Update pixi.toml with gz-sim9 and new ROS Humble packages on February 2025

[traversaro]

Several changes:

• Thanks to the recent ros-humble rebuild (Rebuild January 2025 - switch to rattler-build RoboStack/ros-humble#229) we now have all the ros2 packages required by both ROBOTOLOGY_USES_ROS2 and ROBOTOLOGY_USES_MOVEIT on all the platforms we support. This permits us to remove the separate between ros2 and ros2moveit pixi environments, and to enable the CI of ROBOTOLOGY_USES_MOVEIT on all operating systems. We can also add back the pcl = ">=1.11.1" and libopencv = ">=4.10.0" constraints in the ros2 pixi environment.
• Add swig = ">=4.2.1" constraint that is required by YARP 3.11
• Update dependencies of ROBOTOLOGY_USES_GZ from gz-sim8 (Gazebo Harmonic) to gz-sim9 (Gazebo Ionic).

[traversaro]

Interestingly, there is a glfw3 related error:

2025-02-21T17:17:59.5589970Z FAILED: src/visualization/CMakeFiles/idyntree-visualization.dir/src/Visualizer.cpp.o 
2025-02-21T17:17:59.5595974Z /home/runner/work/robotology-superbuild/robotology-superbuild/.pixi/envs/default/bin/x86_64-conda-linux-gnu-c++ -DIDYNTREE_GLFW_TRY_WAYLAND_FIRST -DIDYNTREE_USES_ASSIMP -DIDYNTREE_USES_IRRLICHT -Didyntree_visualization_EXPORTS -I/home/runner/work/robotology-superbuild/robotology-superbuild/src/iDynTree/src/visualization/include -I/home/runner/work/robotology-superbuild/robotology-superbuild/src/iDynTree/src/core/include -I/home/runner/work/robotology-superbuild/robotology-superbuild/.build/src/iDynTree/src/core -I/home/runner/work/robotology-superbuild/robotology-superbuild/src/iDynTree/src/model/include -I/home/runner/work/robotology-superbuild/robotology-superbuild/.build/src/iDynTree/src/model -isystem /home/runner/work/robotology-superbuild/robotology-superbuild/.pixi/envs/default/include/eigen3 -isystem /home/runner/work/robotology-superbuild/robotology-superbuild/.pixi/envs/default/include/irrlicht -fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/runner/work/robotology-superbuild/robotology-superbuild/.pixi/envs/default/include -O3 -DNDEBUG -fPIC -Wall -Wextra -Woverloaded-virtual -pedantic -MD -MT src/visualization/CMakeFiles/idyntree-visualization.dir/src/Visualizer.cpp.o -MF src/visualization/CMakeFiles/idyntree-visualization.dir/src/Visualizer.cpp.o.d -o src/visualization/CMakeFiles/idyntree-visualization.dir/src/Visualizer.cpp.o -c /home/runner/work/robotology-superbuild/robotology-superbuild/src/iDynTree/src/visualization/src/Visualizer.cpp
2025-02-21T17:17:59.5602473Z In file included from /home/runner/work/robotology-superbuild/robotology-superbuild/.pixi/envs/default/include/GLFW/glfw3native.h:119,
2025-02-21T17:17:59.5603335Z                  from /home/runner/work/robotology-superbuild/robotology-superbuild/src/iDynTree/src/visualization/src/Visualizer.cpp:36:
2025-02-21T17:17:59.5604381Z /home/runner/work/robotology-superbuild/robotology-superbuild/.pixi/envs/default/include/X11/extensions/Xrandr.h:32:10: fatal error: X11/extensions/randr.h: No such file or directory
2025-02-21T17:17:59.5605133Z    32 | #include <X11/extensions/randr.h>
2025-02-21T17:17:59.5605383Z       |          ^~~~~~~~~~~~~~~~~~~~~~~~
2025-02-21T17:17:59.5605621Z compilation terminated.

Based on https://conda-metadata-app.streamlit.app/Search_by_file_path?path=include%2FX11%2Fextensions%2Frandr.h, I guess we need to add the xorg-xorgproto.

