Prepare rolling full rebuild

.github/workflows/testpr.yml

@@ -8,7 +8,7 @@ env:
   # Change to 'true' to enable the cache upload as artifacts
   SAVE_CACHE_AS_ARTIFACT: 'true'
   # Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging
-  IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false'
+  IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true'
 
 jobs:
   sort-check:

conda_build_config.yaml

@@ -3,9 +3,9 @@ numpy:
 assimp:
   - 6.0.5
 libprotobuf:
-  - 6.33.5
+  - 7.35.1
 protobuf:
-  - 6.33.5
+  - 7.35.1
 spdlog:
   - 1.17
 pugixml:
@@ -19,15 +19,15 @@ graphviz:
 # Mitigation for
 # https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380
 libcap:
-  - 2.77
+  - 2.78
 fmt:
   - 12.1
 lua:
   - 5.4
 tbb:
-  - '2022'
+  - '2023'
 tbb_devel:
-  - '2022'
+  - '2023'
 
 # Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697
 cmake:
@@ -51,27 +51,27 @@ c_compiler:
   - vs2022                     # [win]
 c_compiler_version:            # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 c_stdlib:
   - sysroot                    # [linux]
   - macosx_deployment_target   # [osx]
   - vs                         # [win]
 c_stdlib_version:              # [unix]
   - 2.28                       # [linux]
-  - 11.0                       # [osx and x86_64]
-  - 11.0                       # [osx and arm64]
+  - 14.0                       # [osx and x86_64]
+  - 14.0                       # [osx and arm64]
 cxx_compiler:
   - gxx                        # [linux]
   - clangxx                    # [osx]
   - vs2022                     # [win]
 cxx_compiler_version:          # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 
 libzenohc:
   - 1.9.0
 libzenohcxx:
   - 1.9.0
 
 libhwloc:
-  - 2.12.2
+  - 2.13.0

patch/dependencies.yaml

@@ -115,6 +115,8 @@ rqt_gui_cpp:
 ur_moveit_config:
   add_host: ["ros-rolling-rclpy"]
   add_run: ["ros-rolling-rclpy"]
+ur_controllers:
+  add_build: ["${{ 'clang-tools 18.*' if osx }}"]
 gscam:
   add_host: ["glib"]
 dolly_ignition:
@@ -283,7 +285,7 @@ grid_map_octomap:
   add_host: ["octomap"]
   add_run: ["octomap"]
 py_trees:
-  add_host: ["poetry-core"]
+  add_host: ["hatchling"]
 py_trees_js:
   add_host: ["poetry-core"]
 py_trees_ros:

patch/ros-rolling-autoware-behavior-velocity-planner.patch

@@ -0,0 +1,46 @@
+diff --git a/src/test_utils.cpp b/src/test_utils.cpp
+index dc62bd6..2305a0e 100644
+--- a/src/test_utils.cpp
++++ b/src/test_utils.cpp
+@@ -17 +17 @@
+-#include <ament_index_cpp/get_package_share_directory.hpp>
++#include <ament_index_cpp/get_package_share_path.hpp>
+@@ -44 +44 @@
+-    ament_index_cpp::get_package_share_directory("autoware_test_utils");
++    ament_index_cpp::get_package_share_path("autoware_test_utils");
+@@ -46 +46 @@
+-    ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner_common");
++    ament_index_cpp::get_package_share_path("autoware_behavior_velocity_planner_common");
+@@ -48 +48 @@
+-    ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner");
++    ament_index_cpp::get_package_share_path("autoware_behavior_velocity_planner");
+@@ -50 +50 @@
+-    ament_index_cpp::get_package_share_directory("autoware_velocity_smoother");
++    ament_index_cpp::get_package_share_path("autoware_velocity_smoother");
+@@ -54 +54 @@
+-    const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
++    const auto package_path = ament_index_cpp::get_package_share_path(package_name);
+@@ -55 +55 @@
+-    return package_path + "/config/" + module + ".param.yaml";
++    return (package_path / "config" / (module + ".param.yaml")).string();
+@@ -69 +69 @@
+-    autoware_test_utils_dir + "/config/test_common.param.yaml",
++    (autoware_test_utils_dir / "config/test_common.param.yaml").string(),
+@@ -70 +70 @@
+-    autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
++    (autoware_test_utils_dir / "config/test_nearest_search.param.yaml").string(),
+@@ -71 +71 @@
+-    autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml",
++    (autoware_test_utils_dir / "config/test_vehicle_info.param.yaml").string(),
+@@ -72 +72 @@
+-    velocity_smoother_dir + "/config/default_velocity_smoother.param.yaml",
++    (velocity_smoother_dir / "config/default_velocity_smoother.param.yaml").string(),
+@@ -73 +73 @@
+-    velocity_smoother_dir + "/config/Analytical.param.yaml",
++    (velocity_smoother_dir / "config/Analytical.param.yaml").string(),
+@@ -74 +74 @@
+-    behavior_velocity_planner_common_dir + "/config/behavior_velocity_planner_common.param.yaml",
++    (behavior_velocity_planner_common_dir / "config/behavior_velocity_planner_common.param.yaml").string(),
+@@ -75 +75 @@
+-    behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml"};
++    (behavior_velocity_planner_dir / "config/behavior_velocity_planner.param.yaml").string()};

