Rosdep mappings shared with pixi-build-ros

.github/ISSUE_TEMPLATE/3_robostack_bot.yaml

@@ -20,14 +20,15 @@ body:
         | `dependency-report` | maintainers | Check the dependencies against the pins and update the distribution's dependency-report issue (closed when nothing conflicts). Runs weekly. |
         | `update-build-timings` | maintainers | Record the build times of the last week's build-branch runs in `shared/build_timings/`, which the build workflows use to pack each stage's recipes into jobs by time. Runs weekly. |
         | `update-pixi` | maintainers | Upgrade the tooling's dependencies in `pixi.toml` / `pixi.lock` to their newest versions (`pixi upgrade`; not Python or the capped ones) and check. The PR lists the changes. Runs monthly. |
+        | `sync-pixi-mappings` | maintainers | Copy the rosdep mappings (`robostack.yaml`) to pixi-build-ros and open or update a PR on prefix-dev/pixi. Runs daily. |
 
         On a pull request, `@robostack-bot rebuild-dependents` (maintainers) commits the rebuilds its ABI check suggests to the pull request's branch.
   - type: dropdown
     id: command
     attributes:
       label: Command
       options: [add-package, update-rosdistro-snapshot, find-stale-packages, update-conda-forge-pinning, rebuild, update-vinca,
-                dependency-report, update-build-timings, update-pixi]
+                dependency-report, update-build-timings, update-pixi, sync-pixi-mappings]
     validations:
       required: true
   - type: input

