@@ -1004,6 +1004,7 @@ python:
 python_impl:
   - cpython
 
+  # ros-humble specific (distros/humble/distro.yaml)
 python_min:
   # minimum supported python version per CFEP-25
   # bump to next minor version when we drop python versions
@@ -1219,3 +1220,5 @@ pyqt6:
   - 6.11
 sip:
   - 6.15
+xtensor:
+  - 0.25.0
@@ -2,3 +2,9 @@
 # (everything else is shared, see the README).
 channel_name: robostack-staging
 upload_target: anaconda
+pinning_overrides:
+  # nav2_mppi_controller lists xsimd before xtensor: unpinned, the solver takes the newest
+  # xsimd (14), which no xtensor >= 0.25 accepts, and falls back to xtensor 0.23.9, whose
+  # xtensor_simd.hpp doesn't build with it. 0.25 brings a matching xsimd (as in jazzy).
+  xtensor: [0.25.0]
+rosdistro_sync: humble/2026-10-12
@@ -1,5 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 20bdedf..aaa3d38 100644
+index 75d5822..cbb5971 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
@@ -5,8 +5,10 @@ project(apriltag_ros)
@@ -32,7 +32,7 @@ index 20bdedf..aaa3d38 100644
  find_package(apriltag 3.2 REQUIRED)
 
  if(cv_bridge_VERSION VERSION_GREATER_EQUAL 3.3.0)
-@@ -86,7 +96,7 @@ target_link_libraries(pose_estimation
+@@ -98,7 +108,7 @@ target_link_libraries(pose_estimation
    PUBLIC
      apriltag::apriltag
      Eigen3::Eigen
@@ -41,16 +41,3 @@ index 20bdedf..aaa3d38 100644
      conversion
      ${geometry_msgs_TARGETS}
      tf2::tf2
-diff --git a/src/conversion.cpp b/src/conversion.cpp
-index b9b30a8..0ba29ae 100644
---- a/src/conversion.cpp
-+++ b/src/conversion.cpp
-@@ -56,7 +56,7 @@ tf2::toMsg(const std::pair<cv::Mat_<double>, cv::Mat_<double>>& pose)
- 
-     // convert compact rotation vector to angle-axis to quaternion
-     const Eigen::Map<const Eigen::Vector3d> rvec(reinterpret_cast<double*>(pose.second.data));
--    const Eigen::Quaterniond q({rvec.norm(), rvec.normalized()});
-+    const Eigen::Quaterniond q(Eigen::AngleAxisd(rvec.norm(), rvec.normalized()));
- 
-     geometry_msgs::msg::Transform t;
-     tf2::convert(pose.first, t.translation);
@@ -1,12 +1,15 @@
-diff --git a/src/voxel_grid_downsample_filter/voxel_grid_downsample_filter_node.cpp b/src/voxel_grid_downsample_filter/voxel_grid_downsample_filter_node.cpp
-index 241239d..4b02608 100644
---- a/src/voxel_grid_downsample_filter/voxel_grid_downsample_filter_node.cpp
-+++ b/src/voxel_grid_downsample_filter/voxel_grid_downsample_filter_node.cpp
-@@ -21,7 +21,6 @@
- #include <pcl_ros/transforms.hpp>
- #include <tf2_eigen/tf2_eigen.hpp>
- 
--#include <pcl/io/io.h>
- #include <pcl/kdtree/kdtree_flann.h>
- #include <pcl/search/kdtree.h>
- #include <pcl/segmentation/segment_differences.h>
+Use conda-forge's tl-expected (cpp-expected): tl_expected is mapped to it.
