Update to drake 1.26

[ahcorde]

This change is 

[ahcorde]

FAIL: //drake_ros:core_test (see /home/runner/.cache/bazel/_bazel_runner/d07b19e4bc14c7eead45599d9bb941ba/execroot/_main/bazel-out/k8-fastbuild/testlogs/drake_ros/core_test/test.log)
INFO: From Testing //drake_ros:core_test:
==================== Test output for //drake_ros:core_test:
============================= test session starts ==============================
platform linux -- Python 3.10.12, pytest-8.0.0, pluggy-1.4.0
rootdir: /tmp/bazel-working-directory/_main/bazel-out/k8-fastbuild/bin/drake_ros/core_test.runfiles/_main
plugins: rerunfailures-13.0, repeat-0.9.3, colcon-core-0.6.1, cov-4.1.0, mock-3.12.0
collected 3 items

drake_ros/test/core_test.py Fatal Python error: Aborted

Current thread 0x00007febab55a1c0 (most recent call first):
  File "/tmp/bazel-working-directory/_main/bazel-out/k8-fastbuild/bin/drake_ros/core_test.runfiles/_main/drake_ros/test/core_test.py", line 113 in test_nominal_case
  File "/usr/local/lib/python3.10/dist-packages/_pytest/python.py", line 193 in pytest_pyfunc_call
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_callers.py", line 102 in _multicall
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_manager.py", line 119 in _hookexec
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_hooks.py", line 501 in __call__
  File "/usr/local/lib/python3.10/dist-packages/_pytest/python.py", line 1836 in runtest
  File "/usr/local/lib/python3.10/dist-packages/_pytest/runner.py", line 173 in pytest_runtest_call
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_callers.py", line 102 in _multicall
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_manager.py", line 119 in _hookexec
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_hooks.py", line 501 in __call__
  File "/usr/local/lib/python3.10/dist-packages/_pytest/runner.py", line 266 in <lambda>
  File "/usr/local/lib/python3.10/dist-packages/_pytest/runner.py", line 345 in from_call
  File "/usr/local/lib/python3.10/dist-packages/_pytest/runner.py", line 265 in call_runtest_hook
  File "/usr/local/lib/python3.10/dist-packages/_pytest/runner.py", line 226 in call_and_report
  File "/usr/local/lib/python3.10/dist-packages/_pytest/runner.py", line 133 in runtestprotocol
  File "/usr/local/lib/python3.10/dist-packages/_pytest/runner.py", line 114 in pytest_runtest_protocol
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_callers.py", line 102 in _multicall
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_manager.py", line 119 in _hookexec
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_hooks.py", line 501 in __call__
  File "/usr/local/lib/python3.10/dist-packages/_pytest/main.py", line 351 in pytest_runtestloop
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_callers.py", line 102 in _multicall
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_manager.py", line 119 in _hookexec
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_hooks.py", line 501 in __call__
  File "/usr/local/lib/python3.10/dist-packages/_pytest/main.py", line 326 in _main
  File "/usr/local/lib/python3.10/dist-packages/_pytest/main.py", line 272 in wrap_session
  File "/usr/local/lib/python3.10/dist-packages/_pytest/main.py", line 319 in pytest_cmdline_main
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_callers.py", line 102 in _multicall
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_manager.py", line 119 in _hookexec
  File "/usr/local/lib/python3.10/dist-packages/pluggy/_hooks.py", line 501 in __call__
  File "/usr/local/lib/python3.10/dist-packages/_pytest/config/__init__.py", line 174 in main
  File "/tmp/bazel-working-directory/_main/bazel-out/k8-fastbuild/bin/drake_ros/core_test.runfiles/_main/drake_ros/test/core_test.py", line 182 in main
  File "/tmp/bazel-working-directory/_main/bazel-out/k8-fastbuild/bin/drake_ros/core_test.runfiles/_main/drake_ros/test/core_test.py", line 186 in <module>

Extension modules: numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg[64](https://github.com/RobotLocomotion/drake-ros/actions/runs/7918037819/job/21615524879?pr=332#step:16:65), numpy.random._sfc64, numpy.random._generator, test_msgs.test_msgs_s__rosidl_typesupport_c, rcl_interfaces.rcl_interfaces_s__rosidl_typesupport_c, builtin_interfaces.builtin_interfaces_s__rosidl_typesupport_c (total: 16)

[adityapande-1995]

I'll try to reproduce this locally. Meanwhile I suspect :

1. Bazel cache issues: Since this is pulling in from the cache, misplaced dependencies or a clean build might solve this. Will check
2. Changes upstream in ROS or drake or numpy ?

Edit : I tried this using a fresh container and a build locally, ran into the same error, so I won't blame the cache.

[adityapande-1995]

The problem seems to be this line :

drake-ros/drake_ros/drake_ros/test/core_test.py

Line 113 in 9e975d9

simulator.AdvanceTo(simulator_context.get_time() + publish_period / 2.)

and the detailed error is :

1708035182.264159 [0]    python3: selected interface "lo" is not multicast-capable: disabling multicast
pybind11::handle::dec_ref() is being called while the GIL is either not held or invalid. Please see https://pybind11.readthedocs.io/en/stable/advanced/misc.html#common-sources-of-global-interpreter-lock-errors for debugging advice.
If you are convinced there is no bug in your code, you can #define PYBIND11_NO_ASSERT_GIL_HELD_INCREF_DECREFto disable this check. In that case you have to ensure this #define is consistently used for all translation units linked into a given pybind11 extension, otherwise there will be ODR violations.The failing pybind11::handle::dec_ref() call was triggered on a bytes object.
terminate called after throwing an instance of 'std::runtime_error'
  what():  pybind11::handle::dec_ref() PyGILState_Check() failure.
Aborted

[jwnimmer-tri]

Probably related to RobotLocomotion/drake#20811 in that case.

[jwnimmer-tri]

Best guess, the drake_ros_py::PySerializerInterface needs the gil_scoped_acquire to match these:

https://github.com/RobotLocomotion/drake/pull/20811/files#diff-f098cf5e10078a40a072ca4acfeca5bc86ed1e537598032752ddcd4b291162eb

[adityapande-1995]

Best guess, the drake_ros_py::PySerializerInterface needs the gil_scoped_acquire to match these:

https://github.com/RobotLocomotion/drake/pull/20811/files#diff-f098cf5e10078a40a072ca4acfeca5bc86ed1e537598032752ddcd4b291162eb

Thanks ! PR here : #334

[adityapande-1995]

Closing this one in favour of #334