[scarthgap]{jazzy}{humble} Fixes for ros2-control and ros2-canopen .bbappends

[graceagrace]

Many patches to build ros2-control recipes against Scarthgap + Jazzy are out-of-date, causing build failures. Additionally, lely-core-libraries needs some adjustments to compile successfully and enable the rest of the ros2-canopen recipes to build. This is a simple cleanup PR to get the patches in a state where the affected recipes build nicely again.

[robwoolley]

Thanks @graceagrace! I just updated scarthgap to the latest Jazzy sync. It passed a desktop-full test build (which doesn't include ros2-control). I will rebase and merge your fixes to get better coverage.

[chkohn]

thank you @graceagrace ! I pulled your branch and rebased it on top of @robwoolley's latest scarthgap update from this weekend.

I'm building ros2-control (jazzy+scarthgap) for aarch64 and I was seeing build failures on my end which I resolved with the below patch.

commit 29a7bc7d1b90c1092338f17d53873a0d43de2b42 (HEAD -> 2026.1)
Author: Christian Kohn <chris.kohn@amd.com>
Date:   Sat Dec 13 12:33:39 2025 -0700

    Revert "{jazzy} hardware-interface: Remove buildpath"

    This is causing compilation issues due to missing includes from
    pal-statistics.

    This reverts commit 0756a37ac0bc2e6f05e4d8fce2e7d87942838915.

    Instead, fix the build path issue by updating the sed command that
    processes the cmake export file.

    Signed-off-by: Christian Kohn <chris.kohn@amd.com>

diff --git a/meta-ros2-jazzy/recipes-bbappends/ros2-control/hardware-interface/remove-buildpath.patch b/meta-ros2-jazzy/recipes-bbappends/ros2-control/hardware-interface/remove-buildpath.patch
deleted file mode 100644
index 706629f3b..000000000
--- a/meta-ros2-jazzy/recipes-bbappends/ros2-control/hardware-interface/remove-buildpath.patch
+++ /dev/null
@@ -1,41 +0,0 @@
-From c5e950e3cef89a79cafd08cc58df978e08b4dae6 Mon Sep 17 00:00:00 2001
-From: Rob Woolley <rob.woolley@windriver.com>
-Date: Thu, 28 Aug 2025 07:53:47 -0700
-Subject: [PATCH] Remove buildpath
-
-Adding pal_statistics_INCLUDE_DIRS causes the absolute path to be
-included in export_hardware_interfaceExport.cmake.
-
-Including the CMake target in target_link_lirbaries() instead
-automatically adds the include directory at compile time. This
-also results in the target being used in the exported cmake file.
-
-Upstream-Status: Pending
-
-Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
----
- CMakeLists.txt | 4 ++--
- 1 file changed, 2 insertions(+), 2 deletions(-)
-
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index b250e3ecb..c78408ede 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -40,7 +40,6 @@ target_compile_features(hardware_interface PUBLIC cxx_std_17)
- target_include_directories(hardware_interface PUBLIC
-   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-   $<INSTALL_INTERFACE:include/hardware_interface>
--  ${pal_statistics_INCLUDE_DIRS}
- )
- target_link_libraries(hardware_interface PUBLIC
-                       rclcpp::rclcpp
-@@ -52,7 +51,8 @@ target_link_libraries(hardware_interface PUBLIC
-                       rcpputils::rcpputils
-                       tinyxml2
-                       ${joint_limits_TARGETS}
--                      ${pal_statistics_LIBRARIES}
-+                      ${pal_statistics_TARGETS}
-+                      ${pal_statistics_msgs_TARGETS}
-                       ${control_msgs_TARGETS}
-                       ${lifecycle_msgs_TARGETS}
-                       fmt::fmt)
diff --git a/meta-ros2-jazzy/recipes-bbappends/ros2-control/hardware-interface_4.42.2-1.bbappend b/meta-ros2-jazzy/recipes-bbappends/ros2-control/hardware-interface_4.42.2-1.bbappend
index 87fda8342..594301289 100644
--- a/meta-ros2-jazzy/recipes-bbappends/ros2-control/hardware-interface_4.42.2-1.bbappend
+++ b/meta-ros2-jazzy/recipes-bbappends/ros2-control/hardware-interface_4.42.2-1.bbappend
@@ -1,8 +1,7 @@
 # Copyright (c) 2022 Wind River Systems, Inc.

