Per-distribution uploads to prefix.dev and/or anaconda.org; humble off robostack-staging

.scripts/build_unix.sh

@@ -39,8 +39,8 @@ done
 shopt -s nullglob
 conda_packages=( "${CONDA_BLD_PATH}/${target}"*/*.conda )
 if (( ${#conda_packages[@]} > 0 )); then
-    # Upload packages one-by-one; the upload task (tools/robostack.py) skips or overwrites
-    # packages that already exist, depending on the upload target.
+    # Upload packages one-by-one; the upload task (tools/robostack.py) uploads them to
+    # prefix.dev and anaconda.org and skips packages that are already there.
     for conda_package in "${conda_packages[@]}"; do
         pixi run rs "${ROBOSTACK_DISTRO}" upload "${conda_package}"
     done

.scripts/build_win.bat

@@ -32,8 +32,8 @@ for %%X in (%CURRENT_RECIPES%) do (
 :: Check if .conda files exist in the win-64 directory
 if exist "%CONDA_BLD_PATH%\win-64\*.conda" (
     echo Found .conda files, starting upload...
-    rem Upload packages one-by-one; the upload task (tools/robostack.py) skips or overwrites
-    rem packages that already exist, depending on the upload target.
+    rem Upload packages one-by-one; the upload task (tools/robostack.py) uploads them to
+    rem prefix.dev and anaconda.org and skips packages that are already there.
     for %%F in ("%CONDA_BLD_PATH%\win-64\*.conda") do (
         echo Uploading %%~fF
         pixi run rs %ROBOSTACK_DISTRO% upload "%%~fF"

README.md

@@ -7,9 +7,9 @@ the [RoboStack documentation](https://robostack.github.io/GettingStarted.html).
 | Distribution | Channel |
 |---|---|
 | rolling | [robostack-rolling](https://prefix.dev/channels/robostack-rolling) |
-| lyrical | [robostack-lyrical](https://prefix.dev/channels/robostack-lyrical) |
-| jazzy | [robostack-jazzy](https://anaconda.org/robostack-jazzy) |
-| humble | [robostack-staging](https://anaconda.org/robostack-staging) |
+| lyrical | robostack-lyrical on [prefix.dev](https://prefix.dev/channels/robostack-lyrical) and [anaconda.org](https://anaconda.org/robostack-lyrical) (the same packages) |
+| jazzy | [robostack-jazzy](https://anaconda.org/robostack-jazzy) (prefix.dev mirrors it) |
+| humble | [robostack-humble](https://anaconda.org/robostack-humble) (prefix.dev mirrors it) |
 
