26.04 Resolute Racoon support

[claraberendsen]

Now that all the infrastructure steps have been completed it's possible to run CI for Resolute.
This is the tracker issue for the necessary changes / dependencies updates needed for ROS 2 to build on the new Ubuntu version.

Latest reference build:
Tasks:

• Address dependencies differences for Resolute: Resolute Racoon updates #849
• Update to mcap latest to address build regressions
  - Update to version 2.1.3 of mcap. rosbag2#2355
  - Fix a problem with schemas without messages. foxglove/mcap#1526
• Address ros2_tracing regressions: Set default values on TraceTestCase to avoid errors on >=8.2.0 pytest ros2_tracing#236
• Flake8 regressions: 26.04 Resolute Racoon support #838 (comment)
• launch_pytest not building with pytest >= 8.4 launch#947
• Assertion test regressions with gcc15 on Resolute system_tests#584
• launch_testing regressions for Resolute launch#948

[claraberendsen]

First run attempt: ci.ros2.org/job/ci_linux/27069

sip4 source package that provided python3-sip-dev is no longer present in Resolute.
https://bugs.launchpad.net/ubuntu/+source/sip4/+bug/2134379
https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=1059648

After moving the pyqt bindings over to shiboken2 that is still available on Resolute, this seems to be addressed: 1d2303b

[claraberendsen]

Attempting another run with the last fix: https://ci.ros2.org/job/test_ci_linux/205.
It fails with a number of compiler errors in mcap_vendor package.

This is likely due to the bump from gcc-13 to gcc-15 in Resolute.
https://packages.ubuntu.com/resolute/gcc

[claraberendsen]

More testing with mcap latest.
On Ubuntu Noble it builds with a regression on get_metadata_include_topics_with_zero_messages: https://ci.ros2.org/job/ci_linux/27529/#showFailuresLink
On Ubuntu Resolute it fails with compiler errors on mcap
Upon review, it seems it builds on Resolute as well on latest with the regressions reported on the rosbag2 PR https://ci.ros2.org/job/ci_linux/27548/#showFailuresLink

[jtbandes]

tying the threads together -- the mcap_vendor fix is being tracked at ros2/rosbag2#2317.

[claraberendsen]

@jtbandes it appears that latest of mcap builds on Resolute https://ci.ros2.org/job/ci_linux/27548/#showFailuresLink with the same error reported by Michael Orlov in the linked PR.

[claraberendsen]

Fix to mcap to address regression in rosbag2 when moving to latest: foxglove/mcap#1526

[ros-discourse]

This issue has been mentioned on Open Robotics Discourse. There might be relevant details there:

https://discourse.openrobotics.org/t/ros-pmc-minutes-for-february-3-2026/52549/1

[ros-discourse]

This issue has been mentioned on Open Robotics Discourse. There might be relevant details there:

https://discourse.openrobotics.org/t/ros-pmc-minutes-for-februrary-10-2026/52550/1

[claraberendsen]

Running a fresher run now that the fix for mcap regression has been merged into master.

[claraberendsen]

PR to address cmake warnings: ament/googletest#40

[claraberendsen]

Complete full run: , last one tested up to rosbag2.

[claraberendsen]

Alright, last run show more things to fix 🛠️
Reference build:

Here is the list:

Flake 8 regressions

ros2trace

ros2trace.ros2trace.test.test_flake8.test_flake8

qt_gui (cpp and py)

qt_gui_py_common.flake8.I100 (./setup.py:5:1)
qt_gui_cpp.flake8.I100 (./setup.py:5:1)

demo_nodes_py

demo_nodes_py.demo_nodes_py.test.test_flake8.test_flake8

rqt_reconfigure

rqt_reconfigure.test.test_flake8.test_flake8

tracetools

tracetools_read.tracetools_read.test.test_flake8.test_flake8
tracetools_trace.tracetools_trace.test.test_flake8.test_flake8

others

message_filters.flake8.I100 (./setup.py:5:1)
resource_retriever.flake8.I100 (./setup.py:3:1)
camera_calibration_parsers.flake8.I100 (./setup.py:5:1)

Resolved

Details

rclpy

rclpy.flake8.I300 (./rclpy/init.py:67:1)
rclpy.flake8.I100 (./rclpy/action/client.py:62:1)
rclpy.flake8.I101 (./rclpy/action/client.py:63:1)
rclpy.flake8.I300 (./rclpy/action/server.py:55:1)
rclpy.flake8.I300 (./rclpy/callback_groups.py:21:1)
rclpy.flake8.I100 (./rclpy/callback_groups.py:23:1)
rclpy.flake8.I100 (./rclpy/callback_groups.py:26:1)
rclpy.flake8.I300 (./rclpy/exceptions.py:127:1)
rclpy.flake8.I300 (./rclpy/executors.py:75:1)
rclpy.flake8.I201 (./rclpy/executors.py:78:1)
rclpy.flake8.I201 (./rclpy/lifecycle/managed_entity.py:22:1)
rclpy.flake8.I100 (./rclpy/lifecycle/node.py:52:1)
rclpy.flake8.A005 (./rclpy/logging.py:1:2)
rclpy.flake8.I300 (./rclpy/task.py:26:1)
rclpy.flake8.A005 (./rclpy/time.py:1:2)
rclpy.flake8.I300 (./rclpy/type_description_service.py:34:1)
rclpy.flake8.I300 (./rclpy/waitable.py:24:1)

rosidl

rosidl_parser.flake8.I300 (./rosidl_parser/definition.py:99:1)
rosidl_parser.flake8.I100 (./rosidl_parser/parser.py:69:1)
rosidl_parser.flake8.I201 (./rosidl_parser/parser.py:69:1)
rosidl_adapter.flake8.I300 (./rosidl_adapter/cli.py:32:1)
rosidl_adapter.flake8.I300 (./rosidl_adapter/parser.py:81:1)
rosidl_adapter.flake8.A005 (./rosidl_adapter/resource/init.py:1:2)
rosidl_cli.test.test_flake8.test_flake8
rosidl_pycommon.test.test_flake8.test_flake8

ros2component

ros2component.ros2component.test.test_flake8.test_flake8

ros2pkg

ros2pkg.ros2pkg.test.test_flake8.test_flake8

ros2doctor

ros2doctor.ros2doctor.test.test_flake8.test_flake8

launch_ros

launch_ros.test.test_flake8.test_flake8

ros2cli

ros2cli.ros2cli.test.test_flake8.test_flake8

[claraberendsen]

The build failure was due to an issue in launch_pytest

E AttributeError: 'FixtureFunctionDefinition' object has no attribute '_pytestfixturefunction'. Did you mean: '_fixture_function'? 

Seems like the culprit is a bump on pytest version on Resolute from 7.4.4 to 9.0.2. Reference

[claraberendsen]

Testing with the latest version of the repos files with the mcap fix to check if the issues with incompatibility happen again.