Repare CI for embedded targets

.github/workflows/ci.yml

@@ -6,9 +6,18 @@ on:
       ci_target_ref:
         required: true
         type: string
+  workflow_dispatch:
+    inputs:
+      name:
+        description: "Manual trigger"
 
 env:
   ROS_DISTRO: rolling
+  # Pinned to avoid a flaky api.github.com lookup for the latest release
+  # Keep it updated with the latest version from
+  # https://github.com/ros-infrastructure/ros-apt-source/releases
+  # (an outdated version stops working when the ROS repository key changes)
+  ROS_APT_SOURCE_VERSION: 1.3.0
 
 jobs:
 
@@ -24,6 +33,14 @@ jobs:
           path: src/micro_ros_setup
           ref: ${{ inputs.ci_target_ref }}
 
+      # Installing the ROS apt source beforehand makes setup-ros skip its
+      # api.github.com lookup, which is often rate-limited on shared runners
+      - name: Install ROS apt source
+        run: |
+          apt-get update && apt-get install -y ca-certificates curl
+          curl -fL -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-testing-apt-source_${ROS_APT_SOURCE_VERSION}.resolute_all.deb
+          apt-get install -y /tmp/ros2-apt-source.deb
+
       - uses: ros-tooling/setup-ros@0.7.19
         with:
           # Rolling binaries for Ubuntu Resolute are only published to the
@@ -74,6 +91,14 @@ jobs:
           path: src/micro_ros_setup
           ref: ${{ inputs.ci_target_ref }}
 
+      # Installing the ROS apt source beforehand makes setup-ros skip its
+      # api.github.com lookup, which is often rate-limited on shared runners
+      - name: Install ROS apt source
+        run: |
+          apt-get update && apt-get install -y ca-certificates curl
+          curl -fL -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-testing-apt-source_${ROS_APT_SOURCE_VERSION}.resolute_all.deb
+          apt-get install -y /tmp/ros2-apt-source.deb
+
       - uses: ros-tooling/setup-ros@0.7.19
         with:
           # Rolling binaries for Ubuntu Resolute are only published to the
@@ -227,6 +252,14 @@ jobs:
           path: src/micro_ros_setup
           ref: ${{ inputs.ci_target_ref }}
 
+      # Installing the ROS apt source beforehand makes setup-ros skip its
+      # api.github.com lookup, which is often rate-limited on shared runners
+      - name: Install ROS apt source
+        run: |
+          apt-get update && apt-get install -y ca-certificates curl
+          curl -fL -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-testing-apt-source_${ROS_APT_SOURCE_VERSION}.resolute_all.deb
+          apt-get install -y /tmp/ros2-apt-source.deb
+
       - uses: ros-tooling/setup-ros@0.7.19
         with:
           # Rolling binaries for Ubuntu Resolute are only published to the

config/android/generic/create.sh

@@ -3,11 +3,19 @@ pushd $FW_TARGETDIR >/dev/null
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2_tracing/test_tracetools/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    # TEMPORARY: rosidl_buffer_py does not exist at the pinned ros2/rosidl commit
+    # touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    # TEMPORARY: nothing requires these at the pinned ros2/rosidl commit, and they are
+    # C++ with exceptions, so they cannot build here
+    touch mcu_ws/ros2/rosidl/rosidl_buffer/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null

config/freertos/crazyflie21/create.sh

@@ -13,12 +13,20 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/test_tracetools/COLCON_IGNORE
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    # TEMPORARY: rosidl_buffer_py does not exist at the pinned ros2/rosidl commit
+    # touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    # TEMPORARY: nothing requires these at the pinned ros2/rosidl commit, and they are
+    # C++ with exceptions, so they cannot build here
+    touch mcu_ws/ros2/rosidl/rosidl_buffer/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null

config/freertos/esp32/build.sh

@@ -8,6 +8,11 @@ source $FW_TARGETDIR/venv/bin/activate
 export IDF_TOOLS_PATH=$FW_TARGETDIR/toolchain/espressif
 export IDF_PATH=$FW_TARGETDIR/toolchain/esp-idf
 