patch/ros-rolling-autoware-ekf-localizer.patch

@@ -11,3 +11,18 @@ index 6ace0b4..5781ddc 100644
 
  function(add_testcase filepath)
    get_filename_component(filename ${filepath} NAME)
+diff --git a/src/ekf_localizer.cpp b/src/ekf_localizer.cpp
+index 77dbddc..e34f765 100644
+--- a/src/ekf_localizer.cpp
++++ b/src/ekf_localizer.cpp
+@@ -96,8 +96,7 @@ EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options)
+     std::bind(
+       &EKFLocalizer::service_trigger_node, this, std::placeholders::_1, std::placeholders::_2),
+     service_trigger_qos);
+
+-  tf_br_ = std::make_shared<tf2_ros::TransformBroadcaster>(
+-    std::shared_ptr<rclcpp::Node>(this, [](auto) {}));
++  tf_br_ = std::make_shared<tf2_ros::TransformBroadcaster>(*this);
+
+   ekf_module_ = std::make_unique<EKFModule>(warning_, params_);
+   logger_configure_ = std::make_unique<autoware_utils_logging::LoggerLevelConfigure>(this);

patch/ros-rolling-autoware-lanelet2-utils.patch

@@ -0,0 +1,14 @@
+diff --git a/src/geometry.cpp b/src/geometry.cpp
+index 7d92097..d80b4ce 100644
+--- a/src/geometry.cpp
++++ b/src/geometry.cpp
+@@ -17,7 +17,9 @@
+ #include <autoware_utils_geometry/geometry.hpp>
+ #include <range/v3/all.hpp>
+-
++#include <rclcpp/clock.hpp>
++#include <rclcpp/logging.hpp>
++
+ #include <geometry_msgs/msg/point.hpp>
+ #include <geometry_msgs/msg/pose.hpp>
+ #include <geometry_msgs/msg/quaternion.hpp>

patch/ros-rolling-autoware-localization-util.patch

@@ -0,0 +1,16 @@
+diff --git a/include/autoware/localization_util/util_func.hpp b/include/autoware/localization_util/util_func.hpp
+index 4853f603..b476f2d5 100644
+--- a/include/autoware/localization_util/util_func.hpp
++++ b/include/autoware/localization_util/util_func.hpp
+@@ -17,0 +18,3 @@
++#include <rclcpp/logger.hpp>
++#include <rclcpp/time.hpp>
++
+diff --git a/src/util_func.cpp b/src/util_func.cpp
+index 5c7d9af3..9ee6ef75 100644
+--- a/src/util_func.cpp
++++ b/src/util_func.cpp
+@@ -18,0 +19,3 @@
++#include <rclcpp/duration.hpp>
++#include <rclcpp/logging.hpp>
++

patch/ros-rolling-autoware-objects-of-interest-marker-interface.patch

@@ -0,0 +1,13 @@
+diff --git a/src/marker_utils.cpp b/src/marker_utils.cpp
+index 0f8fa3e..42407ad 100644
+--- a/src/marker_utils.cpp
++++ b/src/marker_utils.cpp
+@@ -14,6 +14,8 @@
+
+ #include "autoware/objects_of_interest_marker_interface/marker_utils.hpp"
+
++#include <rclcpp/clock.hpp>
++
+ #include <string>
+
+ namespace autoware::objects_of_interest_marker_interface::marker_utils

patch/ros-rolling-autoware-path-generator.patch

@@ -0,0 +1,7 @@
+diff --git a/src/utils.cpp b/src/utils.cpp
+index f6e853d..eb09682 100644
+--- a/src/utils.cpp
++++ b/src/utils.cpp
+@@ -29,0 +30,2 @@
++#include <rclcpp/utilities.hpp>
++

