Cleanup pixi.toml, consolidate vinca.yaml in a single file and cleanup build of livox-ros-driver2

[traversaro]

This PR contains several cleanups that hopefully will make the project more maintainable:

• In commit 1b2b018, the default and beta environments of the pixi.toml are unified in a single default environments, a almost always we were using the beta environment, so there is not so much sense for a separate beta environment
• In commit 5110d37, all the different vinca_*.yaml files have been consolidated in a single vinca.yaml file, that use rattler-build selectors to include or exclude specific packages. See Add ratter-build style selector for vinca.yaml, dependencies.yaml and pkg_additional_info.yaml vinca#77 for the related PR in vinca.
• In commit 86923ff, we switch to automatically generated the livox-ros-driver2 package recipes using the rosdistro_additional_recipes.yaml mechanism introduced in Remove the need for most manually managed additional_recipes vinca#78 instead of manually maintaining the corresponding recipe
• In 20b2932, I synced the fixes of check_patches_clean_apply.py with kilted, in particular Use different names for dummy recipes generated by check_patches_clean_apply.py script ros-kilted#16

[traversaro]

fyi @wep21 @gftabor the consolidation of the vinca.yaml will change a bit how PR are done, let me know if there is anything not clear, thanks!

[Tobias-Fischer]

That’s amazing, thanks so much @traversaro :)!

I wonder if one day we can take it a step further and unify most of the files across distributions …

Do you know why it rebuilds files in CI in the PR? The Windows build is failing unfortunately.

[Tobias-Fischer]

We could try https://github.com/marketplace/actions/github-workflow-sync

[traversaro]

Do you know why it rebuilds files in CI in the PR? The Windows build is failing unfortunately.

Yes, I think in the merge I started building grid_map also on Windows, that before was not build there. However, it seems that it build almost everything, let's see if that is easy to fix, otherwise I will go back to skip it on Windows.

I wonder if one day we can take it a step further and unify most of the files across distributions …

That's the goal, I think that if we can simplify the amount of files in the different distro that becomes also easier.

[traversaro]

However, it seems that it build almost everything, let's see if that is easy to fix, otherwise I will go back to skip it on Windows.

I did an upstream fix in OctoMap/octomap_rviz_plugins#50, but then the build fails with:

MSBuild version 17.13.15+18b3035f6 for .NET Framework
MSBUILD : error MSB1009: Project file does not exist.
Switch: Release.vcxproj

D:\src\ros-jazzy\output\bld\rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615\work\build>cmake --build . --config Release
MSBuild version 17.13.15+18b3035f6 for .NET Framework

  1>Checking Build System
  Automatic MOC for target octomap_rviz_plugins
  Building Custom Rule D:/src/ros-jazzy/output/bld/rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615/work/ros-jazzy-octomap-rviz-plugins/src/work/CMakeLists.txt
  moc_occupancy_grid_display.cpp
  moc_occupancy_map_display.cpp
  D:/src/ros-jazzy/output/bld/rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615/h_env/Library/opt/rviz_ogre_vendor/include/OGRE\OgreVector3.h is deprecated, migrate to Ogre.h
  Generating Code...
occupancy_map_display.obj : error LNK2019: unresolved external symbol "class std::vector<unsigned char,class std::allocator<unsigned char> > __cdecl rviz_default_plugins::displays::makeRawPalette(bool,int)" (
?makeRawPalette@displays@rviz_default_plugins@@YA?AV?$vector@EV?$allocator@E@std@@@std@@_NH@Z) referenced in function "public: virtual void __cdecl octomap_rviz_plugins::OccupancyMapDisplay::onInitialize(void
)" (?onInitialize@OccupancyMapDisplay@octomap_rviz_plugins@@UEAAXXZ) [D:\src\ros-jazzy\output\bld\rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615\work\build\octomap_rviz_plugins.vcxproj]
occupancy_map_display.obj : error LNK2019: unresolved external symbol "class std::vector<unsigned char,class std::allocator<unsigned char> > __cdecl rviz_default_plugins::displays::makeMapPalette(bool,int)" (
?makeMapPalette@displays@rviz_default_plugins@@YA?AV?$vector@EV?$allocator@E@std@@@std@@_NH@Z) referenced in function "public: virtual void __cdecl octomap_rviz_plugins::OccupancyMapDisplay::onInitialize(void
)" (?onInitialize@OccupancyMapDisplay@octomap_rviz_plugins@@UEAAXXZ) [D:\src\ros-jazzy\output\bld\rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615\work\build\octomap_rviz_plugins.vcxproj]
occupancy_map_display.obj : error LNK2019: unresolved external symbol "class std::vector<unsigned char,class std::allocator<unsigned char> > __cdecl rviz_default_plugins::displays::makeCostmapPalette(bool,int
)" (?makeCostmapPalette@displays@rviz_default_plugins@@YA?AV?$vector@EV?$allocator@E@std@@@std@@_NH@Z) referenced in function "public: virtual void __cdecl octomap_rviz_plugins::OccupancyMapDisplay::onInitial
ize(void)" (?onInitialize@OccupancyMapDisplay@octomap_rviz_plugins@@UEAAXXZ) [D:\src\ros-jazzy\output\bld\rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615\work\build\octomap_rviz_plugins.vcxproj]
D:\src\ros-jazzy\output\bld\rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615\work\build\Release\octomap_rviz_plugins.dll : fatal error LNK1120: 3 unresolved externals [D:\src\ros-jazzy\output\bld\rattl
er-build_ros-jazzy-octomap-rviz-plugins_1750498615\work\build\octomap_rviz_plugins.vcxproj]