+# ESP-IDF v4.1 vendors third-party trees (mbedtls) whose cmake_minimum_required
+# predates 3.5, which CMake 4 rejects outright. Restore the old floor until the
+# pinned ESP-IDF is bumped.
+export CMAKE_POLICY_VERSION_MINIMUM=3.5
+
 eval $(python3 $FW_TARGETDIR/toolchain/esp-idf/tools/idf_tools.py export --prefer-system)
 
 . $IDF_PATH/export.sh

config/freertos/esp32/configure.sh

@@ -57,6 +57,11 @@ UROS_APP_FOLDER="$FW_TARGETDIR/freertos_apps/apps/$UROS_APP"
 export IDF_TOOLS_PATH=$FW_TARGETDIR/toolchain/espressif
 export IDF_PATH=$FW_TARGETDIR/toolchain/esp-idf
 
+# ESP-IDF v4.1 vendors third-party trees (mbedtls) whose cmake_minimum_required
+# predates 3.5, which CMake 4 rejects outright. Restore the old floor until the
+# pinned ESP-IDF is bumped.
+export CMAKE_POLICY_VERSION_MINIMUM=3.5
+
 eval $(python3 $FW_TARGETDIR/toolchain/esp-idf/tools/idf_tools.py export --prefer-system)
 
 . $IDF_PATH/export.sh

config/freertos/esp32/create.sh

@@ -47,12 +47,20 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/test_tracetools/COLCON_IGNORE
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    # TEMPORARY: rosidl_buffer_py does not exist at the pinned ros2/rosidl commit
+    # touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    # TEMPORARY: nothing requires these at the pinned ros2/rosidl commit, and they are
+    # C++ with exceptions, so they cannot build here
+    touch mcu_ws/ros2/rosidl/rosidl_buffer/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null

config/freertos/nucleo_f446re/create.sh

@@ -14,12 +14,20 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/test_tracetools/COLCON_IGNORE
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    # TEMPORARY: rosidl_buffer_py does not exist at the pinned ros2/rosidl commit
+    # touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    # TEMPORARY: nothing requires these at the pinned ros2/rosidl commit, and they are
+    # C++ with exceptions, so they cannot build here
+    touch mcu_ws/ros2/rosidl/rosidl_buffer/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null

config/freertos/nucleo_f446ze/create.sh

@@ -14,12 +14,20 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/test_tracetools/COLCON_IGNORE
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    # TEMPORARY: rosidl_buffer_py does not exist at the pinned ros2/rosidl commit
+    # touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    # TEMPORARY: nothing requires these at the pinned ros2/rosidl commit, and they are
+    # C++ with exceptions, so they cannot build here
+    touch mcu_ws/ros2/rosidl/rosidl_buffer/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null

config/freertos/nucleo_f746zg/create.sh

@@ -14,12 +14,20 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/test_tracetools/COLCON_IGNORE
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    # TEMPORARY: rosidl_buffer_py does not exist at the pinned ros2/rosidl commit
+    # touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    # TEMPORARY: nothing requires these at the pinned ros2/rosidl commit, and they are
+    # C++ with exceptions, so they cannot build here
+    touch mcu_ws/ros2/rosidl/rosidl_buffer/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null

config/freertos/nucleo_f767zi/create.sh

@@ -14,12 +14,20 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/test_tracetools/COLCON_IGNORE
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    # TEMPORARY: rosidl_buffer_py does not exist at the pinned ros2/rosidl commit
+    # touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    # TEMPORARY: nothing requires these at the pinned ros2/rosidl commit, and they are
+    # C++ with exceptions, so they cannot build here
+    touch mcu_ws/ros2/rosidl/rosidl_buffer/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null

config/freertos/olimex-stm32-e407/create.sh

@@ -14,13 +14,21 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/test_tracetools/COLCON_IGNORE
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    # TEMPORARY: rosidl_buffer_py does not exist at the pinned ros2/rosidl commit
+    # touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    # TEMPORARY: nothing requires these at the pinned ros2/rosidl commit, and they are
+    # C++ with exceptions, so they cannot build here
+    touch mcu_ws/ros2/rosidl/rosidl_buffer/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
     touch mcu_ws/ros2/rmw/rmw_security_common/COLCON_IGNORE
 
