From 8e94589623e85c7eeedae9a0a4e877b716667228 Mon Sep 17 00:00:00 2001
From: Adrian Brandemuehl <abrandemuehl@rai-inst.com>
Date: Tue, 27 Oct 2026 10:43:50 +0100
Subject: [PATCH] Backport rmw_zenoh 0.10.6 to ros2-distro-mutex 0.20

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.
---
 .github/workflows/main.yml |  9 +++++----
 pkg_additional_info.yaml   |  4 ++++
 rosdistro_snapshot.yaml    | 12 ++++++------
 3 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index da583317..5afbe5d1 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -45,7 +45,7 @@ jobs:
     # Generate recipes for osx
     - name: Reset repo
       run: |
-        git reset --hard origin/main
+        git reset --hard origin/${{ github.ref_name }}
     - name: Generate recipes for osx-64
       run: |
         git clean -fdx
@@ -70,7 +70,7 @@ jobs:
     # Generate recipes for osx-arm64
     - name: Reset repo
       run: |
-        git reset --hard origin/main
+        git reset --hard origin/${{ github.ref_name }}
     - name: Generate recipes for osx-arm64
       run: |
         git clean -fdx
@@ -95,7 +95,7 @@ jobs:
     # Generate recipes for Windows
     - name: Reset repo
       run: |
-        git reset --hard origin/main
+        git reset --hard origin/${{ github.ref_name }}
     - name: Generate recipes for win-64
       run: |
         git clean -fdx
@@ -121,7 +121,7 @@ jobs:
     # Generate recipes for Linux ARM64
     - name: Reset repo
       run: |
-        git reset --hard origin/main
+        git reset --hard origin/${{ github.ref_name }}
     - name: Generate recipes for linux-aarch64
       run: |
         git clean -fdx
@@ -149,3 +149,4 @@ on:
     branches:
       - master
       - main
+      - mutex-0.20
diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml
index 7766c395..12014987 100644
--- a/pkg_additional_info.yaml
+++ b/pkg_additional_info.yaml
@@ -232,6 +232,7 @@ visp:
     override_version: '3.6.0'
 zenoh_cpp_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK -DUSE_SYSTEM_ZENOH=ON"
+  build_number: 26  # rmw_zenoh 0.10.6 backport onto mutex 0.20
 # Remove build_number fields below on new full rebuild
 diagnostic_updater:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
@@ -241,3 +242,6 @@ robot_state_publisher:
   build_number: 26
 tf2_ros:
   build_number: 26
+# rmw_zenoh 0.10.6 backport onto ros2-distro-mutex 0.20 (fixes a bug in 0.10.5).
+rmw_zenoh_cpp:
+  build_number: 26
diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml
index efea4a0c..9cfcc328 100644
--- a/rosdistro_snapshot.yaml
+++ b/rosdistro_snapshot.yaml
@@ -18650,9 +18650,9 @@ rmw_zenoh_cpp:
   - tracetools
   - zenoh_cpp_vendor
   repository: https://github.com/ros2/rmw_zenoh
-  tag: release/lyrical/rmw_zenoh_cpp/0.10.5-1
+  tag: release/lyrical/rmw_zenoh_cpp/0.10.6-1
   url: https://github.com/ros2-gbp/rmw_zenoh-release.git
-  version: 0.10.5
+  version: 0.10.6
 roboplan:
   dependencies:
   - ament_cmake
@@ -26513,9 +26513,9 @@ zenoh_cpp_vendor:
   - ament_cmake
   - ament_cmake_vendor_package
   repository: https://github.com/ros2/rmw_zenoh
-  tag: release/lyrical/zenoh_cpp_vendor/0.10.5-1
+  tag: release/lyrical/zenoh_cpp_vendor/0.10.6-1
   url: https://github.com/ros2-gbp/rmw_zenoh-release.git
-  version: 0.10.5
+  version: 0.10.6
 zenoh_security_tools:
   dependencies:
   - ament_lint_auto
@@ -26525,9 +26525,9 @@ zenoh_security_tools:
   - rmw_security_common
   - zenoh_cpp_vendor
   repository: https://github.com/ros2/rmw_zenoh
-  tag: release/lyrical/zenoh_security_tools/0.10.5-1
+  tag: release/lyrical/zenoh_security_tools/0.10.6-1
   url: https://github.com/ros2-gbp/rmw_zenoh-release.git
-  version: 0.10.5
+  version: 0.10.6
 zlib_point_cloud_transport:
   dependencies:
   - ament_cmake