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Backport rmw_zenoh 0.10.6 to ros2-distro-mutex 0.20 - #89
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traversaro merged 1 commit intoOct 27, 2026
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rmw_zenoh 0.10.5 has a bug fixed in 0.10.6, which robostack-lyrical only ships for mutex 0.21 and later. Bump zenoh_cpp_vendor, rmw_zenoh_cpp and zenoh_security_tools in the snapshot to 0.10.6-1 and rebuild the two selected packages with build number 26. main.yml also runs on the mutex-0.20 branch and resets to the pushed branch.
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Backports the rmw_zenoh 0.10.6 fix to
ros2-distro-mutex0.20.Why: rmw_zenoh 0.10.5 can hang forever in
rmw_wait, so services stop answering(ros2/rmw_zenoh#1032, fixed by ros2/rmw_zenoh#1038).
0.10.6 is only published for mutex 0.21+.
Moving our stack to a new mutex is a larger update; rebuilding rmw_zenoh on 0.20 is the shortest path to a working system.
Going back to 0.10.4 is not an option: it has a similar deadlock (ros2/rmw_zenoh#921, ros2/rmw_zenoh#998).
What: on top of
c0b05c1(last 0.20 commit):rmw_zenoh_cpp,zenoh_cpp_vendor:build_number: 26main.yml: also run onmutex-0.20, reset to the pushed branch instead ofmainvinca with
skip_existinggenerates only the 4 zenoh recipes, on mutex0.20.*.Dependents (
rmw_implementation,gz_transport_vendor) need no rebuild:they load or vendor zenoh without a version pin, and
libzenohcstays at 1.9.0.To land it:
git push origin c0b05c1:refs/heads/mutex-0.20mutex-0.20and merge. CI then regeneratesbuildbranch_*(idle since the monorepo move) and uploads.No earlier PR has rebuilt for an old mutex; the closest case (#53, zenoh on 0.19) was fixed forward.