Add MoveIt Task Constructor packages (core, capabilities, visualization, demo, rviz_marker_tools)

[iamnambiar]

This PR adds the six MoveIt Task Constructor packages to ros-lyrical:

1. moveit-task-constructor-core
2. moveit-task-constructor-capabilities
3. moveit-task-constructor-msgs
4. moveit-task-constructor-visualization
5. moveit-task-constructor-demo
6. rviz-marker-tools

along with patches needed to build moveit-task-constructor-core and moveit-task-constructor-visualization.

[Tobias-Fischer]

Thanks @iamnambiar! There is some issue on Windows, please take a look and let us know if you need help.

Best, Tobi

[iamnambiar]

@Tobias-Fischer
From the logs, I understand that it's trying to build ros-lyrical-py-binding-tools because the packages that I have added depends on it. This package has already been built and released for Ubuntu, but not for Windows. See:

ros-lyrical/vinca.yaml

Line 160 in ff42cf0

- py_binding_tools

I'm hoping this same issue came up when someone previously tried to build it for Windows. I'm happy to fix this as part of this PR by adding a patch. However, since the package has already been added, this would require incrementing the build number to generate a new recipe, which would also regenerate recipes for all the other packages. I'm not sure if that's the way to do this. Or else, I can update the vinca.yaml file to disable and skip the Windows build for now.

What do you think is the best approach here?

[Tobias-Fischer]

I fixed the py_binding_tools issue. There are now other Windows errors, can you please have a go at fixing them @iamnambiar

[iamnambiar]

@Tobias-Fischer Thank you for fixing the py_binding_tools issue. I was actually running this locally on my windows partition now and trying to fix the issues one by one.

[Tobias-Fischer]

Cool I'll let you do, thanks :)

[Tobias-Fischer]

Let me know how you're going @iamnambiar

[iamnambiar]

Hi @Tobias-Fischer , I managed to get it built locally on both my ubuntu and windows machines. Please let me know what you think.

[Tobias-Fischer]

Looks good except for the pybind11 vendor

[Copilot]

Pull request overview

This PR expands the ros-lyrical build set to include MoveIt Task Constructor (MTC) packages, adding the necessary build-system patches to make them compile cleanly (notably around fmt, pybind11 integration, Qt6, and Windows portability).

Changes:

• Seed moveit-task-constructor-demo in vinca.yaml so MTC packages are pulled in via dependency selection.
• Add/adjust patches to build MTC core, capabilities, and visualization (Qt6 + Windows export symbols), plus a patch for py_binding_tools.
• Update CI workflow environment to force UTF-8 IO encoding.

Reviewed changes

Copilot reviewed 6 out of 6 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
vinca.yaml	Adds moveit-task-constructor-demo to the dependency-selected seed list.
patch/ros-lyrical-py-binding-tools.patch	Adds Windows symbol export handling and fixes pybind11 module_ usage in typecasters.
patch/ros-lyrical-moveit-task-constructor-visualization.patch	Switches visualization components to Qt6 build macros and adds Windows DLL export annotations for proxy models.
patch/ros-lyrical-moveit-task-constructor-core.patch	Applies cross-platform fixes (Windows hostname/pid handling, fmt target usage, pybind11 integration adjustments, type-width consistency).
patch/ros-lyrical-moveit-task-constructor-capabilities.patch	Fixes fmt linkage to use the namespaced CMake target.
.github/workflows/testpr.yml	Sets PYTHONIOENCODING=utf-8 for CI runs.

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[Tobias-Fischer]

@iamnambiar can you please take a look at CoPilot's suggestions?

[iamnambiar]

@iamnambiar can you please take a look at CoPilot's suggestions?

@Tobias-Fischer Good catches, fixed both and pushed already.

[Tobias-Fischer]

LGTM, but I'll let @traversaro have a look as well please as it's a fairly substantial PR