 Packages are named `ros2-<package>`, e.g. `ros2-desktop` or `ros2-rclcpp`; the
 distribution comes from the channel. The older names keep working: for every package
@@ -41,7 +41,7 @@ If you use RoboStack in your academic work, please cite:
 
 ```
 distros/<distro>/          only what is specific to one distribution
-  distro.yaml              channel, upload target, conda-forge pinning version/migrations, own pins, rosdistro sync
+  distro.yaml              channel, where it's uploaded and read from, conda-forge pinning version/migrations, own pins, rosdistro sync
   vinca.yaml               extends shared/vinca.yaml: ros_distro, build number, mutex version, its exceptions
   pkg_additional_info.yaml its own per-package settings (build numbers, version-specific cmake args)
   patch/                   its patches; patch/dependencies.yaml its own dependency fixes
@@ -119,10 +119,12 @@ label doesn't start one by itself. Nothing has to be reset before merging.
   - Each selected distribution is built on all five platforms, with its own build cache. The `check` job runs `pixi run rs check`.
 - **After a merge** (`main.yaml`): for every changed distribution and platform, the job regenerates the recipes and the staged build workflow, and pushes them to `buildbranch_<distro>_<platform>`.
   - Each build branch carries its workflow as `.github/workflows/build.yaml`, which runs `.scripts/build_*.sh` in `distros/<distro>/work`.
-  - Those workflows build the packages and upload them to the distribution's channel.
+  - Those workflows build the packages and upload them to the distribution's channel on the servers `upload_to` in `distro.yaml` lists (prefix.dev and/or anaconda.org, the same channel name on each; packages already there are skipped). `read_from` says where the builds look up what's already published.
 - **Repository variables:**
-  - `ROBOSTACK_UPLOAD_CHANNEL`: upload to this prefix.dev channel instead (for example a test channel), or `none` to build without uploading. Use the canonical reference: `<namespace>/<channel>` for a channel that isn't the namespace's primary one (e.g. `tobias-fischer/robostack-distro-test`).
-  - Upload credentials: prefix.dev channels use Repository Access (OIDC, no stored key). In the channel's *Settings > Repository Access*, authorize GitHub, this repository, workflow filename `build.yaml`, mode *Read/write*. There are no upload tokens: distributions whose channel is still on anaconda.org (`upload_target: anaconda`, read from there) can only upload to a prefix.dev channel set in `ROBOSTACK_UPLOAD_CHANNEL`.
+  - `ROBOSTACK_UPLOAD_CHANNEL`: upload only to this prefix.dev channel instead (for example a test channel), or `none` to build without uploading. Use the canonical reference: `<namespace>/<channel>` for a channel that isn't the namespace's primary one (e.g. `tobias-fischer/robostack-distro-test`).
+  - Upload credentials:
+    - prefix.dev: Repository Access (OIDC, no stored key). In each channel's *Settings > Repository Access*, authorize GitHub, this repository, workflow filename `build.yaml`, mode *Read/write*.
+    - anaconda.org: one repository secret per distribution, `ANACONDA_API_TOKEN_<DISTRO>` (e.g. `ANACONDA_API_TOKEN_HUMBLE`): an API token of its `robostack-<distro>` organization with scope *Allow write access to the API site* (`api:write`). The generated build workflow passes it to the upload as `ANACONDA_API_TOKEN`.
   - `ROBOSTACK_BOT_CLIENT_ID` (the App's Client ID, `Iv23…`) with the secret `ROBOSTACK_BOT_PRIVATE_KEY`: the robostack-bot GitHub App. It pushes the build branches (which contain workflow files) and opens bot PRs so that CI runs on them. `GHA_PAT` works as a fallback.
 
   The app needs repository permissions Contents, Pull requests, Issues and Workflows (read and write), with its webhook inactive.

distros/humble/distro.yaml

@@ -1,7 +1,10 @@
 # Settings of ros-humble that differ from the other distributions
 # (everything else is shared, see the README).
-channel_name: robostack-staging
-upload_target: anaconda
+# upload_to: where packages are uploaded, to this channel on each (prefix.dev, anaconda.org);
+# read_from: where the builds look up what is already published
+channel_name: robostack-humble
+upload_to: [anaconda]
+read_from: anaconda
 conda_forge_pinning_version: 2026.09.01.16.28.00
 conda_forge_migrations: [giflib6, go_macos, gstreamer128, hdf52, libboost190, pybind11_abi11, urdfdom6,
   vtk970]

distros/jazzy/distro.yaml

@@ -1,7 +1,10 @@
 # Settings of ros-jazzy that differ from the other distributions
 # (everything else is shared, see the README).
+# upload_to: where packages are uploaded, to this channel on each (prefix.dev, anaconda.org);
+# read_from: where the builds look up what is already published
 channel_name: robostack-jazzy
-upload_target: anaconda
+upload_to: [anaconda]
+read_from: anaconda
 conda_forge_pinning_version: 2026.09.01.16.28.00
 conda_forge_migrations: [giflib6, go_macos, gstreamer128, hdf52, libboost190, pybind11_abi11, urdfdom6,
   vtk970]

distros/lyrical/distro.yaml

@@ -1,7 +1,10 @@
 # Settings of ros-lyrical that differ from the other distributions
 # (everything else is shared, see the README).
+# upload_to: where packages are uploaded, to this channel on each (prefix.dev, anaconda.org);
+# read_from: where the builds look up what is already published
 channel_name: robostack-lyrical
-upload_target: prefix
+upload_to: [prefix, anaconda]
+read_from: 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:

distros/rolling/distro.yaml

@@ -1,7 +1,10 @@
 # Settings of ros-rolling that differ from the other distributions
 # (everything else is shared, see the README).
+# upload_to: where packages are uploaded, to this channel on each (prefix.dev, anaconda.org);