.github/workflows/bot.yaml

@@ -11,13 +11,18 @@
 #   nothing conflicts; and a PR with the build times the week's build-branch runs
 #   recorded (shared/build_timings/, for packing the build jobs by time).
 # - monthly (the 1st): a PR upgrading the tooling's pixi dependencies (pixi.toml / pixi.lock).
+# - daily, when vars.PIXI_FORK is set: a PR on prefix-dev/pixi copying the rosdep mappings
+#   (shared/ and distros/*/robostack.yaml) to pixi-build-ros, so that `pixi build` of ROS
+#   packages maps rosdep keys as RoboStack does. It is pushed to the fork vars.PIXI_FORK
+#   (<owner>/pixi) with secrets.PIXI_SYNC_TOKEN, a token of that fork's owner: the bot's
+#   GitHub App can't open PRs on prefix-dev/pixi.
 # - on demand (owners, members and collaborators):
 #     Actions > robostack-bot > Run workflow, an issue from the "robostack-bot command"
 #     template, or a comment: @robostack-bot <command> [<distro>]
 #   commands: update-rosdistro-snapshot [<distro>...|all] | find-stale-packages [<distro>...|all] |
 #             update-conda-forge-pinning [<distro>...|all] | add-package <pkg>... [<distro>...] |
 #             rebuild <pkg>... [<distro>...|all] [--with-dependents] | update-vinca [<ref>] |
-#             dependency-report [<distro>...|all] | update-build-timings | update-pixi |
+#             dependency-report [<distro>...|all] | update-build-timings | update-pixi | sync-pixi-mappings |
 #             rebuild-dependents (a comment on a pull request: commits the rebuilds its ABI
 #             check suggests to its branch; not possible for pull requests from forks)
 # - package requests (the "Package request" issue form or `@robostack-bot add-package`,
@@ -38,7 +43,7 @@ on:
       command:
         type: choice
         options: [add-package, update-rosdistro-snapshot, find-stale-packages, update-conda-forge-pinning, rebuild,
-                  update-vinca, dependency-report, update-build-timings, update-pixi]
+                  update-vinca, dependency-report, update-build-timings, update-pixi, sync-pixi-mappings]
       distro:
         description: Distribution (for the per-distribution commands; empty = all)
         required: false
@@ -89,6 +94,7 @@ jobs:
           ASSOCIATION: ${{ github.event.comment.author_association || github.event.issue.author_association }}
           PULL_REQUEST: ${{ github.event.issue.pull_request && github.event.issue.number || '' }}
           SCHEDULE: ${{ github.event.schedule }}
+          PIXI_FORK: ${{ vars.PIXI_FORK }}
         run: |
           case "$EVENT" in
             schedule)
@@ -104,8 +110,9 @@ jobs:
                 exit 0
               fi
               # rosdistro syncs, and the conda-forge pinning: one job for all distributions
-              # (they share it; one with its own pinning is updated in the same pull request)
-              jobs=$(pixi run -q rs rosdistro-syncs | python3 -c 'import json,sys; print(json.dumps(json.load(sys.stdin) + [{"command":"update-conda-forge-pinning","distro":"","args":"","preview":False}]))') ;;
+              # (they share it; one with its own pinning is updated in the same pull request);
+              # the rosdep mappings for pixi-build-ros, once a pixi fork is set up
+              jobs=$(pixi run -q rs rosdistro-syncs | python3 -c 'import json,os,sys; print(json.dumps(json.load(sys.stdin) + [{"command":"update-conda-forge-pinning","distro":"","args":"","preview":False}] + ([{"command":"sync-pixi-mappings","distro":"","args":"","preview":False}] if os.environ.get("PIXI_FORK") else [])))') ;;
             workflow_dispatch)  # only people with write access can dispatch
               jobs=$(ROBOSTACK_BOT_BODY="@robostack-bot $COMMAND $PACKAGES $DISTRO" ROBOSTACK_BOT_ASSOCIATION=OWNER pixi run -q rs parse-command) ;;
             *)
@@ -146,6 +153,13 @@ jobs:
           locked: true  # the lock file must match pixi.toml
           pixi-version: v0.81.0
           cache-write: false  # saved from main only (pixi-cache.yaml)
+      - name: Check out prefix-dev/pixi
+        if: matrix.command == 'sync-pixi-mappings'
+        uses: actions/checkout@v6
+        with:
+          repository: prefix-dev/pixi
+          path: _pixi
+          persist-credentials: false
       - name: robostack-bot ${{ matrix.command }} ${{ matrix.distro }}
         id: bot
         env:
@@ -178,6 +192,8 @@ jobs:
               # shellcheck disable=SC2046  # the --exclude arguments, one word each
               pixi upgrade --json $(pixi run -q rs update-pixi --excludes) > "$RUNNER_TEMP/pixi-upgrade.json" &&
                 pixi run rs update-pixi --changes "$RUNNER_TEMP/pixi-upgrade.json" --summary "$RUNNER_TEMP/summary.md" ;;
+            # writes pixi-build-ros's copies of the mappings into the pixi checkout
+            sync-pixi-mappings) pixi run rs sync-pixi-mappings _pixi --summary "$RUNNER_TEMP/summary.md" ;;
             # creates / updates the distribution's dependency-report issue
             dependency-report) pixi run rs "$DISTRO" dependency-report --summary "$RUNNER_TEMP/summary.md" ;;
           esac
@@ -192,7 +208,9 @@ jobs:
           printf '\nCloses #%s\n' "$NUMBER" >> "$RUNNER_TEMP/summary.md"
       - name: Open or update the pull request
         id: pr
-        if: steps.bot.outputs.changed == 'true' && !matrix.preview && matrix.command != 'rebuild-dependents'
+        if: >-
+          steps.bot.outputs.changed == 'true' && !matrix.preview &&
+          matrix.command != 'rebuild-dependents' && matrix.command != 'sync-pixi-mappings'
         uses: peter-evans/create-pull-request@v8
         with:
           token: ${{ steps.app.outputs.token || secrets.GHA_PAT || github.token }}
@@ -206,14 +224,27 @@ jobs:
           labels: |
             robostack-bot
             ${{ steps.bot.outputs.labels }}
+      - name: Open or update the pull request on prefix-dev/pixi
+        id: pixi_pr
+        if: steps.bot.outputs.changed == 'true' && matrix.command == 'sync-pixi-mappings'
+        uses: peter-evans/create-pull-request@v8
+        with:
+          path: _pixi
+          token: ${{ secrets.PIXI_SYNC_TOKEN }}
+          push-to-fork: ${{ vars.PIXI_FORK }}
+          branch: robostack-bot/sync-mappings
+          delete-branch: true
+          commit-message: "chore(pixi-build-ros): update RoboStack's rosdep mappings"
+          title: "chore(pixi-build-ros): update RoboStack's rosdep mappings"
+          body-path: ${{ runner.temp }}/summary.md
       - name: Reply on the issue / pull request
         if: always() && (github.event_name == 'issue_comment' || github.event_name == 'issues')
         env:
           GH_TOKEN: ${{ github.token }}
           NUMBER: ${{ github.event.issue.number }}
           TITLE: ${{ steps.bot.outputs.title || 'failed' }}
-          PR_URL: ${{ steps.pr.outputs.pull-request-url }}
-          PR_OPERATION: ${{ steps.pr.outputs.pull-request-operation }}
+          PR_URL: ${{ steps.pr.outputs.pull-request-url || steps.pixi_pr.outputs.pull-request-url }}
+          PR_OPERATION: ${{ steps.pr.outputs.pull-request-operation || steps.pixi_pr.outputs.pull-request-operation }}
         run: |
           {
             echo "**robostack-bot ${{ matrix.command }} ${{ matrix.distro }}**: $TITLE"

