[Tobias-Fischer]

Ports RoboStack/ros-humble#298 by @Ac31415: adds rmf_dev to the shared selection (next to rmf_demos, which jazzy, lyrical and rolling already build). Building it on top of the syncs turned up fixes for humble (which hasn't built RMF yet), for jazzy (rmf_dev pulls in more of RMF than rmf_demos, and jazzy hadn't been built on GCC 15 / macOS with it), and one for every distribution.

All distributions (shared patch)

• rmf_fleet_adapter_python: rmf_adapter is built as a Python MODULE instead of SHARED. With SHARED, pybind11 links pybind11::embed (libpython), and on macOS import rmf_adapter aborts (PyInterpreterState_Get: … the GIL is released): the module initialises a second, never-started interpreter. The published osx-arm64 builds have this today (checked rolling 2.12.0, and humble's local build). Upstream main still uses SHARED. A new recipe test (shared/tests/ros2-rmf-fleet-adapter-python.yaml) imports rmf_adapter and builds a Graph; it passes on humble and jazzy (osx-arm64). Applies to humble 2.1.8, jazzy 2.7.2, lyrical 2.13.0 and rolling 2.12.0; lyrical and rolling get a build_number bump for it (31, 33), as the package is published there.
• nlohmann_json_schema_validator_vendor 0.2.5 (humble, jazzy): CMAKE_POLICY_VERSION_MINIMUM=3.5 for its external project (CMake 4), moved from humble's patch to shared/.
• pybind11_json_vendor: host and run dependency on conda-forge's pybind11_json, for every distribution (moved from humble's and lyrical's dependencies.yaml).

humble

• rmf_traffic 3.0.3: Fix build with Apple Clang open-rmf/rmf_traffic#98 (Apple Clang final/ParticipantId errors, as diagnosed by @traversaro in that PR), <cassert> in its bundled fcl, Eigen3::Eigen (Eigen 5 no longer sets EIGEN3_INCLUDE_DIRS).
• rmf_task 2.1.8: <cstdint> (its headers use uint32_t without it; GCC 15 doesn't include it for them). From rolling's patch.
• rmf_utils 1.4.1: #include <string> in Modular.hpp; WINDOWS_EXPORT_ALL_SYMBOLS on Windows (from rolling's patch).
• rmf_websocket: Boost.System is header-only (no boost_system library since Boost 1.89).
• rmf_traffic_ros2: lyrical's patch (macOS uuid from the SDK, Eigen3::Eigen).
• rmf_fleet_adapter: malloc.h/malloc_trim only on Linux; RxCpp's copy assignment of a const member removed (newer clang and GCC 15 reject it); std::max<int64_t> and std::size_t lane vectors (uint64_t is unsigned long long on macOS).
• rmf_robot_sim_common: EIGEN3_INCLUDE_DIRS from Eigen3::Eigen; sdformat parameters read as uint64_t.
• rmf_robot_sim_gz_plugins: links the Gazebo gui library (GuiSystem); a declared but never defined slot removed.
• rmf_building_sim_gz_classic_plugins: OpenCV 5's geometry.hpp, ${GAZEBO_LIBRARIES}; it and rmf_robot_sim_gz_classic_plugins (Gazebo Classic, EOL) are excluded off Linux, after more link errors on macOS.
• rmf_building_map_tools 1.6.3: the old humble patch is obsolete (upstream removed np.asscalar); rolling's numpy 2 fix for the 2-D np.cross instead.
• robostack.yaml: maps the ignition-fortress rosdep key to the Fortress libraries.

jazzy

• rmf_traffic 3.3.3: <cstdint> in ParticipantDescription.hpp (GCC 15), and from humble's patch for the same code the macOS fixes (ParticipantId overrides, <cassert> in fcl and blockade/geometry.cpp, std::chrono instead of libstdc++'s std::chrono::_V2 in a test).
• rmf_task 2.5.1: <cstdint> (GCC 15), from rolling's patch.
• rmf_fleet_adapter 2.7.2: humble's RxCpp fix (GCC 15) and macOS fixes, plus a size_t cast for a route_id comparison in ExecutePlan.cpp.
• rmf_websocket 2.7.2: no Boost.System, and asio::io_service (removed in Boost 1.90) → io_context with boost::asio::post/dispatch. conda-forge's websocketpp is already on io_context, so no standalone Asio.
• rmf_visualization_schedule 2.3.2: links OpenSSL::SSL/OpenSSL::Crypto; ament_target_dependencies(OpenSSL) linked nothing (it looks for OpenSSL_LIBRARIES), which only macOS rejects.
• rmf_visualization_floorplans 2.3.2 and rmf_robot_sim_common 2.3.3: Eigen3::Eigen (Eigen 5); rmf_robot_sim_common takes humble's patch.
• rmf_robot_sim_gz_plugins 2.3.3: as humble, for the gz names (gz-sim::gui).
• rmf_traffic_ros2 2.7.2 and rmf_building_map_tools 1.9.2: rolling's patches (macOS LibUUID; numpy 2 np.cross).