[traversaro]

On Windows there is an interesting failure:

CMake Error at D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:233 (message):
  Could NOT find Python3 (missing: Python3_NumPy_INCLUDE_DIRS NumPy) (found
  version "3.13.2")
Call Stack (most recent call first):
  D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:603 (_FPHSA_FAILURE_MESSAGE)
  D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/cmake-3.31/Modules/FindPython/Support.cmake:4002 (find_package_handle_standard_args)
  D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/cmake-3.31/Modules/FindPython3.cmake:602 (include)
  D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:22 (find_package)
  D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
  ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt:45 (rosidl_generate_interfaces)

[traversaro]

The CI failures will be fixed by ami-iit/yarp-device-openxrheadset#60 .

[traversaro]

yarp-devices-ros2 on Windows is failing with error:

2025-02-23T15:02:18.5893930Z -- Found rosidl_default_generators: 1.2.0 (D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_default_generators/cmake)
2025-02-23T15:02:18.5894806Z -- Found ament_lint_auto: 0.12.11 (D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/ament_lint_auto/cmake)
2025-02-23T15:02:18.5895596Z -- Found ament_cmake_ros: 0.10.0 (D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/ament_cmake_ros/cmake)
2025-02-23T15:02:18.5896317Z -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
2025-02-23T15:02:18.5896991Z -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
2025-02-23T15:02:18.5897763Z -- Found python_cmake_module: 0.10.0 (D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/python_cmake_module/cmake)
2025-02-23T15:02:18.5898764Z CMake Warning (dev) at D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/python_cmake_module/cmake/Modules/FindPythonExtra.cmake:52 (find_package):
2025-02-23T15:02:18.5899563Z   Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
2025-02-23T15:02:18.5899981Z   are removed.  Run "cmake --help-policy CMP0148" for policy details.  Use
2025-02-23T15:02:18.5900390Z   the cmake_policy command to set the policy and suppress this warning.
2025-02-23T15:02:18.5900635Z 
2025-02-23T15:02:18.5900715Z Call Stack (most recent call first):
2025-02-23T15:02:18.5901403Z   D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:21 (find_package)
2025-02-23T15:02:18.5902471Z   D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
2025-02-23T15:02:18.5903515Z   D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
2025-02-23T15:02:18.5904325Z   ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt:45 (rosidl_generate_interfaces)
2025-02-23T15:02:18.5904791Z This warning is for project developers.  Use -Wno-dev to suppress it.
2025-02-23T15:02:18.5905035Z 
2025-02-23T15:02:18.5905429Z -- Found PythonInterp: C:/hostedtoolcache/windows/Python/3.9.13/x64/python3.exe (found suitable version "3.9.13", minimum required is "3.6")
2025-02-23T15:02:18.5906418Z CMake Warning (dev) at D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/python_cmake_module/cmake/Modules/FindPythonExtra.cmake:140 (find_package):
2025-02-23T15:02:18.5907583Z   Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
2025-02-23T15:02:18.5908033Z   are removed.  Run "cmake --help-policy CMP0148" for policy details.  Use
2025-02-23T15:02:18.5908739Z   the cmake_policy command to set the policy and suppress this warning.
2025-02-23T15:02:18.5909070Z 
2025-02-23T15:02:18.5909158Z Call Stack (most recent call first):
2025-02-23T15:02:18.5909850Z   D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:21 (find_package)
2025-02-23T15:02:18.5910922Z   D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
2025-02-23T15:02:18.5911954Z   D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
2025-02-23T15:02:18.5912771Z   ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt:45 (rosidl_generate_interfaces)
2025-02-23T15:02:18.5913243Z This warning is for project developers.  Use -Wno-dev to suppress it.
2025-02-23T15:02:18.5913497Z 
2025-02-23T15:02:18.5914045Z -- Found PythonLibs: C:/hostedtoolcache/windows/Python/3.9.13/x64/libs/python39.lib (found suitable version "3.9.13", minimum required is "3.5")
2025-02-23T15:02:18.5915608Z -- Using PYTHON_EXECUTABLE: C:/hostedtoolcache/windows/Python/3.9.13/x64/python3.exe
2025-02-23T15:02:18.5916110Z -- Using PYTHON_INCLUDE_DIRS: C:/hostedtoolcache/windows/Python/3.9.13/x64/include
2025-02-23T15:02:18.5916601Z -- Using PYTHON_LIBRARIES: C:/hostedtoolcache/windows/Python/3.9.13/x64/libs/python39.lib
2025-02-23T15:02:18.5916975Z -- Found PythonExtra: .pyd
2025-02-23T15:02:18.5917632Z CMake Error at D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:233 (message):
2025-02-23T15:02:18.5918414Z   Could NOT find Python3 (missing: Python3_NumPy_INCLUDE_DIRS NumPy) (found
2025-02-23T15:02:18.5918736Z   version "3.13.2")

