From 66395f5e854acc5782be66a1d263da772237eb65 Mon Sep 17 00:00:00 2001
From: Sebastian Castro <sebas.a.castro@gmail.com>
Date: Wed, 9 Sep 2026 20:39:37 -0400
Subject: [PATCH] Add RoboPlan packages

---
 .github/workflows/testpr.yml |   4 +-
 check_patches_clean_apply.py |   8 +-
 pixi.lock                    | 280 +++++++++++++++++------------------
 pkg_additional_info.yaml     |  40 +++++
 robostack.yaml               |   4 +
 rosdistro_snapshot.yaml      | 121 +++++++++------
 vinca.yaml                   |  16 ++
 7 files changed, 284 insertions(+), 189 deletions(-)

diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
index 6cb3f3ee..982d00da 100644
--- a/.github/workflows/testpr.yml
+++ b/.github/workflows/testpr.yml
@@ -117,9 +117,7 @@ jobs:
       run: |
         # You can uncomment/modify the line below in case the cache for some packages becomes corrupted and needs to be regenerated.
         # Make sure you don't merge these changes, though!
-        # rm -rf ${{ matrix.folder_cache }}/ros-lyrical-moveit-core* 2>/dev/null || true
-        rm -rf ${{ matrix.folder_cache }}/ros2-robot-state-publisher* 2>/dev/null || true 
-        rm -rf ${{ matrix.folder_cache }}/ros2-tf2-ros* 2>/dev/null || true 
+        # rm -rf ${{ matrix.folder_cache }}/ros2-roboplan* ${{ matrix.folder_cache }}/ros-lyrical-roboplan* 2>/dev/null || true
         mkdir -p ${{ matrix.folder_cache }}
         pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
 
diff --git a/check_patches_clean_apply.py b/check_patches_clean_apply.py
index 38cb4b14..105761c9 100644
--- a/check_patches_clean_apply.py
+++ b/check_patches_clean_apply.py
@@ -10,10 +10,10 @@
 -----
 
     # From repository root
-    python .scripts/check_patches_clean_apply.py          # prepare + run
-    python .scripts/check_patches_clean_apply.py --dry    # prepare only
-    python .scripts/check_patches_clean_apply.py --dry --recipe ros-lyrical-rviz2
-    python .scripts/check_patches_clean_apply.py --clean  # delete output
+    python check_patches_clean_apply.py          # prepare + run
+    python check_patches_clean_apply.py --dry    # prepare only
+    python check_patches_clean_apply.py --dry --recipe ros-lyrical-rviz2
+    python check_patches_clean_apply.py --clean  # delete output
 
 The script creates (or refreshes) a sibling folder named
 *recipes_only_patch*.  Every recipe that declares *patches:* gets a
diff --git a/pixi.lock b/pixi.lock
index b25d0035..a78ebf05 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,29 +1,29 @@
 version: 7
 platforms:
-- name: osx-64
-  virtual-packages:
-  - __unix=0=0
-  - __osx=13.0
-  - __archspec=0=x86_64
-- name: osx-arm64
-  virtual-packages:
-  - __unix=0=0
-  - __osx=13.0
-  - __archspec=0=m1
-- name: p1
+- name: linux-64-glibc-2-17
   subdir: linux-64
   virtual-packages:
   - __glibc=2.17
   - __unix=0=0
   - __linux=4.18
   - __archspec=0=x86_64
-- name: p2
+- name: linux-aarch64-glibc-2-17
   subdir: linux-aarch64
   virtual-packages:
   - __glibc=2.17
   - __unix=0=0
   - __linux=4.18
   - __archspec=0=aarch64
+- name: osx-64
+  virtual-packages:
+  - __unix=0=0
+  - __osx=13.0
+  - __archspec=0=x86_64
+- name: osx-arm64
+  virtual-packages:
+  - __unix=0=0
+  - __osx=13.0
+  - __archspec=0=m1
 - name: win-64
   virtual-packages:
   - __win=10.0
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+      - pypi: https://files.pythonhosted.org/packages/63/34/ba1c580383c9eada3711951fef0795c80b829a078d72188184bcab9dd527/packaging-26.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/71/46/17f022dd3e953bf20a04a028a21ec746d942f8d2af30fa0f124fa0e6a684/pygments-2.21.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/7f/3e/5db95bcf282c52709639744ca2a8b149baccf648e39c8cc87553df9eae0c/urllib3-2.7.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/82/3b/64d4899d73f91ba49a8c18a8ff3f0ea8f1c1d75481760df8c68ef5235bf5/rich-15.0.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/8d/09/d0a2a14fc3439c5f874042dca72a79c70a532090b7ba0003be73fee37ae2/zstandard-0.25.0-cp314-cp314-macosx_11_0_arm64.whl
