Full Rebuild May 2026: bump ros2-distro-mutex to 0.9.0 and build_number to 18

conda_build_config.yaml

@@ -2,7 +2,7 @@ numpy:
   - 2     # [not emscripten]
   - 1.26  # [emscripten]
 assimp:
-  - 6.0.3
+  - 6
 libprotobuf:
   - 6.33.5
 protobuf:
@@ -18,8 +18,6 @@ libxml2:
   - 2.14.*
 graphviz:
   - 14.*
-# Mitigation for
-# https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380
 libcap:
   - 2.77
 fmt:
@@ -76,9 +74,9 @@ cxx_compiler_version:          # [unix]
   - 18                         # [osx]
 
 libzenohc:
-  - 1.7.2
+  - 1.9.0
 libzenohcxx:
-  - 1.7.2
+  - 1.9.0
 
 libhwloc:
   - 2.12.2
@@ -92,3 +90,6 @@ lbr_fri_client_sdk:
 
 eigen_abi_devel:
   - '3.4.0'
+
+poco:
+  - 1.15.2

patch/dependencies.yaml

@@ -186,9 +186,21 @@ rclcpp:
   add_host: [ "ros-humble-yaml-cpp-vendor", "${{ 'fmt' if emscripten }}"]
 rclcpp_action:
   add_host: [ "ros-humble-yaml-cpp-vendor", "${{ 'fmt' if emscripten }}"]
-rsl:
-  add_host: [ "ros-humble-tl-expected"]
-  add_run: [ "ros-humble-tl-expected"]
+parameter_traits:
+  remove_host: ["ros-humble-tl-expected"]
+  remove_run: ["ros-humble-tl-expected"]
+  add_host: ["cpp-expected"]
+  add_run: ["cpp-expected"]
+generate_parameter_library:
+  remove_host: ["ros-humble-tl-expected"]
+  remove_run: ["ros-humble-tl-expected"]
+  add_host: ["cpp-expected"]
+  add_run: ["cpp-expected"]
+autoware_trajectory:
+  remove_host: ["ros-humble-tl-expected"]
+  remove_run: ["ros-humble-tl-expected"]
+  add_host: ["cpp-expected"]
+  add_run: ["cpp-expected"]
 imu_calib:
   add_host: [ "ros-humble-eigen3-cmake-module" ]
   add_run: [ "ros-humble-eigen3-cmake-module" ]
@@ -293,4 +305,4 @@ franka_ign_ros2_control:
   add_run: ["ros-humble-urdf", "ros-humble-kdl-parser", "ros-humble-tf2-geometry-msgs", "ros-humble-tf2-eigen"]
 lbr_ros2_control:
   add_host: ["ros-humble-kinematics-interface"]
-  add_run: ["ros-humble-kinematics-interface"]
+  add_run: ["ros-humble-kinematics-interface"]

patch/ros-humble-ament-cmake-vendor-package.patch

@@ -160,4 +160,4 @@ index c9b963cd..2ca2f40a 100644
 +
    file(GENERATE OUTPUT "${CMAKE_ARGS_FILE}" CONTENT "${CMAKE_ARGS_CONTENT}")
    list(PREPEND CMAKE_ARGS "-C${CMAKE_ARGS_FILE}")
-
+