that I think it is actually due to some missing symbol export in rviz, so I think we can just skip for now.

[traversaro]

Ok, skipped in a7edd5c that is also a good check if the whole selectors stuff works.

[traversaro]

However, it seems that it build almost everything, let's see if that is easy to fix, otherwise I will go back to skip it on Windows.

I did an upstream fix in OctoMap/octomap_rviz_plugins#50, but then the build fails with:

MSBuild version 17.13.15+18b3035f6 for .NET Framework
MSBUILD : error MSB1009: Project file does not exist.
Switch: Release.vcxproj

D:\src\ros-jazzy\output\bld\rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615\work\build>cmake --build . --config Release
MSBuild version 17.13.15+18b3035f6 for .NET Framework

  1>Checking Build System
  Automatic MOC for target octomap_rviz_plugins
  Building Custom Rule D:/src/ros-jazzy/output/bld/rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615/work/ros-jazzy-octomap-rviz-plugins/src/work/CMakeLists.txt
  moc_occupancy_grid_display.cpp
  moc_occupancy_map_display.cpp
  D:/src/ros-jazzy/output/bld/rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615/h_env/Library/opt/rviz_ogre_vendor/include/OGRE\OgreVector3.h is deprecated, migrate to Ogre.h
  Generating Code...
occupancy_map_display.obj : error LNK2019: unresolved external symbol "class std::vector<unsigned char,class std::allocator<unsigned char> > __cdecl rviz_default_plugins::displays::makeRawPalette(bool,int)" (
?makeRawPalette@displays@rviz_default_plugins@@YA?AV?$vector@EV?$allocator@E@std@@@std@@_NH@Z) referenced in function "public: virtual void __cdecl octomap_rviz_plugins::OccupancyMapDisplay::onInitialize(void
)" (?onInitialize@OccupancyMapDisplay@octomap_rviz_plugins@@UEAAXXZ) [D:\src\ros-jazzy\output\bld\rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615\work\build\octomap_rviz_plugins.vcxproj]
occupancy_map_display.obj : error LNK2019: unresolved external symbol "class std::vector<unsigned char,class std::allocator<unsigned char> > __cdecl rviz_default_plugins::displays::makeMapPalette(bool,int)" (
?makeMapPalette@displays@rviz_default_plugins@@YA?AV?$vector@EV?$allocator@E@std@@@std@@_NH@Z) referenced in function "public: virtual void __cdecl octomap_rviz_plugins::OccupancyMapDisplay::onInitialize(void
)" (?onInitialize@OccupancyMapDisplay@octomap_rviz_plugins@@UEAAXXZ) [D:\src\ros-jazzy\output\bld\rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615\work\build\octomap_rviz_plugins.vcxproj]
occupancy_map_display.obj : error LNK2019: unresolved external symbol "class std::vector<unsigned char,class std::allocator<unsigned char> > __cdecl rviz_default_plugins::displays::makeCostmapPalette(bool,int
)" (?makeCostmapPalette@displays@rviz_default_plugins@@YA?AV?$vector@EV?$allocator@E@std@@@std@@_NH@Z) referenced in function "public: virtual void __cdecl octomap_rviz_plugins::OccupancyMapDisplay::onInitial
ize(void)" (?onInitialize@OccupancyMapDisplay@octomap_rviz_plugins@@UEAAXXZ) [D:\src\ros-jazzy\output\bld\rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615\work\build\octomap_rviz_plugins.vcxproj]
D:\src\ros-jazzy\output\bld\rattler-build_ros-jazzy-octomap-rviz-plugins_1750498615\work\build\Release\octomap_rviz_plugins.dll : fatal error LNK1120: 3 unresolved externals [D:\src\ros-jazzy\output\bld\rattl
er-build_ros-jazzy-octomap-rviz-plugins_1750498615\work\build\octomap_rviz_plugins.vcxproj]

that I think it is actually due to some missing symbol export in rviz, so I think we can just skip for now.

Anyhow, just as an investment for the future, I fixed the root issue in rviz: ros2/rviz#1492 .

[traversaro]

@Tobias-Fischer CI is happy.

[gftabor]

The new vinca file looks a lot cleaner. And it's more clearly laid out why some aren't built on windows. Platform parity will be a lot more maintainable now.

I'll make sure to update my apriltag PR.