Jazzy support

IntelRealSense · Jun 6, 2024 · ea536cb · ea536cb
1 parent 047d601
commit ea536cb
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Showing 3 changed files with 15 additions and 7 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -25,7 +25,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: [rolling, iron, humble, foxy]
+        ros_distro: [rolling, iron, humble, foxy, jazzy]
         include:
         - ros_distro: 'rolling'
           os: ubuntu-22.04
@@ -35,6 +35,8 @@ jobs:
           os: ubuntu-22.04
         - ros_distro: 'foxy'
           os: ubuntu-20.04
+        - ros_distro: 'jazzy'
+          os: ubuntu-24.04
 
     steps:
 
@@ -53,14 +55,14 @@ jobs:
         ./pr_check.sh 
 
     # setup-ros@v0.6 is the last version supporting foxy (EOL)
-    # setup-ros@v0.7 is needed to support humble/iron/rolling
+    # setup-ros@v0.7 is needed to support humble/iron/rolling/jazzy
     # so, seperating steps with if conditions
     - name: build ROS2 for foxy
       if: ${{ matrix.ros_distro == 'foxy' }}
       uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distro }}
-    - name: build ROS2 for humble/iron/rolling
+    - name: build ROS2 for humble/iron/rolling/jazzy
       if: ${{ matrix.ros_distro != 'foxy' }}
       uses: ros-tooling/setup-ros@v0.7
       with:
@@ -92,8 +94,8 @@ jobs:
         echo "================= ROSDEP UPDATE ====================="
         # temp fix for rolling sources.. TODO: track when we can remove the two commands below
         # see https://discourse.ros.org/t/psa-rolling-ci-or-docker-build-fix-from-rosdep-errors-in-24-04-transition/36902
-        sudo sed -i "s|ros\/rosdistro\/master|ros\/rosdistro\/rolling\/2024-02-28|" /etc/ros/rosdep/sources.list.d/20-default.list
-        export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/index-v4.yaml
+        #sudo sed -i "s|ros\/rosdistro\/master|ros\/rosdistro\/rolling\/2024-02-28|" /etc/ros/rosdep/sources.list.d/20-default.list
+        #export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/index-v4.yaml
         rosdep update --rosdistro ${{ matrix.ros_distro }} --include-eol-distros
         echo "================= ROSDEP INSTALL ===================="
         rosdep install -i --reinstall --from-path src --rosdistro ${{ matrix.ros_distro }} --skip-keys=librealsense2 -y

diff --git a/.github/workflows/pre-release.yml b/.github/workflows/pre-release.yml
@@ -32,12 +32,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: [iron, humble]
+        ros_distro: [iron, humble, jazzy]
         include:
         - ros_distro: 'iron'
           os: ubuntu-22.04
         - ros_distro: 'humble'
           os: ubuntu-22.04
+        - ros_distro: 'jazzy'
+          os: ubuntu-24.04
 
     env:
       ROS_DISTRO: ${{ matrix.ros_distro }}

diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright 2023 Intel Corporation. All Rights Reserved.
+# Copyright 2024 Intel Corporation. All Rights Reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -170,6 +170,10 @@ elseif("$ENV{ROS_DISTRO}" STREQUAL "rolling")
   message(STATUS "Build for ROS2 Rolling")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DROLLING")
   set(SOURCES "${SOURCES}" src/ros_param_backend.cpp)
+elseif("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
+  message(STATUS "Build for ROS2 Jazzy")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DJAZZY")
+  set(SOURCES "${SOURCES}" src/ros_param_backend.cpp)
 else()
   message(FATAL_ERROR "Unsupported ROS Distribution: " "$ENV{ROS_DISTRO}")
 endif()