```bash
 # single package (preferred for debugging)
-pixi run build-one --package ros-$DISTRO-<pkg>
+pixi run build-one ros-$DISTRO-<pkg>
 
 # broad pass when needed
 pixi run build_continue_on_failure
@@ -91,7 +91,7 @@ bash -x conda_build.sh 2>&1 | less
 ### 7. Rebuild package
 
 ```bash
-pixi run build-one --package ros-$DISTRO-<pkg>
+pixi run build-one ros-$DISTRO-<pkg>
 ```
 
 ## Create a patch from build-directory edits

conda_build_config.yaml

@@ -3,15 +3,15 @@ numpy:
 assimp:
   - 5
 libprotobuf:
-  - 6.31.1
+  - 6.33.5
 protobuf:
-  - 6.31.1
+  - 6.33.5
 spdlog:
   - 1.17
 pugixml:
   - '1.15'
 libopencv:
-  - 4.12.0
+  - 4.13.0
 libxml2:
   - 2.14.*
 graphviz:
@@ -33,6 +33,12 @@ tbb_devel:
 cmake:
   - 3.*
 
+# as of early April 2026 key robotics packages like pinocchio still required eigen 3.4.0.*,
+# see https://github.com/conda-forge/eigenpy-feedstock/pull/184
+eigen_abi_devel:
+  - 3.4.0
+
+
 cdt_name:  # [linux]
   - conda  # [linux]
 
@@ -71,3 +77,8 @@ libzenohcxx:
 
 libhwloc:
   - 2.12.2
+
+urdfdom:
+  -  4.0.1
+urdfdom-headers:
+  -  1.1.2

patch/dependencies.yaml

@@ -5,7 +5,7 @@ foxglove_bridge:
 ros_ign_interfaces:
   add_host: ["ros-kilted-rcl-interfaces"]
 cartographer_ros:
-  add_host: ["cartographer 2.*", "libboost-devel"]
+  add_host: ["cartographer 2.*", "libboost-devel", "ceres-solver * cpu*"]
 libyaml_vendor:
   add_host: ["yaml-cpp", "yaml"]
   add_run: ["yaml-cpp", "yaml"]
@@ -39,7 +39,7 @@ rviz_ogre_vendor:
   add_build: ["vcstool"]
   add_run: ["assimp"]
 pcl_conversions:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel", "eigen-abi-devel"]
 pcl_ros:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
 rviz_rendering:
@@ -96,7 +96,7 @@ nav2_smac_planner:
 nav2_util:
   add_host: ["libboost-devel"]
 nav2_constrained_smoother:
-  add_host: ["${{ 'openblas' if win }}"]
+  add_host: ["${{ 'openblas' if win }}", "ceres-solver * cpu*"]
 nav2_mppi_controller:
   add_build: ["${{ 'clang <19' if osx }}"]
 ompl:
@@ -133,6 +133,8 @@ rviz2:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 plotjuggler_ros:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+moveit_core:
+  add_host: ["eigen-abi-devel"]
 moveit_setup_framework:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 moveit_setup_core_plugins:
@@ -161,7 +163,7 @@ rqt_image_overlay:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 slam_toolbox:
   add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel", "ceres-solver * cpu*"]
 vision_msgs_rviz_plugins:
   add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
@@ -220,11 +222,14 @@ gz_transport_vendor:
 gz_utils_vendor:
   add_host: ["gz-utils3"]
   add_run: ["gz-utils3"]
+sdformat_urdf:
+  add_host: ["sdformat15"]
+  add_run: ["sdformat15"]
 sdformat_vendor:
   add_host: ["sdformat15"]
   add_run: ["sdformat15"]
 gz_dartsim_vendor:
-  add_host: ["dartsim-cpp"]
+  add_host: ["dartsim-cpp", "eigen-abi-devel"]
   add_run: ["dartsim-cpp"]
 gz_ogre_next_vendor:
   add_host: ["ogre-next"]
@@ -247,6 +252,8 @@ autoware_utils_pcl:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 autoware_utils_debug:
   add_host: ["fmt"]
+autoware_trajectory:
+  add_host: ["fmt"]
 rclpy:
   add_host: ["typing_extensions"]
   add_run: ["typing_extensions"]
@@ -267,3 +274,17 @@ console_bridge_vendor:
 grid_map_octomap:
   add_host: ["octomap"]
   add_run: ["octomap"]
+py_trees:
+  add_host: ["poetry-core"]
+py_trees_js:
+  add_host: ["poetry-core"]
+py_trees_ros:
+  add_host: ["poetry-core"]
+py_trees_ros_viewer:
+  add_host: ["poetry-core"]
+tf2_eigen_kdl:
+  add_host: ["eigen-abi-devel"]
+pinocchio:
+  add_host: ["eigen-abi-devel"]
+eigenpy:
+  add_host: ["eigen-abi-devel"]

patch/ros-kilted-apriltag-ros.patch

@@ -15,3 +15,15 @@ index c906851..b48600f 100644
  endif()
 
  option(ASAN "use AddressSanitizer to detect memory issues" OFF)
+diff --git a/src/conversion.cpp b/src/conversion.cpp
+--- a/src/conversion.cpp
++++ b/src/conversion.cpp
+@@ -56,7 +56,7 @@ tf2::toMsg(const std::pair<cv::Mat_<double>, cv::Mat_<double>>& pose)
+ 
+     // convert compact rotation vector to angle-axis to quaternion
+     const Eigen::Map<const Eigen::Vector3d> rvec(reinterpret_cast<double*>(pose.second.data));
+-    const Eigen::Quaterniond q({rvec.norm(), rvec.normalized()});
++    const Eigen::Quaterniond q(Eigen::AngleAxisd(rvec.norm(), rvec.normalized()));
+ 
+     geometry_msgs::msg::Transform t;
+     tf2::convert(pose.first, t.translation);

patch/ros-kilted-autoware-adapi-adaptors.patch

@@ -0,0 +1,19 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 0bf9d1d..3333333 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,11 +1,12 @@
+ cmake_minimum_required(VERSION 3.14)
+ project(autoware_kalman_filter)
+ 
++find_package(eigen3_cmake_module REQUIRED)
++find_package(Eigen3 REQUIRED)
++get_target_property(EIGEN3_INCLUDE_DIR Eigen3::Eigen INTERFACE_INCLUDE_DIRECTORIES)
+ find_package(autoware_cmake REQUIRED)
+ autoware_package()
+ 
+-find_package(eigen3_cmake_module REQUIRED)
+-find_package(Eigen3 REQUIRED)
+ 
+ include_directories(
+   SYSTEM

patch/ros-kilted-autoware-default-adapi.patch

@@ -22,22 +22,3 @@ index 57c25aa..01eb4e7 100644
 
  #include <limits>
  #include <map>
-diff --git a/src/ndt_scan_matcher_core.cpp b/src/ndt_scan_matcher_core.cpp
-index 24d3c6b..bedde26 100644
---- a/src/ndt_scan_matcher_core.cpp
-+++ b/src/ndt_scan_matcher_core.cpp
-@@ -195,12 +195,12 @@ NDTScanMatcher::NDTScanMatcher(const rclcpp::NodeOptions & options)
-       "ndt_align_srv",
-       std::bind(
-         &NDTScanMatcher::service_ndt_align, this, std::placeholders::_1, std::placeholders::_2),
--      rclcpp::ServicesQoS().get_rmw_qos_profile(), sensor_callback_group);
-+      rclcpp::ServicesQoS(), sensor_callback_group);
-   service_trigger_node_ = this->create_service<std_srvs::srv::SetBool>(
-     "trigger_node_srv",
-     std::bind(
-       &NDTScanMatcher::service_trigger_node, this, std::placeholders::_1, std::placeholders::_2),
--    rclcpp::ServicesQoS().get_rmw_qos_profile(), sensor_callback_group);
-+    rclcpp::ServicesQoS(), sensor_callback_group);
- 
-   ndt_ptr_->setParams(param_.ndt);
-