macOS Sequoia (15) support / CI

[BetsyMcPhail]

Prior issue adding Sonoma (14) support: #20339

Tasks:

• Determine when our VM hosting in CI can run Sequoia
• Remove Ventura Support #21978
• Add initial set of experimental sequoia jobs to d-j-j https://github.com/RobotLocomotion/drake-jenkins-jobs/pull/156
• Update Jenkins cloud configuration from Ventura to Sequoia
• Remove Ventura images from orka cluster
• Create unprovisioned Sequoia images
  • Updated drake-ci: setup script, cmake scripts, etc. Updates necessary to run jobs on Sequoia drake-ci#297
  • Fix issues with unprovisioned jobs
• Create provisioned Sequoia images

[williamjallen]

As per MacStadium's response to my recent support ticket, MacOS Sequoia will not be supported in Orka Cluster until "mid October".

[williamjallen]

MacStadium added this update to our ticket today:

Mid-October is to be expected for Sequoia support as it is coming with Orka 3.2-GA. We are in a release and testing cycle it is closing soon. I will keep this ticket open for more updates as they become available.

[williamjallen]

Orka 3.2 is now available, and I have scheduled the upgrade for 10/21/2024 @ 9:00 AM EST. It is unclear to me what this process requires, so I have reached out to MacStadium to determine if downtime will be necessary. Edit: MacStadium responded and said that that there will be downtime of up to 3 hours on the 21st.

[williamjallen]

We built new Sequoia images today (11/01/2024) but cannot deploy new VMs from them. Attempting to deploy our Sequoia VM produces the error: Error: Unable to deploy the VM as the underlying VM process has crashed.

I opened this ticket with MacStadium to address the issue.

[williamjallen]

The issue was resolved by MacStadium. MacOS Sequoia unprovisioned jobs are now available for testing. The old Ventura images have also been removed.

@BetsyMcPhail, all of the tasks in the issue description have been resolved. Do you want to keep this open until the provisioned images are available, or should we close this now and open new issues for individual tasks as they come up?

[BetsyMcPhail]

Thanks @williamjallen. Please keep it open, I will add more tasks for getting jobs to pass, adding continuous and nightly jobs, etc.

[jwnimmer-tri]

From the Drake Developers point of view, it's okay now to bake a Sonoma Provisioned images. All of the remaining fixes we anticipate will be to Drake's code, not Drake's setup scripts.