patch/ros-humble-autoware-ground-filter.patch

@@ -1,7 +1,18 @@
-diff --git a/include/autoware/ground_filter/grid.hpp b/include/autoware/ground_filter/grid.hpp
-index b69426c..c57fe92 100644
---- a/include/autoware/ground_filter/grid.hpp
-+++ b/include/autoware/ground_filter/grid.hpp
+From e7ed4e5150e3a0e34bdbb15dd1651594580f1d71 Mon Sep 17 00:00:00 2001
+From: Esteve Fernandez <esteve.fernandez@bonsairobotics.ai>
+Date: Mon, 11 May 2026 11:42:18 +0100
+Subject: [PATCH] fix(autoware_ground_filter): add M_PIf fallback defines for
+ Linux
+
+Signed-off-by: Esteve Fernandez <esteve.fernandez@bonsairobotics.ai>
+---
+ src/grid.hpp | 6 ++++++
+ 1 file changed, 6 insertions(+)
+
+diff --git a/src/grid.hpp b/src/grid.hpp
+index 8157550b..57d65180 100644
+--- a/src/grid.hpp
++++ b/src/grid.hpp
 @@ -25,6 +25,12 @@
  #include <utility>
  #include <vector>
@@ -15,3 +26,6 @@ index b69426c..c57fe92 100644
  namespace
  {
 
+-- 
+2.54.0
+

patch/ros-humble-autoware-ndt-scan-matcher.patch

@@ -21,4 +21,4 @@ index 57c25aa..01eb4e7 100644
 -#include <pcl/filters/boost.h>
 
  #include <limits>
- #include <map>
+ #include <map>

patch/ros-humble-autoware-test-utils.patch

@@ -20,3 +20,4 @@ index eb50d67..6be3b86 100644
  ament_auto_add_executable(topic_snapshot_saver src/topic_snapshot_saver.cpp)
 
 target_link_libraries(topic_snapshot_saver autoware_test_utils yaml-cpp::yaml-cpp)
+

patch/ros-humble-autoware-trajectory.patch

@@ -1,24 +1,85 @@
-diff --git a/common/autoware_trajectory/CMakeLists.txt b/common/autoware_trajectory/CMakeLists.txt
-index 4c3275d32a..4aae06a991 100644
---- a/common/autoware_trajectory/CMakeLists.txt
-+++ b/common/autoware_trajectory/CMakeLists.txt
-@@ -44,6 +44,7 @@ ament_auto_add_library(autoware_trajectory SHARED
-   src/utils/footprint.cpp
-   src/utils/velocity.cpp
- )
-+target_link_libraries(autoware_trajectory fmt::fmt)
-
- if(BUILD_TESTING)
-   ament_auto_find_test_dependencies()
-diff --git a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp
-index e339508816..c010fa633a 100644
---- a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp
-+++ b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp
-@@ -19,6 +19,7 @@
-
- #include <rclcpp/logging.hpp>
-
-+#include <algorithm>
+From c3d4e5f6a7b8c9d0e1f2a3b4c5d6e7f8a9b0c1d Mon Sep 17 00:00:00 2001
+From: Esteve Fernandez <esteve.fernandez@bonsairobotics.ai>
+Date: Mon, 11 May 2026 14:24:03 +0100
+Subject: [PATCH] fix(autoware_trajectory): migrate tl_expected to libexpected-dev
+
+Signed-off-by: Esteve Fernandez <esteve.fernandez@bonsairobotics.ai>
+---
+ include/autoware/trajectory/interpolator/result.hpp  | 2 +-