Not taken over from rolling: its rmf_visualization_schedule (standalone Asio, needs an extra dependency; neither distribution's source uses Asio directly and humble built without it), rmf_visualization_floorplans OpenCV change (not needed: humble and jazzy's uint8[] fields are std::vector<uint8_t>), and rmf_utils for jazzy (the jazzy sync already has it as ros2-rmf-utils.win.patch).

Windows (humble, jazzy): rmf_dev builds on win-64 too. lyrical's and rolling's Windows patches were the starting point; humble had none.

• Exports: rmf_fleet_adapter and rmf_traffic_ros2 (shared patch) get dllexport annotations (detail/export.hpp, also on nested classes such as RobotUpdateHandle::Unstable::Stubbornness); rmf_fleet_adapter can't use export-all (more than 65535 objects for the import library). rmf_traffic, rmf_task, rmf_task_sequence, rmf_task_ros2, rmf_battery, rmf_websocket, rmf_visualization_schedule, rmf_utils, rmf_building_sim_common, rmf_robot_sim_common and the JSON schema validator export all symbols.
• DLL locations: rmf_utils, rmf_websocket, rmf_traffic_ros2, rmf_task_ros2 and rmf_fleet_adapter installed their DLLs to lib/<pkg> (with the executables) or lib, which aren't on PATH, so import rmf_adapter failed; they now go to bin (rmf_traffic_ros2, shared by two releases, installs a second copy there). rmf_utils is already published, so its build_number is bumped in humble and jazzy.
• lyrical and rolling (checked in their published win-64 packages) have the same DLL locations: the same install fix there, with build_number bumps (lyrical 31, rolling 33) for rmf_utils, rmf_websocket, rmf_traffic_ros2, rmf_task_ros2, rmf_fleet_adapter and rmf_fleet_adapter_python. rolling's rmf_utils.win.patch repeated its generic patch; rmf_websocket.win.patch is refreshed on top of the generic one.
• MSVC: _USE_MATH_DEFINES for M_PI in several packages (rmf_task, rmf_battery, rmf_traffic_examples, …) and NOMINMAX in rmf_building_sim_common (Menge includes windows.h); rmf_traffic_editor without GCC warning flags and with NOGDI; rmf_visualization_rviz2_plugins force-includes <iso646.h> (or); rmf_fleet_adapter links yaml-cpp::yaml-cpp and imported targets (task_aggregator, LNK1170); rmf_api_msgs runs its generator without the shell eval and with python.exe; menge_vendor doesn't link dl; nlohmann_json_schema_validator_vendor's external project gets a build command MSBuild understands and a shorter path (MAX_PATH); rmf_traffic_editor_test_maps generates its worlds without downloading models.
• Not built on Windows: rmf_fleet_adapter's full_control example executable (MSVC 14.44 crashes compiling it, C1001, also unoptimized); rmf_visualization_schedule's tests (LNK1170). humble excludes the Gazebo Classic plugins (rmf_*_sim_gz_classic_plugins, no OgreBites.lib on win-64) and, on win-64, the Ignition Fortress ones (rmf_*_sim_gz_plugins, Fortress isn't installable there); jazzy's gz plugins build.

Patch layout: where the distributions had the same patch, it's in shared/patch/ (rmf_traffic_ros2, rmf_building_map_tools, rmf_robot_sim_common, and rmf_traffic for humble and jazzy, with lyrical and rolling keeping theirs); the rest stay per distribution because their sources differ (rmf_fleet_adapter, rmf_websocket, rmf_robot_sim_gz_plugins, rmf_task, …).

Built locally (on top of the syncs, see below)

• jazzy, osx-arm64: rmf_dev and its whole closure (321 packages) with recipe tests. In a fresh environment from these packages, import rmf_adapter (with easy_full_control, graph) works and Graph() runs, after the MODULE fix; the new recipe test passes there.
• jazzy, linux-64: all 42 RMF recipes of the closure, with recipe tests.
• humble, osx-arm64: rmf_dev and its closure (about 350 packages) with recipe tests; rmf_fleet_adapter_python rebuilt with the MODULE fix: it no longer links libpython, and the new recipe test passes (the build before the fix had the same crash).
• lyrical, rolling: there's no rmf_dev release for them (rmf_demos only), so the selection only adds it for humble and jazzy. What changes for them are the shared patches: rmf_fleet_adapter_python (MODULE fix) and lyrical's rmf_building_map_tools (now the shared wording of the same numpy 2 fix); rmf_traffic_ros2 is unchanged in content. Not rebuilt locally.

CI: Windows green for humble and jazzy (lyrical and rolling have no rmf_dev release; they rebuild the bumped packages); full build on all platforms running. The syncs it was prepared on are merged.

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[github-actions]

ABI check (linux-64)

About this check

Each package this pull request built, compared with its newest released build (tools/abi_check.py, libabigail):

• compatible / additions: the package can be bumped on its own;
• soname / incompatible: the packages that depend on it need a rebuild (build number bump) in the same pull request.

Exported symbols are compared (the released packages are stripped, so struct layouts aren't); unchanged installed headers rule out layout and inline changes, changed ones are listed for review. Dependents to rebuild are the released ones linking to a changed library. A changed pin is part of the comparison.

[Tobias-Fischer]

Needs conda-forge/json_schema_validator-feedstock#21