[traversaro]

yarp-devices-ros2 on Windows is failing with error:

2025-02-23T15:02:18.5893930Z -- Found rosidl_default_generators: 1.2.0 (D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_default_generators/cmake)
2025-02-23T15:02:18.5894806Z -- Found ament_lint_auto: 0.12.11 (D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/ament_lint_auto/cmake)
2025-02-23T15:02:18.5895596Z -- Found ament_cmake_ros: 0.10.0 (D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/ament_cmake_ros/cmake)
2025-02-23T15:02:18.5896317Z -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
2025-02-23T15:02:18.5896991Z -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
2025-02-23T15:02:18.5897763Z -- Found python_cmake_module: 0.10.0 (D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/python_cmake_module/cmake)
2025-02-23T15:02:18.5898764Z CMake Warning (dev) at D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/python_cmake_module/cmake/Modules/FindPythonExtra.cmake:52 (find_package):
2025-02-23T15:02:18.5899563Z   Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
2025-02-23T15:02:18.5899981Z   are removed.  Run "cmake --help-policy CMP0148" for policy details.  Use
2025-02-23T15:02:18.5900390Z   the cmake_policy command to set the policy and suppress this warning.
2025-02-23T15:02:18.5900635Z 
2025-02-23T15:02:18.5900715Z Call Stack (most recent call first):
2025-02-23T15:02:18.5901403Z   D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:21 (find_package)
2025-02-23T15:02:18.5902471Z   D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
2025-02-23T15:02:18.5903515Z   D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
2025-02-23T15:02:18.5904325Z   ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt:45 (rosidl_generate_interfaces)
2025-02-23T15:02:18.5904791Z This warning is for project developers.  Use -Wno-dev to suppress it.
2025-02-23T15:02:18.5905035Z 
2025-02-23T15:02:18.5905429Z -- Found PythonInterp: C:/hostedtoolcache/windows/Python/3.9.13/x64/python3.exe (found suitable version "3.9.13", minimum required is "3.6")
2025-02-23T15:02:18.5906418Z CMake Warning (dev) at D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/python_cmake_module/cmake/Modules/FindPythonExtra.cmake:140 (find_package):
2025-02-23T15:02:18.5907583Z   Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
2025-02-23T15:02:18.5908033Z   are removed.  Run "cmake --help-policy CMP0148" for policy details.  Use
2025-02-23T15:02:18.5908739Z   the cmake_policy command to set the policy and suppress this warning.
2025-02-23T15:02:18.5909070Z 
2025-02-23T15:02:18.5909158Z Call Stack (most recent call first):
2025-02-23T15:02:18.5909850Z   D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:21 (find_package)
2025-02-23T15:02:18.5910922Z   D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
2025-02-23T15:02:18.5911954Z   D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
2025-02-23T15:02:18.5912771Z   ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt:45 (rosidl_generate_interfaces)
2025-02-23T15:02:18.5913243Z This warning is for project developers.  Use -Wno-dev to suppress it.
2025-02-23T15:02:18.5913497Z 
2025-02-23T15:02:18.5914045Z -- Found PythonLibs: C:/hostedtoolcache/windows/Python/3.9.13/x64/libs/python39.lib (found suitable version "3.9.13", minimum required is "3.5")
2025-02-23T15:02:18.5915608Z -- Using PYTHON_EXECUTABLE: C:/hostedtoolcache/windows/Python/3.9.13/x64/python3.exe
2025-02-23T15:02:18.5916110Z -- Using PYTHON_INCLUDE_DIRS: C:/hostedtoolcache/windows/Python/3.9.13/x64/include
2025-02-23T15:02:18.5916601Z -- Using PYTHON_LIBRARIES: C:/hostedtoolcache/windows/Python/3.9.13/x64/libs/python39.lib
2025-02-23T15:02:18.5916975Z -- Found PythonExtra: .pyd
2025-02-23T15:02:18.5917632Z CMake Error at D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:233 (message):
2025-02-23T15:02:18.5918414Z   Could NOT find Python3 (missing: Python3_NumPy_INCLUDE_DIRS NumPy) (found
2025-02-23T15:02:18.5918736Z   version "3.13.2")

I added a workaround for this in c873c1f .