PR #2406 from Samer: Support ROS2 Humble

IntelRealSense · Jul 14, 2022 · 505c23b · 505c23b
2 parents be06827 + 766c770
commit 505c23b
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Showing 5 changed files with 54 additions and 17 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -23,12 +23,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: [foxy, galactic, eloquent, dashing]
+        ros_distro: [humble, galactic, foxy, eloquent, dashing]
         include:
-        - ros_distro: 'foxy'
-          os: ubuntu-20.04
+        - ros_distro: 'humble'
+          os: ubuntu-22.04
         - ros_distro: 'galactic'
           os: ubuntu-20.04
+        - ros_distro: 'foxy'
+          os: ubuntu-20.04
         - ros_distro: 'eloquent'
           os: ubuntu-18.04
         - ros_distro: 'dashing'
@@ -38,7 +40,7 @@ jobs:
     - name: Setup ROS2 Workspace
       run: | 
         mkdir -p ${{github.workspace}}/ros2/src
-        
+
     - uses: actions/checkout@v2
       with:
         path: 'ros2/src/realsense-ros'
@@ -48,20 +50,48 @@ jobs:
       run: |
         cd ${{github.workspace}}/ros2/src/realsense-ros/scripts
         ./pr_check.sh 
-        
-    - uses: ros-tooling/[email protected]
+    
+    ## If distro is one of [galactic, foxy, eloquent, dashing], use the [email protected]
+    ## which supports old versions of ROS2 and EOL versions.
+    ## For Humble distro, use v0.3 
+    ## See: 1) https://github.com/ros-tooling/setup-ros#Supported-platforms
+    ##      2) https://github.com/ros-tooling/setup-ros/tree/v0.2#Supported-platforms 
+    - name: build ROS2 Galactic/Foxy/Eloquent/Dashing
+      if: ${{ matrix.ros_distro != 'humble'}}
+      uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ matrix.ros_distro }}
+    - name: build ROS2 Humble
+      if: ${{ matrix.ros_distro == 'humble' }}
+      uses: ros-tooling/[email protected]
       with:
         required-ros-distributions: ${{ matrix.ros_distro }}
 
+    ## For all distros except humble, install RealSense SDK From Debinas
+    ## For Humble distro, install from source (TODO: Change this when we got debians for Humble)
     - name: Install RealSense SDK 2.0 Dependencies
+      if: ${{ matrix.ros_distro != 'humble' }}
       run: |
         sudo apt-get update
         sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com --recv-key C8B3A55A6F3EFCDE
         sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main"
         sudo apt-get update -qq
         sudo apt-get install librealsense2-dev --allow-unauthenticated -y
         sudo apt-get update
-        
+    - name: Build RealSense SDK 2.0 from source
+      if: ${{ matrix.ros_distro == 'humble' }}
+      run: |
+        cd ${{github.workspace}}
+        git clone https://github.com/IntelRealSense/librealsense.git -b master
+        cd librealsense
+        sudo mkdir build
+        cd build
+        sudo cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false
+        sudo make uninstall
+        sudo make clean
+        sudo make -j10
+        sudo make install
+
     - name: Build
       run: | 
         echo "source /opt/ros/${{ matrix.ros_distro }}/setup.bash" >> ${{github.workspace}}/.bashrc

diff --git a/.github/workflows/pre-release.yml b/.github/workflows/pre-release.yml
@@ -31,12 +31,12 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: [foxy, galactic]
+        ros_distro: [galactic, foxy]
         include:
-        - ros_distro: 'foxy'
-          os: ubuntu-20.04
         - ros_distro: 'galactic'
           os: ubuntu-20.04
+        - ros_distro: 'foxy'
+          os: ubuntu-20.04
 
     env:
       ROS_DISTRO: ${{ matrix.ros_distro }}

diff --git a/README.md b/README.md
@@ -28,18 +28,19 @@ LibRealSense supported version: v2.50.0 (see [realsense2_camera release notes](h
 ## Installation Instructions
 
    ### Step 1: Install the ROS2 distribution
- - #### Ubuntu 18.04 : 
-   - [ROS2 Dashing](https://docs.ros.org/en/dashing/Installation/Ubuntu-Install-Debians.html)
-   - [ROS2 Eloquent](https://docs.ros.org/en/eloquent/Installation/Linux-Install-Debians.html)
+ - #### Ubuntu 22.04:
+   - [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
  - #### Ubuntu 20.04: 
    - [ROS2 Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)
    - [ROS2 Galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
-   - [ROS2 Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html)
+ - #### Ubuntu 18.04 : 
+   - [ROS2 Dashing](https://docs.ros.org/en/dashing/Installation/Ubuntu-Install-Debians.html)
+   - [ROS2 Eloquent](https://docs.ros.org/en/eloquent/Installation/Linux-Install-Debians.html)
 
 
 ### Step 2: Install the latest Intel&reg; RealSense&trade; SDK 2.0
 
-- #### Option 1: Install librealsense2 debian package
+- #### Option 1: Install librealsense2 debian package (Not supported in Ubuntu 22.04 yet)
    - Jetson users - use the [Jetson Installation Guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md)
    - Otherwise, install from [Linux Debian Installation Guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages)
       - In this case treat yourself as a developer: make sure to follow the instructions to also install librealsense2-dev and librealsense2-dkms packages
@@ -75,7 +76,7 @@ LibRealSense supported version: v2.50.0 (see [realsense2_camera release notes](h
 
 ### Step 6: Terminal environment
    ```bash
-   ROS_DISTRO=<YOUR_SYSTEM_ROS_DISTRO>  # set your ROS_DISTRO: galactic, foxy, eloquent, dashing
+   ROS_DISTRO=<YOUR_SYSTEM_ROS_DISTRO>  # set your ROS_DISTRO: humble, galactic, foxy, eloquent, dashing
    source /opt/ros/$ROS_DISTRO/setup.bash
    cd ~/ros2_ws
    . install/local_setup.bash

diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt
@@ -145,6 +145,10 @@ elseif("$ENV{ROS_DISTRO}" STREQUAL "galactic")
   message(STATUS "Build for ROS2 Galactic")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DGALACTIC")
   set(SOURCES "${SOURCES}" src/ros_param_backend_foxy.cpp)
+elseif("$ENV{ROS_DISTRO}" STREQUAL "humble")
+  message(STATUS "Build for ROS2 Humble")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHUMBLE")
+  set(SOURCES "${SOURCES}" src/ros_param_backend_foxy.cpp)
 elseif("$ENV{ROS_DISTRO}" STREQUAL "rolling")
   message(STATUS "Build for ROS2 Rolling")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DROLLING")

diff --git a/realsense2_camera/src/dynamic_params.cpp b/realsense2_camera/src/dynamic_params.cpp
@@ -103,7 +103,9 @@ namespace realsense2_camera
         try
         {
             ROS_DEBUG_STREAM("setParam::Setting parameter: " << param_name);
-#if defined(GALACTIC) || defined(ROLLING)
+#if defined(DASHING) || defined(ELOQUENT) || defined(FOXY)
+            //do nothing for old versions
+#else
             descriptor.dynamic_typing=true; // Without this, undeclare_parameter() throws in Galactic onward.
 #endif
             if (!_node.get_parameter(param_name, result_value))