add iron to CMakeList.txt

update readme

.github/workflows/main.yml

@@ -23,14 +23,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: [rolling, humble, galactic, foxy]
+        ros_distro: [rolling, iron, humble]
         include:
         - ros_distro: 'rolling'
           os: ubuntu-22.04
-        - ros_distro: 'humble'
-          os: ubuntu-22.04
         - ros_distro: 'iron'
           os: ubuntu-22.04
+        - ros_distro: 'humble'
+          os: ubuntu-22.04
 
     steps:
 
@@ -48,24 +48,15 @@ jobs:
         cd ${{github.workspace}}/ros2/src/realsense-ros/scripts
         ./pr_check.sh 
 
-    # Workaround - forcing cmake 3.23.0 instead of using latest cmake of GHA.
-    # cmake 3.24.0 is not compaitable with galactic/foxy/humble ament_cmake
-    # see: https://github.com/ament/ament_cmake/pull/395
-    # TODO: remove this step once ament_cmake for galactic/foxy/humble is released
-    - name: Setup cmake 3.23.0
-      uses: jwlawson/[email protected]
-      with:
-        cmake-version: '3.23.0'
-
     - name: build ROS2
-      uses: ros-tooling/setup-ros@v0.3
+      uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distro }}
 
     - name: Build RealSense SDK 2.0 from source
       run: |
         cd ${{github.workspace}}
-        git clone https://github.com/IntelRealSense/librealsense.git -b master
+        git clone https://github.com/IntelRealSense/librealsense.git -b development
         cd librealsense
         sudo mkdir build
         cd build
@@ -75,7 +66,7 @@ jobs:
         sudo make -j10
         sudo make install
 
-    - name: Build
+    - name: Build RealSense ROS2 Wrapper
       run: | 
         echo "source /opt/ros/${{ matrix.ros_distro }}/setup.bash" >> ${{github.workspace}}/.bashrc
         source ${{github.workspace}}/.bashrc

.github/workflows/pre-release.yml

@@ -31,12 +31,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: [humble, iron]
+        ros_distro: [humble]
         include:
         - ros_distro: 'humble'
           os: ubuntu-22.04
-        - ros_distro: 'iron'
-          os: ubuntu-22.04
 
     env:
       ROS_DISTRO: ${{ matrix.ros_distro }}

README.md

@@ -11,9 +11,8 @@
 
 
 [![rolling][rolling-badge]][rolling]
+[![iron][iron-badge]][iron]
 [![humble][humble-badge]][humble]
-[![foxy][foxy-badge]][foxy]
-[![galactic][galactic-badge]][galactic]
 [![ubuntu22][ubuntu22-badge]][ubuntu22]
 [![ubuntu20][ubuntu20-badge]][ubuntu20]
 
@@ -89,10 +88,8 @@
   </summary>
 
 - #### Ubuntu 22.04:
+  - [ROS2 Iron](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html)
   - [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) (deprecated)
 
 </details>
 
@@ -156,7 +153,7 @@
 
   -  Source environment
    ```bash
-   ROS_DISTRO=<YOUR_SYSTEM_ROS_DISTRO>  # set your ROS_DISTRO: humble, galactic, foxy
+   ROS_DISTRO=<YOUR_SYSTEM_ROS_DISTRO>  # set your ROS_DISTRO: iron, humble
    source /opt/ros/$ROS_DISTRO/setup.bash
    cd ~/ros2_ws
    . install/local_setup.bash
@@ -470,7 +467,7 @@ Our ROS2 Wrapper node supports zero-copy communications if loaded in the same pr
 
 You will need to launch a component container and launch our node as a component together with other component nodes. Further details on "Composing multiple nodes in a single process" can be found [here](https://docs.ros.org/en/rolling/Tutorials/Composition.html).
 
-Further details on efficient intra-process communication can be found [here](https://docs.ros.org/en/foxy/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication).
+Further details on efficient intra-process communication can be found [here](https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication).
 
   ### Example
 #### Manually loading multiple components into the same process
@@ -513,10 +510,8 @@ ros2 launch realsense2_camera rs_intra_process_demo_launch.py intra_process_comm
 [rolling]: https://docs.ros.org/en/rolling/index.html
 [humble-badge]: https://img.shields.io/badge/-HUMBLE-orange?style=flat-square&logo=ros
 [humble]: https://docs.ros.org/en/humble/index.html
-[foxy-badge]: https://img.shields.io/badge/-FOXY-orange?style=flat-square&logo=ros
-[foxy]: https://docs.ros.org/en/foxy/index.html
-[galactic-badge]: https://img.shields.io/badge/-GALACTIC-orange?style=flat-square&logo=ros
-[galactic]: https://docs.ros.org/en/galactic/index.html
+[iron-badge]: https://img.shields.io/badge/-IRON-orange?style=flat-square&logo=ros
+[iron]: https://docs.ros.org/en/iron/index.html
 [ubuntu22-badge]: https://img.shields.io/badge/-UBUNTU%2022%2E04-blue?style=flat-square&logo=ubuntu&logoColor=white
 [ubuntu22]: https://releases.ubuntu.com/jammy/
 [ubuntu20-badge]: https://img.shields.io/badge/-UBUNTU%2020%2E04-blue?style=flat-square&logo=ubuntu&logoColor=white

realsense2_camera/CMakeLists.txt

@@ -164,6 +164,10 @@ 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 "iron")
+  message(STATUS "Build for ROS2 Iron")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DIRON")
+  set(SOURCES "${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")