Merge pull request #387 from olivier-roussel/rebuild_feb_2026_cont

Full rebuild Feb 2026 (cont)

Author: Tobias-Fischer

.github/workflows/main.yml

@@ -11,7 +11,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v5
       with:
         persist-credentials: false # otherwise, the token used is the GITHUB_TOKEN, instead of your personal token
         fetch-depth: 0 # otherwise, you will failed to push refs to dest repo

.github/workflows/testpr.yml

@@ -8,6 +8,7 @@ env:
   SAVE_CACHE_AS_ARTIFACT: 'false'
   # 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'
+
 jobs:
   build:
     strategy:
@@ -36,12 +37,12 @@ jobs:
     runs-on: ${{ matrix.os }}
 
     steps:
-    - uses: actions/checkout@v5
+    - uses: actions/checkout@v6
       with:
         persist-credentials: false # otherwise, the token used is the GITHUB_TOKEN, instead of your personal token
         fetch-depth: 0 # otherwise, you will failed to push refs to dest repo
 
-    - uses: prefix-dev/setup-pixi@v0.8.10
+    - uses: prefix-dev/setup-pixi@v0.9.4
       with:
         frozen: true
 
@@ -53,10 +54,21 @@ jobs:
         echo "CONDA_BLD_PATH=C:\\bld\\" >> $GITHUB_ENV
         mkdir /c/bld
 
+    - name: Enable Win32 long paths
+      shell: powershell
+      if: matrix.platform == 'win-64'
+      run: |
+        New-ItemProperty `
+          -Path "HKLM:\SYSTEM\CurrentControlSet\Control\FileSystem" `
+          -Name "LongPathsEnabled" `
+          -Value 1 `
+          -PropertyType DWORD `
+          -Force
+
     # Workaround for https://github.com/RoboStack/ros-humble/pull/141#issuecomment-1941919816
     - name: Clean up PATH
       if: contains(matrix.os, 'windows')
-      uses: egor-tensin/cleanup-path@v4
+      uses: egor-tensin/cleanup-path@v5
       with:
         # cygpath in C:\Program Files\Git\usr\bin is used by install micromamba
         # git in C:\Program Files\Git\bin is used by pip install git+
@@ -91,7 +103,7 @@ jobs:
 
     - name: Restore build cache
       id: cache-restore
-      uses: actions/cache/restore@v4
+      uses: actions/cache/restore@v5
       with:
         path: |
           ${{ matrix.folder_cache }}
@@ -106,6 +118,12 @@ jobs:
       run: |
         rm -rf ${{ matrix.folder_cache }}/*
 
+    - name: Delete specific outdated cache entries
+      shell: bash -l {0}
+      run: |
+        rm -rf ${{ matrix.folder_cache }}/ros-humble-autoware-trajectory* || true
+        pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
+
     - name: See packages restored by cache
       shell: bash -l {0}
       run: |
@@ -115,6 +133,9 @@ jobs:
       shell: bash -l {0}
       if: matrix.platform != 'emscripten-wasm32'
       run: |
+        if [ "${{ runner.os }}" = "Windows" ]; then
+          export VINCA_CUSTOM_CMAKE_BUILD_DIR='C:\x\'
+        fi
         pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c conda-forge -c robostack-staging --skip-existing
 
     - name: Build recipes [emscripten]
@@ -130,7 +151,7 @@ jobs:
         ls ${{ matrix.folder_cache }} || true
 
     - name: Save build cache
-      uses: actions/cache/save@v4
+      uses: actions/cache/save@v5
       if: always()
       with:
         path: |
@@ -144,7 +165,7 @@ jobs:
 
     - name: Upload build cache as artifact
       if: ${{ always() && env.SAVE_CACHE_AS_ARTIFACT == 'true' }}
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v6
       with:
         name: cache-${{ matrix.platform }}-${{ github.run_id }}
         path: ${{ matrix.folder_cache }}