+# read_from: where the builds look up what is already published
 channel_name: robostack-rolling
-upload_target: prefix
+upload_to: [prefix]
+read_from: prefix
 conda_forge_pinning_version: 2026.09.01.16.28.00
 conda_forge_migrations: [giflib6, go_macos, gstreamer128, hdf52, libboost190, pybind11_abi11, urdfdom6,
   vtk970]

tools/abi_check.py

@@ -338,13 +338,9 @@ def channel_for(distro: str) -> list[str]:
     sys.path.insert(0, str(Path(__file__).parent))
     import robostack as rs
 
-    s = rs.settings(distro)
-    name = s.get("channel_name", f"robostack-{distro}")
     upload = os.environ.get("ROBOSTACK_UPLOAD_CHANNEL", "").strip()
     extra = [f"https://repo.prefix.dev/{upload}"] if upload and upload != "none" else []
-    if s.get("upload_target", "prefix") == "prefix":
-        return extra + [f"https://repo.prefix.dev/{name}"]
-    return extra + [f"https://conda.anaconda.org/{name}"]
+    return extra + [rs.repodata_url(distro)]
 
 
 def download(channel: str, platform: str, filename: str, dest: Path) -> Path:

tools/import_distro.py

@@ -14,7 +14,7 @@
                            ros-<distro>-<pkg> dependency names become ros2-<pkg>
 - patch/                   patches renamed to ros2-<pkg>[.<platform>].patch
 - rosdistro_snapshot.yaml, rosdistro_additional_recipes.yaml   as they are
-- distro.yaml              channel and upload target (from its pixi.toml), its
+- distro.yaml              channel and where builds read it from (from its pixi.toml), its
                            conda-forge pinning version, migrations and the pins that
                            differ from shared/pinning/overrides.yaml (vinca_pinning.yaml)
 - ci.yaml                  reset to the defaults
@@ -208,9 +208,9 @@ def import_distro(src: Source, distro: str | None) -> str:
     pixi = src.text("pixi.toml") or ""
     settings: dict = {}
     if m := re.search(r'upload\s*=\s*"rattler-build upload prefix -c (\S+)', pixi):
-        settings.update(channel_name=m.group(1), upload_target="prefix")
+        settings.update(channel_name=m.group(1), read_from="prefix")
     elif m := re.search(r'upload\s*=\s*"rattler-build upload anaconda -o (\S+)', pixi):
-        settings.update(channel_name=m.group(1), upload_target="anaconda")
+        settings.update(channel_name=m.group(1), read_from="anaconda")
     pinning = yaml.safe_load(src.text("vinca_pinning.yaml") or "") or {}
     if pinning.get("conda_forge_pinning_version"):
         settings["conda_forge_pinning_version"] = str(pinning["conda_forge_pinning_version"])

tools/maintenance.py

@@ -108,9 +108,7 @@ def released_builds(distro: str) -> dict[str, int] | None:
     import urllib.error
     import urllib.request
 
-    s = rs.settings(distro)
-    name = s.get("channel_name", f"robostack-{distro}")
-    base = f"https://repo.prefix.dev/{name}" if s.get("upload_target", "prefix") == "prefix" else rs.channel_url(distro)
+    base = rs.repodata_url(distro)
     builds: dict[str, int] = {}
     read = False
     for subdir in REPODATA_SUBDIRS:
@@ -414,10 +412,7 @@ def update_snapshot(distro: str) -> Result:
 
 
 def find_stale(distro: str) -> Result:
-    s = rs.settings(distro)
-    name = s.get("channel_name", f"robostack-{distro}")
-    # repo.prefix.dev serves repodata directly (prefix.dev redirects)
-    url = f"https://repo.prefix.dev/{name}" if s.get("upload_target", "prefix") == "prefix" else rs.channel_url(distro)
+    url = rs.repodata_url(distro)
     rs.prepare(distro)
     proc = subprocess.run(
         [sys.executable, str(rs.TOOLS / "check_dependency_compat.py"), "--stale", "--repodata", url],
@@ -611,7 +606,7 @@ def new_distro(name: str, source: str) -> Result:
 
 def _populate_new_distro(name: str, source: str, src: Path, dest: Path) -> Result:
     settings = rs.settings(source)
-    keep = {k: settings[k] for k in ("upload_target",) if k in settings}
+    keep = {k: settings[k] for k in ("read_from", "upload_to") if k in settings}
     (dest / "distro.yaml").write_text(
         f"# Settings of ros-{name} that differ from the other distributions\n"
         "# (everything else is shared, see the README).\n"
@@ -1232,15 +1227,18 @@ def check() -> Result:
     """Sanity checks: every distribution assembles and its generated files are consistent."""
     problems: list[str] = []
     all_packages: set[str] = set()
-    known = {"channel_name", "upload_target", "conda_forge_pinning_version", "conda_forge_migrations", "pinning_overrides",
+    known = {"channel_name", "read_from", "upload_to", "conda_forge_pinning_version", "conda_forge_migrations", "pinning_overrides",
              "rosdistro_sync"}
     for distro in rs.distros():
         d = rs.DISTROS / distro
         settings = rs.settings(distro)
         if unknown := set(settings) - known:
             problems.append(f"{distro}: unknown keys in distro.yaml: {sorted(unknown)}")
-        if settings.get("upload_target", "prefix") not in ("prefix", "anaconda"):
-            problems.append(f"{distro}: upload_target must be prefix or anaconda")
+        if settings.get("read_from", "prefix") not in ("prefix", "anaconda"):
+            problems.append(f"{distro}: read_from must be prefix or anaconda")
+        upload_to = settings.get("upload_to", list(rs.UPLOAD_HOSTS))
+        if not upload_to or not set(upload_to) <= set(rs.UPLOAD_HOSTS):
+            problems.append(f"{distro}: upload_to must list prefix and/or anaconda")
         sync = settings.get("rosdistro_sync")
         if sync is not None and sync != "manual" and not ((m := SYNC_TAG.match(str(sync))) and m["distro"] == distro):
             problems.append(f"{distro}: rosdistro_sync must be 'manual' or a sync tag like {distro}/2026-10-05")