README.md

@@ -55,6 +55,7 @@ shared/                    the same for every distribution
   pkg_additional_info.yaml per-package settings that are the same everywhere
   patch/dependencies.yaml  dependency fixes that are the same everywhere
   robostack.yaml           rosdep key -> conda package mapping (`robostack: []` drops a key)
+                           (also copied to pixi-build-ros: robostack-bot sync-pixi-mappings)
   pinning/                 conda-forge pinning version, migrations and overrides
   tests/                   package tests (ros2-<pkg>.yaml; `if: ros_distro ...` for distro-specific bits)
 tools/robostack.py         `pixi run rs ...`: every task, for one distribution or the repository
@@ -152,6 +153,7 @@ waiting for the macOS runners; remove them for a full build before merging.
 | `dependency-report [<distro>... \| all]` | maintainers | Runs the dependency check (`check-deps`, linux-64) and keeps one issue per distribution, *`<distro>`: dependency report* (label `dependency-report`), up to date with the conflicts, notes and conda-forge migration status; the issue is closed when nothing conflicts. Runs weekly (Mondays). |
 | `update-build-timings` | maintainers | Merges the build times the last week's build-branch runs recorded (`rs <distro> build-ci`, kept as each job's artifact) into `shared/build_timings/<platform>.json` and opens a PR. The build workflows pack each stage's recipes into jobs by these times. Runs weekly (Mondays). Labelled `build:none` (see below). |
 | `update-pixi` | maintainers | Runs `pixi upgrade`: the newest versions of the tooling's dependencies in `pixi.toml` and `pixi.lock` (rattler-build, rattler-index, gh, pytest, ...), except Python (moved by hand) and requirements that are only an upper bound (`cmake = "<4.0"`: capped on purpose); the vinca pin is `update-vinca`'s. Runs `rs check`; the PR lists the changes as a table (pixi-diff-to-markdown). Runs monthly (on the 1st). Labelled `build:none` (see below). |
+| `sync-pixi-mappings` | maintainers | Copies the rosdep mappings (`shared/robostack.yaml`, and each `distros/<distro>/robostack.yaml` over it) to pixi-build-ros (`crates/pixi_build_ros/robostack.yaml` and `robostack_distros.yaml` in prefix-dev/pixi) and opens or updates a PR there, listing the added, removed and changed keys: `pixi build` of ROS packages then maps rosdep keys as RoboStack does. Mappings are only changed here. Runs daily once `vars.PIXI_FORK` (the fork the PR is pushed to) and `secrets.PIXI_SYNC_TOKEN` (a token of that fork's owner) are set. |
 
 The PRs of `update-vinca`, `update-build-timings` and `update-pixi` don't change packages directly, but touch files outside `distros/`, which would build every distribution: they are labelled `build:none`, so only the checks run (and nothing is built while a build is under way). To build one, remove the label, or replace it with `build:<distro>` labels.
 

distros/humble/pkg_additional_info.yaml

@@ -111,6 +111,8 @@ ament_cmake_gtest:  # uses conda-forge's gtest instead of gtest_vendor's sources
   build_number: 23
 aruco_ros:  # its recipe test stops the node for sure (package tests hung on macOS)
   build_number: 23
+plotjuggler:
+  build_number: 24
 rtabmap_slam:  # its recipe test stops the node for sure (package tests hung on macOS)
   build_number: 23
 spatio_temporal_voxel_layer:

distros/jazzy/pkg_additional_info.yaml

@@ -149,6 +149,8 @@ nav2_rviz_plugins:
   build_number: 28
 octomap_rviz_plugins:
   build_number: 28
+plotjuggler:
+  build_number: 30
 rtabmap_slam:  # its recipe test stops the node for sure (package tests hung on macOS)
   build_number: 28
 rviz_2d_overlay_plugins:

distros/kilted/robostack.yaml

@@ -0,0 +1,72 @@
+# kilted: its own rosdep mappings, over shared/robostack.yaml:
+# Qt 5 (kilted's rviz and rqt need Qt5 / PyQt5), and the xtensor its packages were built
+# with. kilted (EOL) isn't built here (no vinca.yaml); this is for pixi-build-ros
+# (robostack-bot sync-pixi-mappings).
+libqt5-core:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-gui:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-opengl:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-opengl-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-svg:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-svg-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-websockets-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-widgets:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5x11extras5-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+python-qt5-bindings:
+  robostack: [pyqt, pyqt-builder]
+python3-qt5-bindings:
+  robostack: [pyqt, pyqt-builder]
+python3-qt5-bindings-gl:
+  robostack: [pyqt, pyqt-builder]
+qt5-image-formats-plugins:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+qt5-qmake:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+qtbase5-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+xtensor:
+  robostack: [xtensor ==0.24.7]