 popd >/dev/null

config/generate_lib/generic/create.sh

@@ -2,13 +2,21 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/test_tracetools/COLCON_IGNORE
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    # TEMPORARY: rosidl_buffer_py does not exist at the pinned ros2/rosidl commit
+    # touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    # TEMPORARY: nothing requires these at the pinned ros2/rosidl commit, and they are
+    # C++ with exceptions, so they cannot build here
+    touch mcu_ws/ros2/rosidl/rosidl_buffer/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
     touch mcu_ws/ros2/rmw/rmw_security_common/COLCON_IGNORE
 
 popd >/dev/null

config/raspbian/generic/configure.sh

@@ -8,9 +8,22 @@ pushd $FW_TARGETDIR >/dev/null
         ros2 run micro_ros_setup yaml_filter.py raspbian_apps/$CONFIG_NAME/ros2_repos.filter > ros2.repos
     vcs import --input ros2.repos mcu_ws/ && rm ros2.repos
 
+    # TEMPORARY: pin ros2/rosidl to the last commit before ros2/rosidl#942, which made
+    # rosidl_runtime_c (C) depend on rosidl_buffer (C++, throws std::runtime_error)
+    if [ -d mcu_ws/ros2/rosidl ]; then
+        git -C mcu_ws/ros2/rosidl reset --hard 5f4ace0288ecf942307ed62b9239ab5986884676
+    fi
+
     if [ -d mcu_ws/ros2/rosidl ]; then
         touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_c/COLCON_IGNORE
         touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
+        # TEMPORARY: rosidl_buffer_py does not exist at the pinned ros2/rosidl commit
+        # touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+        # TEMPORARY: nothing requires these at the pinned ros2/rosidl commit, and they are
+        # C++ with exceptions, so they cannot build here
+        touch mcu_ws/ros2/rosidl/rosidl_buffer/COLCON_IGNORE
+        touch mcu_ws/ros2/rosidl/rosidl_buffer_backend/COLCON_IGNORE
+        touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
     fi
 
     vcs import --input raspbian_apps/$CONFIG_NAME/app.repos mcu_ws/

config/zephyr/generic/build.sh

@@ -9,6 +9,11 @@ pushd $FW_TARGETDIR >/dev/null
     export ZEPHYR_SDK_INSTALL_DIR=$FW_TARGETDIR/zephyr-sdk
     export PATH=~/.local/bin:"$PATH"
 
+    # Zephyr v2.6.0 vendors third-party modules (civetweb) whose
+    # cmake_minimum_required predates 3.5, which CMake 4 rejects outright.
+    # Restore the old floor until the pinned Zephyr is bumped.
+    export CMAKE_POLICY_VERSION_MINIMUM=3.5
+
 
     # Retrieve user app
     unset UROS_APP

config/zephyr/generic/create.sh

@@ -70,13 +70,21 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/test_tracetools/COLCON_IGNORE
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    # TEMPORARY: rosidl_buffer_py does not exist at the pinned ros2/rosidl commit
+    # touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    # TEMPORARY: nothing requires these at the pinned ros2/rosidl commit, and they are
+    # C++ with exceptions, so they cannot build here
+    touch mcu_ws/ros2/rosidl/rosidl_buffer/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
     # Upgrade sphinx
     pip install --force-reinstall docutils==0.16 Sphinx==4.2.0

scripts/create_firmware_ws.sh

@@ -95,6 +95,12 @@ pushd $FW_TARGETDIR >/dev/null
         mkdir mcu_ws
         ros2 run micro_ros_setup create_ws.sh mcu_ws $PREFIX/config/client_ros2_packages.txt $PREFIX/config/$RTOS/$TARGET_FOLDER/client_uros_packages.repos
         cp $PREFIX/config/$RTOS/$TARGET_FOLDER/client-colcon.meta mcu_ws/colcon.meta || :
+
+        # TEMPORARY: pin ros2/rosidl to the last commit before ros2/rosidl#942, which made
+        # rosidl_runtime_c (C) depend on rosidl_buffer (C++, throws std::runtime_error)
+        if [ -d mcu_ws/ros2/rosidl ]; then
+            git -C mcu_ws/ros2/rosidl reset --hard 5f4ace0288ecf942307ed62b9239ab5986884676
+        fi
     fi
 popd >/dev/null