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Merge upstream/main (c503843) into batch-robotics - #5
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…taScaleLabs#339) Co-authored-by: Sathakkadhullah <57533054+sathak93@users.noreply.github.com>
…set trees (ZettaScaleLabs#344) Co-authored-by: Claude Opus 4.8 <noreply@anthropic.com> Co-authored-by: yuanyuyuan <az6980522@gmail.com>
This merge syncs the fork with ZettaScaleLabs/hiroz up to ZettaScaleLabs#357. The sync brings the 0.2.0 release, one version for all workspace crates, the liveliness replay FIFO (ZettaScaleLabs#226), the SYSTEM_DEFAULT QoS decode (ZettaScaleLabs#337), the nested dependencies for action hashes (ZettaScaleLabs#339) and the validation of absolute topic names. Conflict resolution: - zenoh stays pinned at ~1.8 in the workspace and in hiroz-protocol, because our routers use zenoh-c 1.8. Cargo.lock resolves only zenoh 1.8.0. hiroz-protocol gets the new hiroz-schema dependency from upstream. - hiroz-protocol qos.rs uses the upstream decoder (ZettaScaleLabs#337). It replaces our cherry-picked decode of an omitted default history. - hiroz-codegen resolver.rs uses the upstream order of nested dependencies (ZettaScaleLabs#339). Our hard errors for missing UUID and Time descriptions stay. - tests/action_nested_deps.rs keeps two tests: our synthetic nested type and the upstream test with pinned hashes for tf2_msgs/LookupTransform. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Upstream formats the code with a nightly rustfmt configuration. Stable rustfmt changes four files that come from upstream/main. If the fork changes to nightly rustfmt, drop this commit. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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MaxiMaerz
marked this pull request as ready for review
September 29, 2026 12:26
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Is a merge the best way to update a fork? Intuitively I would have rebased on the latest remove but I also do not have a lot of experience |
Author
So rebase:
But:
Also the history shows other merge commits. I can try to rebase but unclear what it gives us besides more work. I also have not much exp. on how to fork and modify such external repos. |
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Summary
This PR merges upstream/main (c503843, up to ZettaScaleLabs#357) into
batch-robotics. It is the first sync of the fork with ZettaScaleLabs/hiroz.The sync makes these fork commits redundant:
These fork changes stay, because upstream does not have them:
~1.8pin. Cargo.lock resolves only zenoh 1.8.0.The merge had four conflicts. The merge commit message describes each resolution.
The second commit applies stable
cargo fmtto four files from upstream. Upstream uses a nightly rustfmt configuration. If the fork changes to nightly rustfmt, drop that commit.Changes that the monorepo must test before it pins this revision
ZContextBuilder::default()readsROS_DOMAIN_ID. The monorepo sets this variable only for the rerun-bridge, which already gives the domain explicitly.Verification
cargo fmt --all -- --checkcargo clippy --all-targets -- -D warningscargo test -p hiroz --lib --testscargo test -p hiroz-codegencargo test -p hiroz-protocolcargo test -p hiroz-tests --features ros-msgs,jazzy --test parameter_tests(13 of 13)All pass.
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