[DO NOT MERGE] Test September 2025 Full Rebuild with updated dependencies

.github/workflows/testpr.yml

@@ -33,7 +33,7 @@ jobs:
     runs-on: ${{ matrix.os }}
 
     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

conda_build_config.yaml

@@ -1,15 +1,15 @@
 numpy:
-  - 1.26
+  - 2
 libprotobuf:
-  - 5.29.3
+  - 6.31.1
 protobuf:
-  - 5.29.3
+  - 6.31.1
 spdlog:
   - 1.15
 pugixml:
   - '1.15'
 libopencv:
-  - 4.11.0
+  - 4.12.0
 libxml2:
   - 2.13.*
 graphviz:
@@ -56,11 +56,9 @@ cxx_compiler_version:          # [unix]
   - 18                         # [osx]
 
 libzenohc:
-  - 1.4.0
+  - 1.5.1
 libzenohcxx:
-  - 1.4.0
-libcap:
-  - 2.71
+  - 1.5.1
 
 libhwloc:
   - 2.11.2

patch/ros-jazzy-ffmpeg-encoder-decoder.unix.patch

@@ -1,50 +1,20 @@
-diff --git a/include/ffmpeg_encoder_decoder/decoder.hpp b/include/ffmpeg_encoder_decoder/decoder.hpp
-index 0e2521c..94625e5 100644
---- a/include/ffmpeg_encoder_decoder/decoder.hpp
-+++ b/include/ffmpeg_encoder_decoder/decoder.hpp
-@@ -81,7 +81,7 @@ private:
-   AVFrame * colorFrame_{NULL};
-   SwsContext * swsContext_{NULL};
-   enum AVPixelFormat hwPixFormat_;
--  AVPacket packet_;
-+  // AVPacket packet_;
-   AVBufferRef * hwDeviceContext_{NULL};
- };
- }  // namespace ffmpeg_encoder_decoder
-diff --git a/src/decoder.cpp b/src/decoder.cpp
-index 5458f21..a2762aa 100644
---- a/src/decoder.cpp
-+++ b/src/decoder.cpp
-@@ -256,7 +256,7 @@ bool Decoder::decodePacket(
-       image->header.stamp = it->second;
-       ptsToStamp_.erase(it);
- #ifdef USE_AV_FLAGS
--      callback_(image, decodedFrame_->flags || AV_FRAME_FLAG_KEY);  // deliver callback
-+      callback_(image, decodedFrame_->flags | AV_FRAME_FLAG_KEY);  // deliver callback
- #else
-       callback_(image, decodedFrame_->key_frame);  // deliver callback
- #endif
 diff --git a/src/encoder.cpp b/src/encoder.cpp
-index ed6ca85..0aa3412 100644
+index 80f1de4..fc485b4 100644
 --- a/src/encoder.cpp
 +++ b/src/encoder.cpp
-@@ -211,11 +211,19 @@ void Encoder::doOpenCodec(int width, int height)
-   setAVOption("tune", tune_);
-   setAVOption("delay", delay_);
-   setAVOption("crf", crf_);
+@@ -259,9 +259,15 @@ void Encoder::doOpenCodec(int width, int height, const std::string & origEncodin
+     setAVOption(kv.first, kv.second);
+     ss << " " << kv.first << "=" << kv.second;
+   }
 +#ifdef __APPLE__
-+  RCLCPP_DEBUG(
-+    logger_,
-+    "codec: %10s, profile: %10s, preset: %10s,"
-+    " bit_rate: %10lld qmax: %2d",
-+    encoder_.c_str(), profile_.c_str(), preset_.c_str(), bitRate_, qmax_);
++  RCLCPP_INFO(
++    logger_, "codec: %10s, bit_rate: %10lld qmax: %2d options: %s", encoder_.c_str(), bitRate_,
++    qmax_, ss.str().c_str());
 +#else
-   RCLCPP_DEBUG(
-     logger_,
-     "codec: %10s, profile: %10s, preset: %10s,"
-     " bit_rate: %10ld qmax: %2d",
-     encoder_.c_str(), profile_.c_str(), preset_.c_str(), bitRate_, qmax_);
+   RCLCPP_INFO(
+     logger_, "codec: %10s, bit_rate: %10ld qmax: %2d options: %s", encoder_.c_str(), bitRate_,
+     qmax_, ss.str().c_str());
 +#endif
-
-   err = avcodec_open2(codecContext_, codec, NULL);
-   utils::check_for_err("cannot open codec", err);
+   RCLCPP_INFO_STREAM(
+     logger_, "cv_bridge_target_format: "
+                << cvBridgeTargetFormat_