distros/lyrical/pkg_additional_info.yaml

@@ -127,12 +127,18 @@ gz_sim_vendor:
   build_number: 33
 gz_transport_vendor:
   build_number: 33
+launch:
+  build_number: 34
 moveit_ros_visualization:
   build_number: 31
 moveit_task_constructor_visualization:
   build_number: 31
+nav2_common:
+  build_number: 34
 nav2_rviz_plugins:
   build_number: 31
+plotjuggler:
+  build_number: 34
 rtabmap_rviz_plugins:
   build_number: 31
 rtabmap_slam:  # its recipe test stops the node for sure (package tests hung on macOS)

distros/noetic/robostack.yaml

@@ -0,0 +1,71 @@
+# noetic: its own rosdep mappings, over shared/robostack.yaml:
+# Qt 5, and the xtensor its packages were built with. noetic isn't built here (no
+# vinca.yaml); this is for pixi-build-ros (robostack-bot sync-pixi-mappings).
+libqt5-core:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-gui:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-opengl:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-opengl-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-svg:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-svg-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-websockets-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-widgets:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5x11extras5-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+python-qt5-bindings:
+  robostack: [pyqt, pyqt-builder]
+python3-qt5-bindings:
+  robostack: [pyqt, pyqt-builder]
+python3-qt5-bindings-gl:
+  robostack: [pyqt, pyqt-builder]
+qt5-image-formats-plugins:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+qt5-qmake:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+qtbase5-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+xtensor:
+  robostack: [xtensor ==0.24.7]

distros/rolling/pkg_additional_info.yaml

@@ -75,10 +75,18 @@ aruco_ros:  # its recipe test stops the node for sure (package tests hung on mac
   build_number: 33
 fuse_viz:
   build_number: 33
+launch:
+  build_number: 35
 moveit_ros_visualization:
   build_number: 33
 moveit_task_constructor_visualization:
   build_number: 33
+nav2_common:
+  build_number: 35
+orbbec_camera:
+  build_number: 35
+plotjuggler:
+  build_number: 35
 rviz_2d_overlay_plugins:
   build_number: 33
 rviz_common:

pixi.toml

@@ -44,7 +44,7 @@ vinca = { git = "https://github.com/RoboStack/vinca.git", rev = "74d1e856d5b00c0
 
 [tasks]
 rs = { cmd = "python tools/robostack.py", description = "Run a task for one distribution: `pixi run rs <distro> <task>` (generate-recipes, build, build-one, check-patches, check-deps, create-snapshot, render-pinning, sort, ...)." }
-sort = { cmd = "sh -lc 'vinca-sort-vinca-lists $@ shared/vinca.yaml && vinca-sort-yaml-keys $@ shared/robostack.yaml shared/pkg_additional_info.yaml shared/patch/dependencies.yaml && for d in distros/*/; do (cd $d && vinca-sort-vinca-lists $@ vinca.yaml && vinca-sort-yaml-keys $@ pkg_additional_info.yaml rosdistro_additional_recipes.yaml $(ls patch/dependencies.yaml 2>/dev/null)) || exit 1; done' --", description = "Sort the YAML files of all distributions (`--check` to only check)." }
+sort = { cmd = "sh -lc 'vinca-sort-vinca-lists $@ shared/vinca.yaml && vinca-sort-yaml-keys $@ shared/robostack.yaml shared/pkg_additional_info.yaml shared/patch/dependencies.yaml && for d in distros/*/; do [ -f $d/vinca.yaml ] || continue; (cd $d && vinca-sort-vinca-lists $@ vinca.yaml && vinca-sort-yaml-keys $@ pkg_additional_info.yaml rosdistro_additional_recipes.yaml $(ls patch/dependencies.yaml 2>/dev/null)) || exit 1; done' --", description = "Sort the YAML files of all distributions (`--check` to only check)." }
 test = { cmd = "python -m pytest tools/tests", description = "Unit tests of the repository tooling (tools/tests)." }
 abi-check = { cmd = "pixi exec -s python=3.14 -s zstandard -s pyyaml -s pyelftools python tools/abi_check.py", description = "Compare the ABI of package builds with libabigail (Linux only): `pixi run abi-check --distro jazzy --latest-pairs 30`, `--old a.conda --new b.conda`, or `--pr-builds <dir>` (a pull request's builds against the released ones)." }
-render-pinning = { cmd = "sh -lc 'for d in distros/*/; do python tools/robostack.py $(basename $d) render-pinning || exit 1; done'", description = "Regenerate every distribution's conda_build_config.yaml from shared/pinning and its distro.yaml." }
+render-pinning = { cmd = "sh -lc 'for d in distros/*/; do [ -f $d/vinca.yaml ] || continue; python tools/robostack.py $(basename $d) render-pinning || exit 1; done'", description = "Regenerate every distribution's conda_build_config.yaml from shared/pinning and its distro.yaml." }