AGENTS.md

@@ -0,0 +1,224 @@
+# AGENTS.md
+
+Working notes for future coding agents in a RoboStack repo. Replace $DISTRO with e.g. noetic/humble/kilted and so forth; you can check the working directory.
+
+## Session defaults for this repo
+
+- Prefer fixing easy, low-risk build failures first (one-line CMake / include / standard-level fixes).
+- Do not stop to ask the maintainer to run commands; run build/debug loops directly.
+- Use checked-out sources in `.pixi` and `output/src_cache` when patching.
+- Use `./build_gap_report.py` to track build/recipe gaps across platforms:
+  - `Built package artifacts without matching recipe directory`: packages built in `output/<platform>` that are not represented as recipe folders.
+  - `Recipe directories without built artifact on this platform`: generated recipes that still need successful builds for that platform.
+- If a package is truly Linux-only, move it to Linux-only handling in `vinca.yaml` (or non-linux skip), instead of keeping ad-hoc macOS comments. Follow similar strategies for other platforms such as Windows.
+- For patch naming, keep one patch per package and use package-based naming (`patch/ros-$DISTRO-<pkg>.patch`) with no extra suffix variants.
+
+## Standard build loop
+
+```bash
+# single package (preferred for debugging)
+pixi run build-one --package ros-$DISTRO-<pkg>
+
+# broad pass when needed
+pixi run build_continue_on_failure
+```
+
+## Common fix patterns seen in this repo
+
+- Boost 1.88 breakages often need C++14 (`-std=c++14`) instead of `-std=c++11`.
+- Avoid linking to `Python::Python` on Apple for module-style targets; use:
+
+```cmake
+if( APPLE )
+  set_target_properties( ${_name} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup" )
+else()
+  target_link_libraries( ${_name} ${PYTHON_LIBRARIES} )
+endif()
+```
+
+- For gtest-related failures, prefer dependency or test-disable fixes over custom shims:
+  - add dependency via `patch/dependencies.yaml`, or
+  - disable tests when safe.
+- For rtabmap RViz plugin issues, force/confirm Qt5 discovery in CMake where needed.
+
+## Debug a failed build
+
+### 1. Find the work directory
+
+```bash
+tail -1 output/rattler-build-log.txt
+```
+
+### 2. Inspect full log
+
+Read `conda_build.log` in the work dir. Focus on:
+- compile errors
+- link errors
+- configure failures
+- patch failures
+- missing files
+
+### 3. Inspect build env
+
+Read `build_env.sh` in the work dir:
+- `PREFIX`
+- `BUILD_PREFIX`
+- `SRC_DIR`
+- `RECIPE_DIR`
+
+### 4. Check fetched source metadata
+
+```bash
+cat .source_info.json | jq .
+```
+
+### 5. Investigate by failure class
+
+- Missing headers: check `requirements.host`; verify under `$PREFIX/include`.
+- Undefined symbols: check host deps, `$PREFIX/lib`, linker flags.
+- Configure failures: inspect flags in `conda_build.sh`; rerun manually with verbosity.
+- Patch failures: refresh patch against current source revision.
+- Relocatability issues: inspect hardcoded prefixes/rpaths.
+
+### 6. Reproduce interactively
+
+```bash
+cd <work-directory>
+source build_env.sh
+bash -x conda_build.sh 2>&1 | less
+```
+
+### 7. Rebuild package
+
+```bash
+pixi run build-one --package ros-$DISTRO-<pkg>
+```
+
+## Create a patch from build-directory edits
+
+```bash
+WORK_DIR=$(tail -1 output/rattler-build-log.txt)
+cd "$WORK_DIR"
+
+# preview first
+rattler-build create-patch --directory . --name <patch-name> --dry-run
+
+# with excludes if needed
+rattler-build create-patch \
+  --directory . \
+  --name <patch-name> \
+  --exclude "*.o,*.so,*.dylib,*.a,*.pyc,__pycache__,build/" \
+  --dry-run
+
+# generate
+rattler-build create-patch \
+  --directory . \
+  --name <patch-name> \
+  --exclude "*.o,*.so,*.dylib,*.a,*.pyc,__pycache__,build/"
+```
+
+Then move/merge patch into repo package patch file and ensure recipe uses it.
+
+## Validate that patches still apply
+