patch/ros-jazzy-realtime-tools.osx.patch

@@ -1,25 +1,3 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index b3fcf87..7e5c654 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -46,7 +46,7 @@ target_include_directories(realtime_tools PUBLIC
-   $<INSTALL_INTERFACE:include/realtime_tools>
- )
- target_link_libraries(realtime_tools PUBLIC rclcpp::rclcpp rclcpp_action::rclcpp_action rcpputils::rcpputils Threads::Threads Boost::boost)
--if(UNIX)
-+if(UNIX AND NOT APPLE)
-   target_link_libraries(realtime_tools PUBLIC cap)
- endif()
-
-@@ -60,7 +60,7 @@ target_include_directories(thread_priority PUBLIC
-   $<INSTALL_INTERFACE:include/realtime_tools>
- )
- target_link_libraries(thread_priority PUBLIC rclcpp::rclcpp rclcpp_action::rclcpp_action rcpputils::rcpputils Threads::Threads)
--if(UNIX)
-+if(UNIX AND NOT APPLE)
-   target_link_libraries(thread_priority PUBLIC cap)
- endif()
-
 diff --git a/include/realtime_tools/realtime_thread_safe_box.hpp b/include/realtime_tools/realtime_thread_safe_box.hpp
 index a1eb9c9..1ec73e9 100644
 --- a/include/realtime_tools/realtime_thread_safe_box.hpp
@@ -33,64 +11,3 @@ index a1eb9c9..1ec73e9 100644
  #include "realtime_tools/mutex.hpp"
  #define DEFAULT_MUTEX realtime_tools::prio_inherit_mutex
  #define RECURSIVE_MUTEX realtime_tools::prio_inherit_recursive_mutex
-diff --git a/src/realtime_helpers.cpp b/src/realtime_helpers.cpp
-index 9dbbfdf..10c3066 100644
---- a/src/realtime_helpers.cpp
-+++ b/src/realtime_helpers.cpp
-@@ -32,13 +32,16 @@
- #include <windows.h>
- #else
- #include <sched.h>
--#include <sys/capability.h>
- #include <sys/mman.h>
- #include <sys/utsname.h>
-
- #include <unistd.h>
- #endif
-
-+#if defined(__unix__)
-+#include <sys/capability.h>
-+#endif
-+
- #include <cstring>
- #include <fstream>
- #include <iostream>
-@@ -75,6 +78,19 @@ bool configure_sched_fifo(int priority)
- #ifdef _WIN32
-   HANDLE thread = GetCurrentThread();
-   return SetThreadPriority(thread, priority);
-+#elif defined(__APPLE__)
-+    pthread_t thread = pthread_self();
-+    struct sched_param schedp;
-+    memset(&schedp, 0, sizeof(schedp));
-+    schedp.sched_priority = priority;
-+
-+    int policy = SCHED_FIFO;
-+    if (pthread_setschedparam(thread, policy, &schedp) == 0) {
-+        return true;
-+    } else {
-+        // Optionally log strerror(errno) for debugging
-+        return false;
-+    }
- #else
-   struct sched_param schedp;
-   memset(&schedp, 0, sizeof(schedp));
-@@ -94,6 +110,8 @@ std::pair<bool, std::string> lock_memory()
- {
- #ifdef _WIN32
-   return {false, "Memory locking is not supported on Windows."};
-+#elif defined(__APPLE__)
-+  return {false, "Memory locking is not supported on MacOS."};
- #else
-   auto is_capable = [](cap_value_t v) -> bool {
-     bool rc = false;
-@@ -146,6 +164,9 @@ std::pair<bool, std::string> set_thread_affinity(
- #ifdef _WIN32
-   message = "Thread affinity is not supported on Windows.";
-   return std::make_pair(false, message);
-+#elif defined(__APPLE__)
-+  message = "Memory locking is not supported on MacOS.";
-+  return std::make_pair(false, message);
- #else
-   auto set_affinity_result_message = [](int result, std::string & msg) -> bool {
-     if (result == 0) {