+ include/autoware/trajectory/temporal_trajectory.hpp  | 2 +-
+ include/autoware/trajectory/utils/reference_path.hpp | 2 +-
+ include/autoware/trajectory/utils/shift.hpp          | 2 +-
+ package.xml                                           | 2 +-
+ 5 files changed, 5 insertions(+), 5 deletions(-)
+
+diff --git a/include/autoware/trajectory/interpolator/result.hpp b/include/autoware/trajectory/interpolator/result.hpp
+index 5ea3257..f06b16e 100644
+--- a/include/autoware/trajectory/interpolator/result.hpp
++++ b/include/autoware/trajectory/interpolator/result.hpp
+@@ -15,7 +15,7 @@
+ #ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__RESULT_HPP_
+ #define AUTOWARE__TRAJECTORY__INTERPOLATOR__RESULT_HPP_
+
+-#include <tl_expected/expected.hpp>
++#include <tl/expected.hpp>
+
+ #include <string>
+
+diff --git a/include/autoware/trajectory/temporal_trajectory.hpp b/include/autoware/trajectory/temporal_trajectory.hpp
+index 443d407..4fe6b2a 100644
+--- a/include/autoware/trajectory/temporal_trajectory.hpp
++++ b/include/autoware/trajectory/temporal_trajectory.hpp
+@@ -18,7 +18,7 @@
+ #include "autoware/trajectory/detail/time_distance_mapping.hpp"
+ #include "autoware/trajectory/trajectory_point.hpp"
+
+-#include <tl_expected/expected.hpp>
++#include <tl/expected.hpp>
+
+ #include <memory>
+ #include <utility>
+diff --git a/include/autoware/trajectory/utils/reference_path.hpp b/include/autoware/trajectory/utils/reference_path.hpp
+index df92ef9..bf52e8c 100644
+--- a/include/autoware/trajectory/utils/reference_path.hpp
++++ b/include/autoware/trajectory/utils/reference_path.hpp
+@@ -17,7 +17,7 @@
+
+ #include "autoware/trajectory/forward.hpp"
+
+-#include <tl_expected/expected.hpp>
++#include <tl/expected.hpp>
+
+ #include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
+
+diff --git a/include/autoware/trajectory/utils/shift.hpp b/include/autoware/trajectory/utils/shift.hpp
+index 552cbed..1c64049 100644
+--- a/include/autoware/trajectory/utils/shift.hpp
++++ b/include/autoware/trajectory/utils/shift.hpp
+@@ -19,7 +19,7 @@
+ #include "autoware/trajectory/forward.hpp"
+
+ #include <range/v3/view/zip.hpp>
+-#include <tl_expected/expected.hpp>
++#include <tl/expected.hpp>
+
+ #include <string>
  #include <utility>
- #include <vector>
+diff --git a/package.xml b/package.xml
+index b49e295..c5f5a10 100644
+--- a/package.xml
++++ b/package.xml
+@@ -28,11 +28,11 @@
+   <depend>fmt</depend>
+   <depend>geometry_msgs</depend>
+   <depend>lanelet2_core</depend>
++  <depend>libexpected-dev</depend>
+   <depend>rclcpp</depend>
+   <depend>tf2</depend>
+   <depend>tf2_geometry_msgs</depend>
+-  <depend>tl_expected</depend>
 