 FILESEXTRAPATHS:prepend := "${THISDIR}/${BPN}:"
-SRC_URI += "file://use-tinyxml-by-name.patch \
-            file://remove-buildpath.patch"
+SRC_URI += "file://use-tinyxml-by-name.patch"

 inherit pkgconfig

@@ -18,5 +17,5 @@ ROS_BUILDTOOL_DEPENDS += " \

 # QA Issue: File /opt/ros/rolling/share/hardware_interface/cmake/export_hardware_interfaceExport.cmake in package hardware-interface-dev contains reference to TMPDIR [buildpaths]
 do_install:append() {
-    sed -i -e "s#${RECIPE_SYSROOT}##g" ${D}${ros_prefix}/share/hardware_interface/cmake/export_hardware_interfaceExport.cmake
+    sed -i -e "s#${RECIPE_SYSROOT}#\${_IMPORT_PREFIX}/../../..#g" ${D}${ros_prefix}/share/hardware_interface/cmake/export_hardware_interfaceExport.cmake
 }

with that patch on top of this series, I'm able to build ros2-control successfully.

[chkohn]

I'm also seeing a build error with canopen on my end (same build target) but I haven't had time to troubleshoot it. Abbreviated log snippet of the failure I'm seeing below:

| FAILED: libcanopen_interfaces__rosidl_generator_c.so
| /scratch/ckohn/yocto-edf-26.1-new/build/tmp/work/cortexa72-cortexa53-amd-linux/canopen-interfaces/0.3.2-1/recipe-sysroot-native/opt/ros/jazzy/lib/libservice_msgs__rosidl_generator_c.so: error adding symbols: file in wrong format
| collect2: error: ld returned 1 exit status
| ninja: build stopped: subcommand failed.
|
| WARNING: exit code 1 from a shell command.
ERROR: Task (/scratch/ckohn/yocto-edf-26.1-new/sources/poky/../meta-ros/meta-ros2-jazzy/generated-recipes/ros2-canopen/canopen-interfaces_0.3.2-1.bb:do_compile) failed with exit code '1'

[graceagrace]

I'm also seeing a build error with canopen on my end (same build target) but I haven't had time to troubleshoot it. Abbreviated log snippet of the failure I'm seeing below:

| FAILED: libcanopen_interfaces__rosidl_generator_c.so
| /scratch/ckohn/yocto-edf-26.1-new/build/tmp/work/cortexa72-cortexa53-amd-linux/canopen-interfaces/0.3.2-1/recipe-sysroot-native/opt/ros/jazzy/lib/libservice_msgs__rosidl_generator_c.so: error adding symbols: file in wrong format
| collect2: error: ld returned 1 exit status
| ninja: build stopped: subcommand failed.
|
| WARNING: exit code 1 from a shell command.
ERROR: Task (/scratch/ckohn/yocto-edf-26.1-new/sources/poky/../meta-ros/meta-ros2-jazzy/generated-recipes/ros2-canopen/canopen-interfaces_0.3.2-1.bb:do_compile) failed with exit code '1'

Add this to a .bbappend:

ROS_BUILD_DEPENDS += "\
    service-msgs \
"

I can push a commit with this addition to this branch.

[graceagrace]

I added the .bbappend for canopen-interfaces as well as some other .bbappends from my local workspace that enabled a successful build of the ros2-control recipes.

[chkohn]

thanks @graceagrace for the quick reply. I cherry-picked your latest 2 commits and with a couple more tweaks, i'm able to build canopen on my end as well:

1. adjust recipe version of bbappend files (presumably this is needed due to @robwoolley 's merge over the weekend)

R  meta-ros2-jazzy/recipes-bbappends/ros2-canopen/canopen-base-driver_0.3.1-1.bbappend -> meta-ros2-jazzy/recipes-bbappends/ros2-canopen/canopen-base-driver_0.3.2-1.bbappend
R  meta-ros2-jazzy/recipes-bbappends/ros2-canopen/canopen-core_0.3.1-1.bbappend -> meta-ros2-jazzy/recipes-bbappends/ros2-canopen/canopen-core_0.3.2-1.bbappend
R  meta-ros2-jazzy/recipes-bbappends/ros2-canopen/canopen-master-driver_0.3.1-1.bbappend -> meta-ros2-jazzy/recipes-bbappends/ros2-canopen/canopen-master-driver_0.3.2-1.bbappend
R  meta-ros2-jazzy/recipes-bbappends/ros2-canopen/canopen-proxy-driver_0.3.1-1.bbappend -> meta-ros2-jazzy/recipes-bbappends/ros2-canopen/canopen-proxy-driver_0.3.2-1.bbappend

2. fixup license and build warnings in canopen-402-driver. You probably have a similar patch in your tree I would guess

commit b687bfe278569381a8d1b06714e6d6529bb0ffe7 (HEAD -> 2026.1)
Author: Christian Kohn <chris.kohn@amd.com>
Date:   Mon Feb 2 13:03:58 2026 -0700

    canopen-402-driver: Fix license and ignore warning

    Fix license by setting it to LGPL-3.0-only. Ignore build warnings
    by appending CXXFLAGS.