+
+diff --git a/src/voxel_grid_downsample_filter/voxel_grid_downsample_filter.hpp b/src/voxel_grid_downsample_filter/voxel_grid_downsample_filter.hpp
+index 542f0b1..2b087d9 100644
+--- a/src/voxel_grid_downsample_filter/voxel_grid_downsample_filter.hpp
++++ b/src/voxel_grid_downsample_filter/voxel_grid_downsample_filter.hpp
+@@ -17,7 +17,7 @@
+ 
+ #include "faster_voxel_grid_downsample_filter.hpp"
+ 
+-#include <tl_expected/expected.hpp>
++#include <tl/expected.hpp>
+ 
+ #include <sensor_msgs/msg/point_cloud2.hpp>
+ 
@@ -1,98 +1,28 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 71deedd..0d1e717 100644
+index 64c1274..774140a 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -23,9 +23,9 @@ option(FOXGLOVE_BRIDGE_REMOTE_ACCESS "Build with remote access gateway support"
- 
- macro(enable_strict_compiler_warnings target)
-   if (MSVC)
--    target_compile_options(${target} PRIVATE /WX /W4)
-+    target_compile_options(${target} PRIVATE /W4)
-   elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
--    target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal -Wmost -Wunused-exception-parameter)
-+    target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal -Wmost -Wunused-exception-parameter -Wno-error=format)
-   else()
-     target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal)
-   endif()
-@@ -63,6 +63,15 @@ if (CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarc
+@@ -97,6 +97,18 @@ if (CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarc
  elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
    set(FOXGLOVE_SDK_PLATFORM "x86_64-unknown-linux-gnu")
-   set(FOXGLOVE_SDK_SHA "b949295e80eb1a9bb356e657b9c2579c886717fac290c4e48a5e9846063bf2e8")
+   set(FOXGLOVE_SDK_SHA "1a0d8e03a885f01ae7cfb08dc9076090ba2cf8a15b7f46dda11451e2e2758978")
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64")
 +  set(FOXGLOVE_SDK_PLATFORM "aarch64-apple-darwin")
-+  set(FOXGLOVE_SDK_SHA "1c6a32fc25c3a29eb9f3c5156f9c82970a8714523ffc3893ea4e852b977ee1e5")
++  set(FOXGLOVE_SDK_SHA "7b7a86a659a86544f23bed793b7913ad71c3f6c595233bbdb20d3968a3ce5a3a")
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
 +  set(FOXGLOVE_SDK_PLATFORM "x86_64-apple-darwin")
-+  set(FOXGLOVE_SDK_SHA "12249d4b2f16c3ff661f21d19603fb33a82888f0391576269f31f9cc1a4cb7a8")
-+elseif(WIN32 AND CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64")
++  set(FOXGLOVE_SDK_SHA "5bae49cac58fb423217e9214452c22faa95b51f5bda7c04469fb1649f8b74ce5")
++elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "ARM64")
++  set(FOXGLOVE_SDK_PLATFORM "aarch64-pc-windows-msvc")
++  set(FOXGLOVE_SDK_SHA "8d067b5af329f808142a750e939799bfccb27926ff72b62da54e5280af002d3b")
++elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64")
 +  set(FOXGLOVE_SDK_PLATFORM "x86_64-pc-windows-msvc")
-+  set(FOXGLOVE_SDK_SHA "58c3c5e945623bc02b596f748c82e1c8b82daef7871f11f600ff1a606ac9295d")
++  set(FOXGLOVE_SDK_SHA "ea4db36121adb0ee61315442ea43603136c6910b4d82814688f507cd6f7fdd3b")
  else()
    message(FATAL_ERROR "Unsupported platform/architecture combination: ${CMAKE_SYSTEM_PROCESSOR}-${CMAKE_SYSTEM_NAME}")