+Use the patch checker before/after large patch edits:
+
+```bash
+pixi run check-patches
+```
+
+For faster iteration on one package patch, run the script directly with a recipe filter:
+
+```bash
+# prepare + check only one recipe
+python check_patches_clean_apply.py --recipe ros-$DISTRO-<pkg>
+
+# prepare only (no build), useful while editing
+python check_patches_clean_apply.py --dry --recipe ros-$DISTRO-<pkg>
+
+# multiple focused recipes
+python check_patches_clean_apply.py --recipe ros-$DISTRO-<pkg1> --recipe ros-$DISTRO-<pkg2>
+```
+
+What it does:
+- scans all `recipes/**/recipe.yaml`
+- keeps only recipes that declare `source.patches`
+- creates `recipes_only_patch/` with minimal patch-check recipes
+- runs patch application checks recipe-by-recipe and prints a pass/fail summary
+
+## Patch placement and recipe wiring
+
+- Canonical patch location: `patch/ros-$DISTRO-<pkg>.patch`
+- Keep recipe copy in `recipes/ros-$DISTRO-<pkg>/patch/` if this repo flow expects it.
+- Ensure `recipes/ros-$DISTRO-<pkg>/recipe.yaml` has:
+
+```yaml
+source:
+  patches:
+    - patch/ros-$DISTRO-<pkg>.patch
+```
+
+## Parallelization and dependency-aware scheduling
+
+It is worth splitting work across multiple agents, but only for independent packages.
+
+Rules:
+- Do not build dependent packages in parallel.
+- Infer dependency relationships from `recipes/ros-$DISTRO-<pkg>/recipe.yaml` (`requirements.host` and `requirements.run`).
+- If package A depends on package B (for example `rosmon` -> `rosmon-core`), build/fix B first.
+- Run parallel lanes only for packages that do not depend on each other.
+- If unsure, serialize the builds.
+
+## Inspect a built conda package
+
+```bash
+find output/ -name "*<package-name>*" -type f \( -name "*.conda" -o -name "*.tar.bz2" \)
+```
+
+For `.conda` artifacts:
+
+```bash
+TMPDIR=$(mktemp -d)
+cd "$TMPDIR"
+unzip -q <package.conda>
+zstd -d < pkg-*.tar.zst | tar -xvf -
+zstd -d < info-*.tar.zst | tar -xvf -
+```
+
+Check:
+- `info/index.json` (deps/build string)
+- `info/paths.json` (installed files)
+- binaries/libs/rpaths (`otool -L` on macOS)
+- hardcoded prefixes in text metadata
+
+## `vinca.yaml` maintenance guidelines
+
+- Add package seeds under `packages_select_by_deps` using ROS package names (dash/underscore accepted).
+- Use platform conditions for Linux-only packages; avoid temporary macOS comment blocks.
+- Keep `packages_skip_by_deps` and `packages_remove_from_deps` coherent with platform constraints.
+- When `build_gap_report.py` shows built artifacts without recipe directories, add those package seeds to `vinca.yaml`.
+- After `vinca.yaml` edits, regenerate recipes before expecting `build_gap_report.py` results to change.
+
+## Local contribution workflow (RoboStack)
+
+```bash
+pixi run build
+```
+
+## Full rebuilds
+For full rebuilds also remember:
+- refresh snapshot: `pixi run create_snapshot`
+- update `conda_build_config.yaml` for active migrations. You can use https://github.com/conda-forge/conda-forge-pinning-feedstock/blob/main/recipe/conda_build_config.yaml as a base, and then also apply migrations that are mostly done; you can check the status at https://conda-forge.org/status/.
+- bump `build_number`
+- bump mutex minor and update hardcoded mutex refs where needed
+- clear stale `pkg_additional_info.yaml` build-number overrides unless intentional
+- remember that in CI there is a build cache, if you fix a problem in an already built package you need to delete the cache for this package in the .github/workflows/testpr.yml under "Delete specific outdated cache entries"
+
+## Practical triage order
+
+1. Build a failing package directly.
+2. Apply smallest viable source or recipe fix.
+3. Update package patch file (package-named).
+4. Rebuild same package.
+5. Move on immediately if it becomes complex; prioritize easy wins.
+6. Revisit hard failures after reducing the failure queue.