+      - pypi: https://files.pythonhosted.org/packages/9e/c9/b2622292ea83fbb4ec318f5b9ab867d0a28ab43c5717bb85b0a5f6b3b0a4/networkx-3.6.1-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/a0/f4/c67b0b3f1b9245e8d266f0f112c500d50e5b4e83cb6f3b71b6528104182a/requests-2.34.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/af/40/791891d4c0c4dab4c5e187c17261cedc26285fd41541577f900470a45a4d/license_expression-30.4.4-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/b3/38/89ba8ad64ae25be8de66a6d463314cf1eb366222074cfda9ee839c56a4b4/mdurl-0.1.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/b3/81/4da04ced5a082363ecfa159c010d200ecbd959ae410c10c0264a38cac0f5/markdown_it_py-4.2.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/b5/64/7660f8a4a8e53c924d0fa05dc3a55c9cee10bbd82b11c5afb27d44b096ce/markupsafe-3.0.3-cp314-cp314-macosx_11_0_arm64.whl
+      - pypi: https://files.pythonhosted.org/packages/b7/ce/149a00dd41f10bc29e5921b496af8b574d8413afcd5e30dfa0ed46c2cc5e/six-1.17.0-py2.py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/bd/9c/4d95bb87eb2063d20db7b60faa3840c1b18025517ae857371c4dd55a6b3a/pyyaml-6.0.3-cp314-cp314-macosx_11_0_arm64.whl
+      - pypi: https://files.pythonhosted.org/packages/e5/ca/78d423b324b8d77900030fa59c4aa9054261ef0925631cd2501dd015b7b7/boolean_py-5.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/e9/40/095ce62fa078483cccc1fa2b36e6bc9580b85422a20ee9f925341c50e44f/charset_normalizer-3.5.1-cp314-cp314-macosx_10_15_universal2.whl
+      - pypi: https://files.pythonhosted.org/packages/ec/57/56b9bcc3c9c6a792fcbaf139543cee77261f3651ca9da0c93f5c1221264b/python_dateutil-2.9.0.post0-py2.py3-none-any.whl
       win-64:
       - conda: https://prefix.dev/conda-forge/noarch/ca-certificates-2026.7.22-h4c7d964_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/m2-msys2-runtime-3.6.1.4-hc364b38_6.conda
diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml
index 10dba3a2..7766c395 100644
--- a/pkg_additional_info.yaml
+++ b/pkg_additional_info.yaml
@@ -153,6 +153,42 @@ pybind11_json_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR"
 pybind11_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR"
+roboplan:
+  generate_dummy_package_with_run_deps:
+    dep_name: roboplan-python
+    max_pin: 'x.x'
+roboplan_cartesian_planning:
+  generate_dummy_package_with_run_deps:
+    dep_name: roboplan-cartesian-planning-python
+    max_pin: 'x.x'
+roboplan_common:
+  generate_dummy_package_with_run_deps:
+    dep_name: roboplan-common
+    max_pin: 'x.x'
+roboplan_core:
+  generate_dummy_package_with_run_deps:
+    dep_name: roboplan-core-python
+    max_pin: 'x.x'
+roboplan_example_models:
+  generate_dummy_package_with_run_deps:
+    dep_name: roboplan-example-models-python
+    max_pin: 'x.x'
+roboplan_oink:
+  generate_dummy_package_with_run_deps:
+    dep_name: roboplan-oink-python
+    max_pin: 'x.x'
+roboplan_rrt:
+  generate_dummy_package_with_run_deps:
+    dep_name: roboplan-rrt-python
+    max_pin: 'x.x'
+roboplan_simple_ik:
+  generate_dummy_package_with_run_deps:
+    dep_name: roboplan-simple-ik-python
+    max_pin: 'x.x'
+roboplan_toppra:
+  generate_dummy_package_with_run_deps:
+    dep_name: roboplan-toppra-python
+    max_pin: 'x.x'
 rosx_introspection:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 rviz_ogre_vendor:
@@ -164,6 +200,10 @@ spdlog_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 sqlite3_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+toppra:
+  generate_dummy_package_with_run_deps:
+    dep_name: toppra-python
+    max_pin: 'x.x.x'
 ublox_gps:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 uncrustify_vendor:
diff --git a/robostack.yaml b/robostack.yaml
index f4297de8..08892328 100644
--- a/robostack.yaml
+++ b/robostack.yaml
@@ -670,6 +670,8 @@ msgpack:
   robostack: [msgpack-python]
 muparser:
   robostack: [muparser]
+nanobind-dev:
+  robostack: [nanobind]
 netpbm:
   robostack:
     linux-aarch64: []
@@ -1056,6 +1058,8 @@ python3-twisted:
   robostack: [twisted]
 python3-typeguard:
   robostack: [typeguard]