  endif()
-@@ -84,14 +93,30 @@ target_include_directories(foxglove_cpp_shared SYSTEM
-     $<INSTALL_INTERFACE:include>
- )
- target_sources(foxglove_cpp_shared PRIVATE ${FOXGLOVE_SDK_SOURCES})
-+# $ORIGIN is ELF-only; macOS' equivalent is @loader_path
-+if(APPLE)
-+  set(FOXGLOVE_BRIDGE_RPATH "@loader_path")
-+else()
-+  set(FOXGLOVE_BRIDGE_RPATH "$ORIGIN")
-+endif()
- # Import the prebuilt C shared library from the fetched SDK
- add_library(foxglove-shared SHARED IMPORTED)
--set_target_properties(foxglove-shared PROPERTIES
--  IMPORTED_LOCATION ${foxglove_sdk_SOURCE_DIR}/lib/libfoxglove.so
--)
-+if(WIN32)
-+  # the Windows SDK ships foxglove.dll with the import library foxglove.dll.lib
-+  set_target_properties(foxglove-shared PROPERTIES
-+    IMPORTED_LOCATION ${foxglove_sdk_SOURCE_DIR}/lib/foxglove.dll
-+    IMPORTED_IMPLIB ${foxglove_sdk_SOURCE_DIR}/lib/foxglove.dll.lib
-+  )
-+  # the C++ wrapper has no dllexport annotations
-+  set_target_properties(foxglove_cpp_shared PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
-+else()
-+  set_target_properties(foxglove-shared PROPERTIES
-+    IMPORTED_LOCATION ${foxglove_sdk_SOURCE_DIR}/lib/libfoxglove${CMAKE_SHARED_LIBRARY_SUFFIX}
-+  )
-+endif()
- target_link_libraries(foxglove_cpp_shared PRIVATE foxglove-shared)
- set_target_properties(foxglove_cpp_shared PROPERTIES
--  INSTALL_RPATH "$ORIGIN"
-+  INSTALL_RPATH "${FOXGLOVE_BRIDGE_RPATH}"
-   BUILD_WITH_INSTALL_RPATH TRUE
- )
- 
-@@ -168,7 +193,7 @@ target_link_libraries(foxglove_bridge_component
- rclcpp_components_register_nodes(foxglove_bridge_component "foxglove_bridge::FoxgloveBridge")
- enable_strict_compiler_warnings(foxglove_bridge_component)
- set_target_properties(foxglove_bridge_component PROPERTIES
--  INSTALL_RPATH "$ORIGIN"
-+  INSTALL_RPATH "${FOXGLOVE_BRIDGE_RPATH}"
-   BUILD_WITH_INSTALL_RPATH TRUE
- )
- 
-@@ -219,8 +244,14 @@ install(TARGETS foxglove_bridge_component
- )
- # Install the SDK shared libraries alongside the bridge component library so
- # the runtime linker can find them via RPATH ($ORIGIN).
--install(FILES $<TARGET_FILE:foxglove_cpp_shared> DESTINATION lib)
--install(FILES $<TARGET_FILE:foxglove-shared> DESTINATION lib)
-+if(WIN32)
-+  # DLLs are found through PATH (bin), import libraries in lib
-+  install(FILES $<TARGET_FILE:foxglove_cpp_shared> $<TARGET_FILE:foxglove-shared> DESTINATION bin)
-+  install(FILES $<TARGET_LINKER_FILE:foxglove_cpp_shared> DESTINATION lib)
-+else()
-+  install(FILES $<TARGET_FILE:foxglove_cpp_shared> DESTINATION lib)
-+  install(FILES $<TARGET_FILE:foxglove-shared> DESTINATION lib)
-+endif()
- install(TARGETS foxglove_bridge
-   DESTINATION lib/${PROJECT_NAME}
- )
 diff --git a/src/message_definition_cache.cpp b/src/message_definition_cache.cpp
-index ef72c9c..ed85745 100644
+index cf2864e..9124c80 100644
 --- a/src/message_definition_cache.cpp
 +++ b/src/message_definition_cache.cpp
@@ -3,6 +3,7 @@
 
@@ -1,97 +1,12 @@
-diff --git a/include/foxglove_bridge/generic_client.hpp b/include/foxglove_bridge/generic_client.hpp
