lyrical: rosdistro sync 2026-10-05

distros/humble/robostack.yaml

@@ -0,0 +1,69 @@
+# Qt5 for the Qt5 rosdep keys: this distribution's rviz and GUI packages still build
+# against Qt5 (the shared mapping, for lyrical and newer, is Qt6). Packages already
+# ported to Qt6/PyQt6 swap qt-main in patch/dependencies.yaml.
+libqt5-core:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-gui:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-opengl:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-opengl-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-svg:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-svg-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-websockets-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-widgets:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5x11extras5-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+qt5-image-formats-plugins:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+qt5-qmake:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+qtbase5-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+python-qt5-bindings:
+  robostack: [pyqt, pyqt-builder]
+python3-qt5-bindings:
+  robostack: [pyqt, pyqt-builder]
+python3-qt5-bindings-gl:
+  robostack: [pyqt, pyqt-builder]

distros/humble/vinca.yaml

@@ -3,6 +3,8 @@ ros_distro: humble
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
 rosdistro_additional_recipes: rosdistro_additional_recipes.yaml
+# Qt5 for the Qt5 rosdep keys (see robostack.yaml); layered over shared/robostack.yaml
+conda_index: [robostack.yaml]
 
 build_number: 20
 

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

@@ -5,9 +5,4 @@
 channel_name: robostack-lyrical
 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:
-  # 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

@@ -113,7 +113,17 @@ 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:
@@ -156,26 +166,8 @@ rmf_visualization_schedule:
   add_host: ["asio"]
 ros_gz_sim:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros2-gz-sensors-vendor"]
-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", "${{ 'libdc1394' if not win }}", "libusb", "vtk"]
 rviz_ogre_vendor:
@@ -190,10 +182,7 @@ sdformat_vendor:
   add_run: ["sdformat"]
 slam_toolbox:
   add_build: ["${{ '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

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

@@ -1,116 +1,14 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index f285973..28652e5 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -61,7 +61,7 @@ endif()
- 
+@@ -62,7 +62,9 @@ endif()
+
  macro(enable_strict_compiler_warnings target)
    if (MSVC)
 -    target_compile_options(${target} PRIVATE /WX /W4)
-+    target_compile_options(${target} PRIVATE /W4)
++    # /permissive: with C++20 (pulled in by the dependencies) MSVC enables /permissive-, which rejects
++    # the Foxglove SDK's explicit specializations after their first use (C2908 in parameter.hpp)
++    target_compile_options(${target} PRIVATE /W4 /permissive)
    elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
      target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal -Wmost -Wunused-exception-parameter)
    else()
-@@ -121,6 +121,75 @@ FetchContent_Declare(
-   URL_HASH SHA256=${FOXGLOVE_SDK_SHA}
- )
- FetchContent_MakeAvailable(foxglove_sdk)
-+if(MSVC)
-+  file(READ
-+    "${foxglove_sdk_SOURCE_DIR}/include/foxglove/parameter.hpp"
-+    _foxglove_parameter_hpp
-+  )
-+  string(REPLACE "\r\n" "\n" _foxglove_parameter_hpp "${_foxglove_parameter_hpp}")
-+  string(REPLACE
-+[=[
-+  [[nodiscard]] bool isArray() const noexcept {
-+    if (!this->isArray<ParameterValueView>()) {
-+      return false;
-+    }
-+    try {
-+      const auto& arr = this->get<ParameterValueView::Array>();
-+      return std::all_of(arr.begin(), arr.end(), [](const ParameterValueView& elem) noexcept {
-+        return elem.is<T>();
-+      });
-+    } catch (...) {
-+      return false;
-+    }
-+  }
-+]=]
-+[=[
-+  [[nodiscard]] bool isArray() const noexcept {
-+    auto value = this->value();
-+    if (!value.has_value() || !value->is<ParameterValueView::Array>()) {
-+      return false;
-+    }
-+    try {
-+      const auto& arr = value->get<ParameterValueView::Array>();
-+      return std::all_of(arr.begin(), arr.end(), [](const ParameterValueView& elem) noexcept {
-+        return elem.is<T>();
-+      });
-+    } catch (...) {
-+      return false;
-+    }
-+  }
-+]=]
-+    _foxglove_parameter_hpp
-+    "${_foxglove_parameter_hpp}"
-+  )
-+  string(REPLACE
-+[=[
-+  [[nodiscard]] bool isDict() const noexcept {
-+    if (!this->isDict<ParameterValueView>()) {
-+      return false;
-+    }
-+    try {
-+      const auto& dict = this->get<ParameterValueView::Dict>();
-+      return std::all_of(
-+]=]
-+[=[
-+  [[nodiscard]] bool isDict() const noexcept {
-+    auto value = this->value();
-+    if (!value.has_value() || !value->is<ParameterValueView::Dict>()) {
-+      return false;
-+    }
-+    try {
-+      const auto& dict = value->get<ParameterValueView::Dict>();
-+      return std::all_of(
-+]=]
-+    _foxglove_parameter_hpp
-+    "${_foxglove_parameter_hpp}"
-+  )
-+  file(WRITE
-+    "${foxglove_sdk_SOURCE_DIR}/include/foxglove/parameter.hpp"
-+    "${_foxglove_parameter_hpp}"
-+  )
-+endif()
-
- # The dist's CMake package config defines IMPORTED targets for the prebuilt C libraries
- # (foxglove-static, foxglove-shared) and the foxglove_sdk_add_cpp_library() helper, which
-@@ -135,6 +204,16 @@ if (FOXGLOVE_BRIDGE_REMOTE_ACCESS)
- else()
-   foxglove_sdk_add_cpp_library(foxglove_cpp_shared TYPE SHARED REMOTE_ACCESS OFF)
- endif()
-+if(WIN32)
-+  target_link_libraries(foxglove_cpp_shared PRIVATE
-+    Ws2_32.lib
-+    Userenv.lib
-+    Ntdll.lib
-+    Crypt32.lib
-+    Secur32.lib
-+    Ncrypt.lib
-+  )
-+endif()
- set_target_properties(foxglove_cpp_shared PROPERTIES
-   BUILD_WITH_INSTALL_RPATH TRUE
- )
-diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp
-index b7fc123..fa78588 100644
---- a/src/ros2_foxglove_bridge.cpp
-+++ b/src/ros2_foxglove_bridge.cpp
-@@ -1,3 +1,5 @@
-+#define _CRT_SECURE_NO_WARNINGS
-+
- #include <algorithm>
- #include <cctype>
- #include <cinttypes>

distros/lyrical/patch/ros2-gz-ros2-control.win.patch

@@ -1,8 +1,18 @@
+diff --git a/hooks/gz_ros2_control.dsv.in b/hooks/gz_ros2_control.dsv.in
+index afbcf3a..45a35f1 100644
+--- a/hooks/gz_ros2_control.dsv.in
++++ b/hooks/gz_ros2_control.dsv.in
+@@ -1 +1 @@
+-prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;@CMAKE_INSTALL_PREFIX@/lib
++prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;@CMAKE_INSTALL_PREFIX@/bin
 diff --git a/src/gz_system.cpp b/src/gz_system.cpp
-index 5c9952b9..d5554d2c 100644
+index 5ac9614..3e6fbf0 100644
 --- a/src/gz_system.cpp
 +++ b/src/gz_system.cpp
-@@ -51,3 +51,7 @@
+@@ -67,6 +67,10 @@ struct InterfaceData
+   hardware_interface::CommandInterface::SharedPtr command;
+ };
+
 +#ifdef ERROR
 +#undef ERROR
 +#endif