+python3-typing-extensions:
+  robostack: [typing_extensions]
 python3-unidiff:
   robostack: [unidiff]
 python3-usb:
diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml
index 0ddb8297..efea4a0c 100644
--- a/rosdistro_snapshot.yaml
+++ b/rosdistro_snapshot.yaml
@@ -18656,43 +18656,70 @@ rmw_zenoh_cpp:
 roboplan:
   dependencies:
   - ament_cmake
-  - ament_cmake_gmock
-  - ament_cmake_pytest
-  - ament_cmake_python
-  - pinocchio
+  - roboplan_cartesian_planning
+  - roboplan_common
+  - roboplan_core
   - roboplan_example_models
-  - yaml_cpp_vendor
+  - roboplan_examples
+  - roboplan_oink
+  - roboplan_rrt
+  - roboplan_simple_ik
+  - roboplan_toppra
   repository: https://github.com/open-planning/roboplan
-  tag: release/lyrical/roboplan/0.6.1-1
+  tag: release/lyrical/roboplan/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.6.1
+  version: 0.7.0
 roboplan_cartesian_planning:
   dependencies:
   - ament_cmake
   - ament_cmake_gtest
   - ament_cmake_python
-  - roboplan
+  - roboplan_common
+  - roboplan_core
   - roboplan_example_models
   - roboplan_oink
   - roboplan_toppra
   repository: https://github.com/open-planning/roboplan
-  tag: release/lyrical/roboplan_cartesian_planning/0.6.1-1
+  tag: release/lyrical/roboplan_cartesian_planning/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.6.1
+  version: 0.7.0
+roboplan_common:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  repository: https://github.com/open-planning/roboplan
+  tag: release/lyrical/roboplan_common/0.7.0-1
+  url: https://github.com/ros2-gbp/roboplan-release.git
+  version: 0.7.0
+roboplan_core:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - pinocchio
+  - roboplan_common
+  - roboplan_example_models
+  - yaml_cpp_vendor
+  repository: https://github.com/open-planning/roboplan
+  tag: release/lyrical/roboplan_core/0.7.0-1
+  url: https://github.com/ros2-gbp/roboplan-release.git
+  version: 0.7.0
 roboplan_example_models:
   dependencies:
   - ament_cmake
   - ament_cmake_python
+  - roboplan_common
   repository: https://github.com/open-planning/roboplan
-  tag: release/lyrical/roboplan_example_models/0.6.1-1
+  tag: release/lyrical/roboplan_example_models/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.6.1
+  version: 0.7.0
 roboplan_examples:
   dependencies:
   - ament_cmake
   - ament_cmake_pytest
-  - roboplan
   - roboplan_cartesian_planning
+  - roboplan_core
   - roboplan_example_models
   - roboplan_oink
   - roboplan_rrt
@@ -18700,21 +18727,22 @@ roboplan_examples:
   - roboplan_toppra
   - xacro
   repository: https://github.com/open-planning/roboplan
-  tag: release/lyrical/roboplan_examples/0.6.1-1
+  tag: release/lyrical/roboplan_examples/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.6.1
+  version: 0.7.0
 roboplan_oink:
   dependencies:
   - ament_cmake
   - ament_cmake_gmock
   - ament_cmake_python
   - proxsuite
-  - roboplan
+  - roboplan_common
+  - roboplan_core
   - roboplan_example_models
   repository: https://github.com/open-planning/roboplan
-  tag: release/lyrical/roboplan_oink/0.6.1-1
+  tag: release/lyrical/roboplan_oink/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.6.1
+  version: 0.7.0
 roboplan_ros_cpp:
   dependencies:
   - ament_cmake
@@ -18722,29 +18750,30 @@ roboplan_ros_cpp:
   - builtin_interfaces
   - geometry_msgs
   - pinocchio
-  - roboplan
+  - roboplan_core
   - roboplan_example_models
   - rosidl_generator_cpp
   - sensor_msgs
   - tf2_eigen
   - trajectory_msgs
   repository: https://github.com/open-planning/roboplan-ros
-  tag: release/lyrical/roboplan_ros_cpp/0.6.1-1
+  tag: release/lyrical/roboplan_ros_cpp/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan_ros-release.git
-  version: 0.6.1
+  version: 0.7.0
 roboplan_ros_examples:
   dependencies:
+  - ament_cmake
   - ament_cmake_python
   - control_msgs
   - rclpy
-  - roboplan
+  - roboplan_core
   - sensor_msgs
   - std_msgs
   - visualization_msgs
   repository: https://github.com/open-planning/roboplan-ros
-  tag: release/lyrical/roboplan_ros_examples/0.6.1-1