    Signed-off-by: Christian Kohn <chris.kohn@amd.com>

diff --git a/meta-ros2-jazzy/recipes-bbappends/ros2-canopen/canopen-402-driver_0.3.2-1.bbappend b/meta-ros2-jazzy/recipes-bbappends/ros2-canopen/canopen-402-driver_0.3.2-1.bbappend
new file mode 100644
index 000000000..ca98ed52d
--- /dev/null
+++ b/meta-ros2-jazzy/recipes-bbappends/ros2-canopen/canopen-402-driver_0.3.2-1.bbappend
@@ -0,0 +1,3 @@
+LICENSE = "LGPL-3.0-only"
+
+CXXFLAGS += "-Wno-error=format-security"

[graceagrace]

Great, thank you for testing @chkohn! Would you like me to apply these changes to a commit of my own? Otherwise, you're welcome to push these to my branch. Afterwards, I will rebase onto the tip of scarthgap-next.

[chkohn]

@graceagrace feel free to absorb my changes into your commits, that will be cleaner.

[chkohn]

I think this PR addresses #1559

[graceagrace]

I think this PR addresses #1559

It did not before, but it should now! I had a patch for that issue in my local tree.

I'll add your changes to a commit later today, apologies for the delay on this.

[chkohn]

@graceagrace no rush from my side. and thanks for including a fix for controller-manager as well. my bad, i must have had a local commit then that I missed.

[graceagrace]

Alright, it seems to me that the rebase made everything happy - I was able to build ros2-control and the affected ros2-canopen recipes.

I did notice that rebasing made a bit of a mess of the commit history and created duplicates of my initial commits - a bit of a newbie question, but is there any way for me to resolve this?

[robwoolley]

Using "git rebase -i" changed my world. You can move commits around as well as edit them in place, merge, and squash them. It might take a little getting used to at first. I recommend making a backup of your work somewhere (perhaps on a duplicate branch or repo).

[graceagrace]

@robwoolley thank you for the tip, this changed my world as well! I was able to clean up the commits.

@chkohn, I applied the changes you needed to build, but let me know if something is newly broken/still not working.

[chkohn]

@graceagrace thanks for updating the PR.

I was able to build canopen without any issues.

I then tried ros2-control and I ran into a patch fuzz issue with this patch from commit 1973d1a
meta-ros2-jazzy/recipes-bbappends/ros2-control/controller-manager/0001-add-pal-statistics-library-targets.patch

I updated the patch as follows which worked for me

+From 44385e58d4d02a752432a7992be24980e639982e Mon Sep 17 00:00:00 2001
+From: Amelia Grace <agrace@bastiansolutions.com>
+Date: Fri, 23 Jan 2026 00:32:56 -0700
+Subject: [PATCH] add-pal-statistics-library-targets
+
+Signed-off-by: Amelia Grace <agrace@bastiansolutions.com>
+---
+ CMakeLists.txt | 5 ++++-
+ 1 file changed, 4 insertions(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9c3e21865..cceeed1a7 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -14,6 +14,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
+   hardware_interface
+   libstatistics_collector
+   lifecycle_msgs
++  pal_statistics
+   pluginlib
+   rclcpp
+   realtime_tools
+@@ -53,7 +54,9 @@ target_link_libraries(controller_manager PUBLIC
+                       libstatistics_collector::libstatistics_collector
+                       fmt::fmt
+                       ${std_msgs_TARGETS}
+-                      ${controller_manager_msgs_TARGETS})
++                      ${controller_manager_msgs_TARGETS}
++                      ${pal_statistics_LIBRARIES}
++                      )
+ 
+ add_executable(ros2_control_node src/ros2_control_node.cpp)
+ target_link_libraries(ros2_control_node PRIVATE

however, i do still see a compilation issue with hardware-interface on my end as reported in #1635 (comment) . after applying the patch that I posted, i can build hardware-interface and thus ros2-control.

[graceagrace]

Thanks @chkohn! Once again, I'm guilty of having a patch in my local tree that fixed the issue with hardware-interface. In my case, I went after pal-statistics and changed how it was exporting its include paths to solve the build error with hardware-interface, but I think the solution you proposed above is cleaner, so that's what I committed.