Full Rebuild (Sync) of May 2026: bump ros2-distro-mutex to 0.15.0 and build_number to 19

.github/workflows/testpr.yml

@@ -108,7 +108,7 @@ jobs:
       shell: bash -l {0}
       run: |
         # rm -rf ${{ matrix.folder_cache }}/ros-jazzy-<pkg>* || true
-        pixi run rattler-index fs output --force
+        pixi run rattler-index fs ${CONDA_BLD_PATH:-output} --force
         exit 0
 
     - name: See packages restored by cache

conda_build_config.yaml

@@ -1,23 +1,21 @@
 numpy:
   - 2
 assimp:
-  - 5
+  - 6
 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:
   - 14.*
-# Mitigation for
-# https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380
 libcap:
   - 2.77
 fmt:
@@ -47,7 +45,7 @@ c_compiler:
   - vs2022                     # [win]
 c_compiler_version:            # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 c_stdlib:
   - sysroot                    # [linux]
   - macosx_deployment_target   # [osx]
@@ -62,7 +60,7 @@ cxx_compiler:
   - vs2022                     # [win]
 cxx_compiler_version:          # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 
 lbr_fri_client_sdk:
   - '1.11'
@@ -72,18 +70,20 @@ lbr_fri_client_sdk:
   - '1.17'
 
 libzenohc:
-  - 1.7.2
+  - 1.9.0
 libzenohcxx:
-  - 1.7.2
-
+  - 1.9.0
 libhwloc:
   - 2.12.2
 
 eigen_abi_devel:
   - '3.4.0'
 
 urdfdom:
-  - '4.0'
+  - '5.1'
 
 libmujoco:
-  - 3.5.0
+  - 3.8.1
+
+vtk:
+  - 9.6.0

patch/dependencies.yaml

@@ -101,8 +101,6 @@ nav2_util:
   add_host: ["libboost-devel"]
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}"]
-nav2_mppi_controller:
-  add_build: ["${{ 'clang <19' if osx }}"]
 ompl:
   add_host: ["ompl"]
 pybind11_vendor:

patch/ros-jazzy-bonxai-ros.patch

@@ -142,6 +142,48 @@ index 34a3231..5bb8938 100644
 
  #include "mask.hpp"
 
+diff --git a/bonxai_core/include/bonxai/mask.hpp b/bonxai_core/include/bonxai/mask.hpp
+index 0000000..0000001 100644
+--- a/bonxai_core/include/bonxai/mask.hpp
++++ b/bonxai_core/include/bonxai/mask.hpp
+@@ -30,6 +30,7 @@ class Mask {
+
+   Mask(const Mask& other);
+   Mask(Mask&& other);
++  Mask& operator=(Mask&& other);
+
+   ~Mask();
+
+@@ -294,6 +295,27 @@ inline Mask::Mask(Mask&& other)
+   } else {
+     std::swap(words_, other.words_);
+   }
+ }
+
++inline Mask& Mask::operator=(Mask&& other) {
++  if (this == &other) {
++    return *this;
++  }
++  if (WORD_COUNT > 8) {
++    delete[] words_;
++  }
++  SIZE = other.SIZE;
++  WORD_COUNT = other.WORD_COUNT;
++  if (WORD_COUNT <= 8) {
++    words_ = static_words_;
++    for (uint32_t i = 0; i < WORD_COUNT; ++i) {
++      words_[i] = other.words_[i];
++    }
++  } else {
++    words_ = other.words_;
++    other.words_ = nullptr;
++  }
++  return *this;
++}
++
+ inline Mask::~Mask() {
+   if (WORD_COUNT > 8) {
+     delete[] words_;
 diff --git a/bonxai_core/include/bonxai/grid_coord.hpp b/bonxai_core/include/bonxai/grid_coord.hpp
 index da8fb7d..1f9727b 100644
 --- a/bonxai_core/include/bonxai/grid_coord.hpp

patch/ros-jazzy-clearpath-diagnostics.patch

@@ -0,0 +1,28 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: RoboStack <maintainers@robostack.org>
+Date: Wed, 13 May 2026 23:30:00 +0000
+Subject: [PATCH] Undef glibc major/minor macros before Version class
+
+glibc's <sys/sysmacros.h> (pulled in transitively on aarch64) defines
+major()/minor() as macros that expand to gnu_dev_major/gnu_dev_minor,
+colliding with clearpath::Version's int members.
+---
+--- a/include/clearpath_diagnostics/clearpath_diagnostic_updater.hpp	2026-05-13 23:40:50.389941101 -0700
++++ b/include/clearpath_diagnostics/clearpath_diagnostic_updater.hpp	2026-05-13 23:43:40.451520115 -0700
+@@ -47,6 +47,16 @@
+ #include "clearpath_platform_msgs/msg/status.hpp"
+ #include "clearpath_platform_msgs/msg/stop_status.hpp"
+
++// glibc's <sys/sysmacros.h> defines major/minor as macros that expand to
++// gnu_dev_major/gnu_dev_minor, which collides with clearpath::Version's
++// member names. Undefine them before declaring the class.
++#ifdef major
++#undef major
++#endif
++#ifdef minor
++#undef minor
++#endif
++
+ namespace clearpath
+ {
+