-index 9478fae..ff1f017 100644
---- a/include/foxglove_bridge/generic_client.hpp
-+++ b/include/foxglove_bridge/generic_client.hpp
-@@ -23,7 +23,7 @@ public:
- 
-   std::shared_ptr<void> create_response() override;
-   std::shared_ptr<rmw_request_id_t> create_request_header() override;
--#if RCLCPP_VERSION_GTE(31, 0, 0)
-+#if (RCLCPP_VERSION_MAJOR > 31 || (RCLCPP_VERSION_MAJOR == 31 && (RCLCPP_VERSION_MINOR > 0 || (RCLCPP_VERSION_MINOR == 0 && RCLCPP_VERSION_PATCH >= 0))))
-   void handle_response(const std::shared_ptr<rmw_request_id_t>& request_header,
-                        const std::shared_ptr<void>& response) override;
- #else
-diff --git a/src/generic_client.cpp b/src/generic_client.cpp
-index 51ed180..a78c3c1 100644
---- a/src/generic_client.cpp
-+++ b/src/generic_client.cpp
-@@ -70,7 +70,7 @@ std::string getTypeIntrospectionSymbolName(const std::string& serviceType) {
- 
- const rosidl_service_type_support_t* GenericClient::getServiceTypeSupportHandle(
-   const std::string& serviceType) {
--#if RCLCPP_VERSION_GTE(25, 0, 0)
-+#if (RCLCPP_VERSION_MAJOR > 25 || (RCLCPP_VERSION_MAJOR == 25 && (RCLCPP_VERSION_MINOR > 0 || (RCLCPP_VERSION_MINOR == 0 && RCLCPP_VERSION_PATCH >= 0))))
-   // Jazzy and newer can use the built-in rclcpp call.
-   return rclcpp::get_service_typesupport_handle(serviceType, TYPESUPPORT_LIB_NAME,
-                                                 *_typeSupportLib);
-@@ -120,7 +120,7 @@ GenericClient::GenericClient(rclcpp::node_interfaces::NodeBaseInterface* nodeBas
- 
-   // get_typesupport_handle is deprecated since rclcpp 25.0.0
-   // (https://github.com/ros2/rclcpp/pull/2209)
--#if RCLCPP_VERSION_GTE(25, 0, 0)
-+#if (RCLCPP_VERSION_MAJOR > 25 || (RCLCPP_VERSION_MAJOR == 25 && (RCLCPP_VERSION_MINOR > 0 || (RCLCPP_VERSION_MINOR == 0 && RCLCPP_VERSION_PATCH >= 0))))
-   _requestTypeSupportHdl =
-     rclcpp::get_message_typesupport_handle(requestTypeName, TYPESUPPORT_LIB_NAME, *_typeSupportLib);
-   _responseTypeSupportHdl = rclcpp::get_message_typesupport_handle(
-@@ -155,7 +155,7 @@ std::shared_ptr<rmw_request_id_t> GenericClient::create_request_header() {
-   return std::shared_ptr<rmw_request_id_t>(new rmw_request_id_t);
- }
- 
--#if RCLCPP_VERSION_GTE(31, 0, 0)
-+#if (RCLCPP_VERSION_MAJOR > 31 || (RCLCPP_VERSION_MAJOR == 31 && (RCLCPP_VERSION_MINOR > 0 || (RCLCPP_VERSION_MINOR == 0 && RCLCPP_VERSION_PATCH >= 0))))
- void GenericClient::handle_response(const std::shared_ptr<rmw_request_id_t>& request_header,
-                                     const std::shared_ptr<void>& response) {
- #else
-diff --git a/src/message_definition_cache.cpp b/src/message_definition_cache.cpp
-index ed85745..212e5df 100644
---- a/src/message_definition_cache.cpp
-+++ b/src/message_definition_cache.cpp
-@@ -12,7 +12,7 @@
- #include <utility>
- 
- #include <ament_index_cpp/version.h>
--#if AMENT_INDEX_CPP_VERSION_GTE(1, 13, 2)
-+#if (AMENT_INDEX_CPP_VERSION_MAJOR > 1 || (AMENT_INDEX_CPP_VERSION_MAJOR == 1 && (AMENT_INDEX_CPP_VERSION_MINOR > 13 || (AMENT_INDEX_CPP_VERSION_MINOR == 13 && AMENT_INDEX_CPP_VERSION_PATCH >= 2))))