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

@@ -9,7 +9,7 @@ index eb50d67..6be3b86 100644
 -  yaml-cpp
 +  yaml-cpp::yaml-cpp
  )
- 
+
 +if(NOT MSVC)
 +  target_compile_options(autoware_test_utils
 +    PUBLIC
@@ -18,5 +18,113 @@ index eb50d67..6be3b86 100644
 +endif()
 +
  ament_auto_add_executable(topic_snapshot_saver src/topic_snapshot_saver.cpp)
- 
+
  target_link_libraries(topic_snapshot_saver autoware_test_utils yaml-cpp)
+diff --git a/include/autoware_test_utils/autoware_test_utils.hpp b/include/autoware_test_utils/autoware_test_utils.hpp
+index 39a4689..7c20e90 100644
+--- a/include/autoware_test_utils/autoware_test_utils.hpp
++++ b/include/autoware_test_utils/autoware_test_utils.hpp
+@@ -15,7 +15,7 @@
+ #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
+ #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
+
+-#include <ament_index_cpp/get_package_share_directory.hpp>
++#include <ament_index_cpp/get_package_share_path.hpp>
+ #include <rclcpp/rclcpp.hpp>
+
+ #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
+diff --git a/src/autoware_test_utils.cpp b/src/autoware_test_utils.cpp
+index 97e3dc4..cf515fc 100644
+--- a/src/autoware_test_utils.cpp
++++ b/src/autoware_test_utils.cpp
+@@ -12,7 +12,7 @@
+ // See the License for the specific language governing permissions and
+ // limitations under the License.
+
+-#include <ament_index_cpp/get_package_share_directory.hpp>
++#include <ament_index_cpp/get_package_share_path.hpp>
+ #include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
+ #include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
+ #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
+@@ -174,21 +174,21 @@ builtin_interfaces::msg::Time generate_ros_time(const double t)
+ std::string get_absolute_path_to_lanelet_map(
+   const std::string & package_name, const std::string & map_filename)
+ {
+-  const auto dir = ament_index_cpp::get_package_share_directory(package_name);
+-  return dir + "/test_map/" + map_filename;
++  const auto dir = ament_index_cpp::get_package_share_path(package_name);
++  return (dir / "test_map" / map_filename).string();
+ }
+
+ std::string get_absolute_path_to_route(
+   const std::string & package_name, const std::string & route_filename)
+ {
+-  const auto dir = ament_index_cpp::get_package_share_directory(package_name);
+-  return dir + "/test_route/" + route_filename;
++  const auto dir = ament_index_cpp::get_package_share_path(package_name);
++  return (dir / "test_route" / route_filename).string();
+ }
+
+ std::string get_absolute_path_to_config(
+   const std::string & package_name, const std::string & config_filename)
+ {
+-  const auto dir = ament_index_cpp::get_package_share_directory(package_name);
+-  return dir + "/config/" + config_filename;
++  const auto dir = ament_index_cpp::get_package_share_path(package_name);
++  return (dir / "config" / config_filename).string();
+ }
+
+diff --git a/src/autoware_test_utils.cpp b/src/autoware_test_utils.cpp
+index cf515fc..64d80a1 100644
+--- a/src/autoware_test_utils.cpp
++++ b/src/autoware_test_utils.cpp
+@@ -392,11 +392,11 @@ std::optional<std::string> resolve_pkg_share_uri(const std::string & uri_path)
+ {
+   std::smatch match;
+   std::regex pattern(R"(package://([^/]+)/(.+))");
+   if (std::regex_match(uri_path, match, pattern)) {
+-    const std::string pkg_name = ament_index_cpp::get_package_share_directory(match[1].str());
++    const auto pkg_name = ament_index_cpp::get_package_share_path(match[1].str());
+     const std::string resource_path = match[2].str();
+     const auto path = std::filesystem::path(pkg_name) / std::filesystem::path(resource_path);
+     return std::filesystem::exists(path) ? std::make_optional<std::string>(path) : std::nullopt;
+   }
+   return std::nullopt;
+ }
+diff --git a/test/test_mock_data_parser.cpp b/test/test_mock_data_parser.cpp
+index 3e972d2..d3ef49c 100644
+--- a/test/test_mock_data_parser.cpp
++++ b/test/test_mock_data_parser.cpp
+@@ -15,7 +15,7 @@
+ #include <gtest/gtest.h>
+
+ // Assuming the parseRouteFile function is in 'RouteHandler.h'
+-#include "ament_index_cpp/get_package_share_directory.hpp"
++#include "ament_index_cpp/get_package_share_path.hpp"
+ #include "autoware_test_utils/mock_data_parser.hpp"
+
+ #include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
+@@ -787,9 +787,9 @@ TEST(ParseFunction, Complete)
+ TEST(ParseFunction, CompleteFromFilename)
+ {
+   const auto autoware_test_utils_dir =
+-    ament_index_cpp::get_package_share_directory("autoware_test_utils");
++    ament_index_cpp::get_package_share_path("autoware_test_utils");
+   const auto parser_test_route =
+-    autoware_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml";
++    (autoware_test_utils_dir / "test_data/lanelet_route_parser_test.yaml").string();
+
+   if (const auto lanelet_route_opt = parse<std::optional<LaneletRoute>>(parser_test_route)) {
+     const auto & lanelet_route = *lanelet_route_opt;
+@@ -834,9 +834,9 @@ TEST(ParseFunction, CompleteFromFilename)
+ TEST(ParseFunction, ParsePathWithLaneID)
+ {
+   const auto autoware_test_utils_dir =
+-    ament_index_cpp::get_package_share_directory("autoware_test_utils");
++    ament_index_cpp::get_package_share_path("autoware_test_utils");
+   const auto parser_test_path =
+-    autoware_test_utils_dir + "/test_data/path_with_lane_id_parser_test.yaml";
++    (autoware_test_utils_dir / "test_data/path_with_lane_id_parser_test.yaml").string();
+
+   if (const auto path_opt = parse<std::optional<PathWithLaneId>>(parser_test_path)) {
+     const auto & path = *path_opt;