+   <test_depend>ament_cmake_auto</test_depend>
+   <test_depend>ament_index_cpp</test_depend>
+-- 
+2.54.0
+

patch/ros-humble-autoware-trajectory.win.patch

@@ -20,7 +20,7 @@ diff --git a/common/autoware_trajectory/include/autoware/trajectory/utils/pretty
 -#include <range/v3/view/drop.hpp>
 -#include <range/v3/view/transform.hpp>
 -#include <range/v3/view/zip_with.hpp>
- #include <tl_expected/expected.hpp>
+ #include <tl/expected.hpp>
 
  #include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
  #include <autoware_planning_msgs/msg/path.hpp>
@@ -134,8 +134,8 @@ diff --git a/common/autoware_trajectory/include/autoware/trajectory/utils/shift.
  #include "autoware/trajectory/forward.hpp"
 
 -#include <range/v3/view/zip.hpp>
- #include <tl_expected/expected.hpp>
- 
+ #include <tl/expected.hpp>
+
  #include <string>
 @@ -119,8 +118,9 @@ tl::expected<trajectory::Trajectory<PointType>, ShiftError> shift(
    // Apply shift.

patch/ros-humble-autoware-utils-uuid.win.patch

@@ -18,3 +18,4 @@ index 2b7ec62..b2420b9 100644
 +#include <cstdint>
  #include <random>
  #include <string>
+

patch/ros-humble-generate-parameter-library.patch

@@ -0,0 +1,61 @@
+From b2c3d4e5f6a7b8c9d0e1f2a3b4c5d6e7f8a9b0c Mon Sep 17 00:00:00 2001
+From: Esteve Fernandez <esteve.fernandez@bonsairobotics.ai>
+Date: Mon, 11 May 2026 11:49:35 +0100
+Subject: [PATCH] fix(generate_parameter_library): migrate tl_expected to libexpected-dev
+
+Signed-off-by: Esteve Fernandez <esteve.fernandez@bonsairobotics.ai>
+---
+ cmake/generate_parameter_library.cmake  | 4 ++--
+ generate_parameter_library-extras.cmake | 2 +-
+ package.xml                             | 2 +-
+ 3 files changed, 4 insertions(+), 4 deletions(-)
+
+diff --git a/cmake/generate_parameter_library.cmake b/cmake/generate_parameter_library.cmake
+index b047ec4..6fe31e2 100644
+--- a/cmake/generate_parameter_library.cmake
++++ b/cmake/generate_parameter_library.cmake
+@@ -96,10 +96,10 @@ macro(generate_parameter_library LIB_NAME YAML_FILE)
+     rclcpp_lifecycle::rclcpp_lifecycle
+     rsl::rsl
+     tcb_span::tcb_span
+-    tl_expected::tl_expected
++    tl::expected
+   )
+   install(DIRECTORY ${LIB_INCLUDE_DIR} DESTINATION include)
+-  ament_export_dependencies(fmt parameter_traits rclcpp rclcpp_lifecycle rsl tcb_span tl_expected)
++  ament_export_dependencies(fmt parameter_traits rclcpp rclcpp_lifecycle rsl tcb_span tl-expected)
+ endmacro()
+
+
+diff --git a/generate_parameter_library-extras.cmake b/generate_parameter_library-extras.cmake
+index 452030d..30e80e8 100644
+--- a/generate_parameter_library-extras.cmake
++++ b/generate_parameter_library-extras.cmake
+@@ -32,6 +32,6 @@ find_package(rclcpp REQUIRED)
+ find_package(rsl REQUIRED)
+ find_package(rclcpp_lifecycle REQUIRED)
+ find_package(tcb_span REQUIRED)
+-find_package(tl_expected REQUIRED)
++find_package(tl-expected REQUIRED)
+
+ include("${generate_parameter_library_DIR}/generate_parameter_library.cmake")
+diff --git a/package.xml b/package.xml
+index fcd4503..2971c44 100644
+--- a/package.xml
++++ b/package.xml
+@@ -23,10 +23,10 @@
+   <buildtool_export_depend>generate_parameter_library_py</buildtool_export_depend>
+
+   <depend>fmt</depend>
++  <depend>libexpected-dev</depend>
+   <depend>parameter_traits</depend>
+   <depend>rclcpp</depend>
+   <depend>rclpy</depend>
+   <depend>rclcpp_lifecycle</depend>
+   <depend>rsl</depend>
+   <depend>tcb_span</depend>
+-  <depend>tl_expected</depend>
+
+   <export>
+-- 
+2.54.0

patch/ros-humble-gz-ros2-control.patch

@@ -25,4 +25,4 @@ index 9c539de1..0f3e137b 100644
 +
  # Default to C11
  if(NOT CMAKE_C_STANDARD)
-     set(CMAKE_C_STANDARD 11)
+     set(CMAKE_C_STANDARD 11)

patch/ros-humble-kinematics-interface.patch

@@ -8,4 +8,4 @@ index 27a6269..06549d9 100644
  ament_export_targets(export_kinematics_interface HAS_LIBRARY_TARGET)
 -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} Eigen3)
- ament_package()
+ ament_package()

patch/ros-humble-nav2-waypoint-follower.win.patch

@@ -46,3 +46,4 @@ index 628bc1836fd..332a552c0b9 100644
 +#include "opencv2/opencv.hpp"
  #include "cv_bridge/cv_bridge.h"
  #include "image_transport/image_transport.hpp"
+