From 586d35b478d62549565495d47eb6b1451c26b24d Mon Sep 17 00:00:00 2001 From: Karmanyaah Malhotra Date: Tue, 11 Aug 2026 06:05:07 +0000 Subject: [PATCH] deps: use innate builds of rmw_zenoh Switches the Zenoh RMW to innate-built packages, matching how we already consume rws (ros-humble-innate-rws). The innate build carries a fix for a lost-wakeup race in rmw_wait that upstream 0.1.9 still ships, which intermittently deadlocks any long-lived multi-topic subscriber -- rws_server in particular -- leaving the process alive but delivering nothing. Also names zenoh-cpp-vendor explicitly in both files. rmw-zenoh-cpp depends on it without a version constraint, so apt is free to upgrade one and not the other; that skew shipped an rmw built against a newer libzenohc than the installed vendor and took a robot down with an undefined-symbol error at dynamic-link time. Co-Authored-By: Claude Opus 5 --- ros2_ws/apt-dependencies.common.txt | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/ros2_ws/apt-dependencies.common.txt b/ros2_ws/apt-dependencies.common.txt index 484abf53d..cf4e73686 100644 --- a/ros2_ws/apt-dependencies.common.txt +++ b/ros2_ws/apt-dependencies.common.txt @@ -50,9 +50,11 @@ python3-pytest ros-humble-rclcpp ros-humble-rclpy ros-humble-rclcpp-components -ros-humble-rmw-zenoh-cpp +# Innate build carries the rmw_wait lost-wakeup fix upstream 0.1.9 still ships +# (innate-inc/rmw_zenoh#1) +ros-humble-innate-rmw-zenoh-cpp # unversioned Depends of the rmw — unnamed, apt leaves libzenohc.so behind and every node dies at load -ros-humble-zenoh-cpp-vendor +ros-humble-innate-zenoh-cpp-vendor ros-humble-launch-xml ros-humble-ament-cmake ros-humble-ament-cmake-python