- #include <ament_index_cpp/get_package_share_path.hpp>
- #else
- #include <ament_index_cpp/get_package_share_directory.hpp>
-@@ -221,7 +221,7 @@ const MessageSpec& MessageDefinitionCache::load_message_spec(
- 
-   // Get the package share directory, or throw a PackageNotFoundError
-   std::filesystem::path share_dir;
--#if AMENT_INDEX_CPP_VERSION_GTE(1, 13, 2)
-+#if (AMENT_INDEX_CPP_VERSION_MAJOR > 1 || (AMENT_INDEX_CPP_VERSION_MAJOR == 1 && (AMENT_INDEX_CPP_VERSION_MINOR > 13 || (AMENT_INDEX_CPP_VERSION_MINOR == 13 && AMENT_INDEX_CPP_VERSION_PATCH >= 2))))
-   share_dir = ament_index_cpp::get_package_share_path(package);
- #else
-   share_dir = ament_index_cpp::get_package_share_directory(package);
-@@ -229,7 +229,7 @@ const MessageSpec& MessageDefinitionCache::load_message_spec(
- 
-   // Get the rosidl_interfaces index contents for this package
-   std::string index_contents;
--#if AMENT_INDEX_CPP_VERSION_GTE(1, 13, 0)
-+#if (AMENT_INDEX_CPP_VERSION_MAJOR > 1 || (AMENT_INDEX_CPP_VERSION_MAJOR == 1 && (AMENT_INDEX_CPP_VERSION_MINOR > 13 || (AMENT_INDEX_CPP_VERSION_MINOR == 13 && AMENT_INDEX_CPP_VERSION_PATCH >= 0))))
-   ament_index_cpp::PathWithResource path_with_resource =
-     ament_index_cpp::get_resource("rosidl_interfaces", package);
-   if (path_with_resource.resourcePath == std::nullopt) {
-diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp
-index 2229aad..73d3d3e 100644
---- a/src/ros2_foxglove_bridge.cpp
-+++ b/src/ros2_foxglove_bridge.cpp
-@@ -59,7 +59,7 @@ inline std::vector<std::byte> readFile(const std::string& filepath) {
-   return buffer;
- }
- 
--#if !RCLCPP_VERSION_GTE(28, 0, 0)
-+#if !(RCLCPP_VERSION_MAJOR > 28 || (RCLCPP_VERSION_MAJOR == 28 && (RCLCPP_VERSION_MINOR > 0 || (RCLCPP_VERSION_MINOR == 0 && RCLCPP_VERSION_PATCH >= 0))))
- // Prior to Jazzy, GenericSubscription drops MessageInfo from the callback.
- // This subclass overrides handle_serialized_message to forward it.
- class GenericSubscriptionWithMessageInfo : public rclcpp::GenericSubscription {
-@@ -833,7 +833,7 @@ Subscription FoxgloveBridge::createRosSubscription(ChannelId channelId, const st
-   subscriptionOptions.event_callbacks = eventCallbacks;
-   subscriptionOptions.callback_group = _subscriptionCallbackGroup;
- 
--#if RCLCPP_VERSION_GTE(28, 0, 0)
-+#if (RCLCPP_VERSION_MAJOR > 28 || (RCLCPP_VERSION_MAJOR == 28 && (RCLCPP_VERSION_MINOR > 0 || (RCLCPP_VERSION_MINOR == 0 && RCLCPP_VERSION_PATCH >= 0))))
-   return this->create_generic_subscription(
-     topic, datatype, qos,
-     [this, channelId](std::shared_ptr<const rclcpp::SerializedMessage> msg,
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -62,7 +62,7 @@ endif()
+
+ macro(enable_strict_compiler_warnings target)
+   if (MSVC)
+-    target_compile_options(${target} PRIVATE /WX /W4)
++    target_compile_options(${target} PRIVATE /W4)
+   elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+     target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal -Wmost -Wunused-exception-parameter)
+   else()