+  tag: release/lyrical/roboplan_ros_examples/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan_ros-release.git
-  version: 0.6.1
+  version: 0.7.0
 roboplan_ros_franka:
   dependencies:
   - ament_cmake
@@ -18752,28 +18781,33 @@ roboplan_ros_franka:
   - joint_state_broadcaster
   - joint_trajectory_controller
   - parallel_gripper_controller
-  - roboplan
+  - roboplan_core
   - roboplan_example_models
+  - roboplan_oink
   - roboplan_ros_examples
+  - roboplan_rrt
+  - roboplan_simple_ik
+  - roboplan_toppra
   - robot_state_publisher
   - topic_tools
   - xacro
   repository: https://github.com/open-planning/roboplan-ros
-  tag: release/lyrical/roboplan_ros_franka/0.6.1-1
+  tag: release/lyrical/roboplan_ros_franka/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan_ros-release.git
-  version: 0.6.1
+  version: 0.7.0
 roboplan_ros_py:
   dependencies:
   - builtin_interfaces
   - rclpy
-  - roboplan
+  - roboplan_core
   - roboplan_ros_cpp
+  - roboplan_ros_visualization
   - sensor_msgs
   - trajectory_msgs
   repository: https://github.com/open-planning/roboplan-ros
-  tag: release/lyrical/roboplan_ros_py/0.6.1-1
+  tag: release/lyrical/roboplan_ros_py/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan_ros-release.git
-  version: 0.6.1
+  version: 0.7.0
 roboplan_ros_visualization:
   dependencies:
   - ament_cmake
@@ -18783,49 +18817,52 @@ roboplan_ros_visualization:
   - interactive_markers
   - rclcpp
   - rclpy
-  - roboplan
+  - roboplan_core
   - roboplan_ros_cpp
   - roboplan_simple_ik
   - rviz2
   - sensor_msgs
   - visualization_msgs
   repository: https://github.com/open-planning/roboplan-ros
-  tag: release/lyrical/roboplan_ros_visualization/0.6.1-1
+  tag: release/lyrical/roboplan_ros_visualization/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan_ros-release.git
-  version: 0.6.1
+  version: 0.7.0
 roboplan_rrt:
   dependencies:
   - ament_cmake
   - ament_cmake_gtest
   - ament_cmake_pytest
   - ament_cmake_python
-  - roboplan
+  - roboplan_common
+  - roboplan_core
   - roboplan_example_models
   repository: https://github.com/open-planning/roboplan
-  tag: release/lyrical/roboplan_rrt/0.6.1-1
+  tag: release/lyrical/roboplan_rrt/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.6.1
+  version: 0.7.0
 roboplan_simple_ik:
   dependencies:
   - ament_cmake
   - ament_cmake_python
-  - roboplan
+  - roboplan_common
+  - roboplan_core
   repository: https://github.com/open-planning/roboplan
-  tag: release/lyrical/roboplan_simple_ik/0.6.1-1
+  tag: release/lyrical/roboplan_simple_ik/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.6.1
+  version: 0.7.0
 roboplan_toppra:
   dependencies:
   - ament_cmake
   - ament_cmake_gtest
   - ament_cmake_python
-  - roboplan
+  - roboplan_common
+  - roboplan_core
   - roboplan_example_models
   - toppra
   repository: https://github.com/open-planning/roboplan
-  tag: release/lyrical/roboplan_toppra/0.6.1-1
+  tag: release/lyrical/roboplan_toppra/0.7.0-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.6.1
+  version: 0.7.0
 robot_arm_demo:
   dependencies:
   - ament_cmake
diff --git a/vinca.yaml b/vinca.yaml
index 62ea6f21..d2228118 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -141,6 +141,21 @@ packages_select_by_deps:
   - point_cloud_transport_py
   - polygon_msgs
   - proxsuite
+  - roboplan  # Requested in https://github.com/RoboStack/ros-jazzy/issues/250
+  - roboplan_cartesian_planning
+  - roboplan_common
+  - roboplan_core
+  - roboplan_example_models
+  - roboplan_examples
+  - roboplan_oink
+  - roboplan_ros_cpp
+  - roboplan_ros_examples
+  - roboplan_ros_franka
+  - roboplan_ros_py
+  - roboplan_ros_visualization
+  - roboplan_rrt
+  - roboplan_simple_ik
+  - roboplan_toppra
   - py-trees
   - py-trees-ros
   - py-trees-ros-interfaces
@@ -173,6 +188,7 @@ packages_select_by_deps:
   - slam_toolbox
   - teleop
   - teleop-tools
+  - toppra
   - turtlebot3
   - turtlebot3_simulations
   - twist_mux  # requested in https://github.com/RoboStack/ros-humble/issues/249