From f11850d5bc328182ff122fb3a638e08743908664 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Date: Wed, 26 Mar 2025 11:57:06 +0100
Subject: [PATCH 1/4] add missing dependency on 'tf2_eigen'

---
 orbbec_camera/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/orbbec_camera/package.xml b/orbbec_camera/package.xml
index c5f4301d..4511cff7 100644
--- a/orbbec_camera/package.xml
+++ b/orbbec_camera/package.xml
@@ -25,6 +25,7 @@
   <depend>std_srvs</depend>
   <depend>statistics_msgs</depend>
   <depend>tf2</depend>
+  <depend>tf2_eigen</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_sensor_msgs</depend>
   <depend>tf2_msgs</depend>

From e493177fe9deadda68b5cc8e2401683000beaf0a Mon Sep 17 00:00:00 2001
From: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Date: Wed, 26 Mar 2025 13:51:38 +0100
Subject: [PATCH 2/4] replace custom definitions with '__has_include' header
 check

---
 orbbec_camera/include/orbbec_camera/ob_camera_node.h | 4 ++--
 orbbec_camera/src/d2c_viewer.cpp                     | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
index b98d0b7f..30b38645 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -64,9 +64,9 @@
 #include "jpeg_decoder.h"
 #include <std_msgs/msg/string.hpp>
 
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
-#else
+#elif __has_include(<cv_bridge/cv_bridge.h>)
 #include <cv_bridge/cv_bridge.h>
 #endif
 
diff --git a/orbbec_camera/src/d2c_viewer.cpp b/orbbec_camera/src/d2c_viewer.cpp
index 0a833251..d15c1528 100644
--- a/orbbec_camera/src/d2c_viewer.cpp
+++ b/orbbec_camera/src/d2c_viewer.cpp
@@ -14,9 +14,9 @@
  * limitations under the License.
  *******************************************************************************/
 
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
-#else
+#elif __has_include(<cv_bridge/cv_bridge.h>)
 #include <cv_bridge/cv_bridge.h>
 #endif
 #include <sensor_msgs/image_encodings.hpp>

From 7ea8f40e5da012f45a5874fd17d5c7f2a34e1234 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Date: Wed, 26 Mar 2025 14:48:23 +0100
Subject: [PATCH 3/4] replace switch of callback type via ROS distro check with
 template type

---
 orbbec_camera/CMakeLists.txt                         |  6 ------
 .../include/orbbec_camera/ros_param_backend.h        | 12 +++++-------
 orbbec_camera/src/ros_param_backend.cpp              | 11 -----------
 3 files changed, 5 insertions(+), 24 deletions(-)

diff --git a/orbbec_camera/CMakeLists.txt b/orbbec_camera/CMakeLists.txt
index c219b27e..ed01f976 100644
--- a/orbbec_camera/CMakeLists.txt
+++ b/orbbec_camera/CMakeLists.txt
@@ -15,12 +15,6 @@ option(USE_NV_HW_DECODER "Use Nvidia hardware decoder" OFF)
 if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds)
 endif ()
-# Check if ROS Jazzy or iron is installed
-if ("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
-  add_compile_definitions(ROS_JAZZY)
-elseif ("$ENV{ROS_DISTRO}" STREQUAL "iron")
-  add_compile_definitions(ROS_IRON)
-endif ()
 
 # find dependencies
 set(dependencies
diff --git a/orbbec_camera/include/orbbec_camera/ros_param_backend.h b/orbbec_camera/include/orbbec_camera/ros_param_backend.h
index ecb4d3e3..b1f7154f 100644
--- a/orbbec_camera/include/orbbec_camera/ros_param_backend.h
+++ b/orbbec_camera/include/orbbec_camera/ros_param_backend.h
@@ -22,13 +22,11 @@ class ParametersBackend {
  public:
   explicit ParametersBackend(rclcpp::Node* node);
   ~ParametersBackend();
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
-  void addOnSetParametersCallback(
-      rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback);
-#else
-  void addOnSetParametersCallback(
-      rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
-#endif
+
+  template <typename T>
+  void addOnSetParametersCallback(T callback) {
+    ros_callback_ = node_->add_on_set_parameters_callback(callback);
+  }
 
  private:
   rclcpp::Node* node_;
diff --git a/orbbec_camera/src/ros_param_backend.cpp b/orbbec_camera/src/ros_param_backend.cpp
index 4e67ff3a..0e172df6 100644
--- a/orbbec_camera/src/ros_param_backend.cpp
+++ b/orbbec_camera/src/ros_param_backend.cpp
@@ -26,16 +26,5 @@ ParametersBackend::~ParametersBackend() {
     ros_callback_.reset();
   }
 }
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
-void ParametersBackend::addOnSetParametersCallback(
-    rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback) {
-  ros_callback_ = node_->add_on_set_parameters_callback(callback);
-}
-#else
-void ParametersBackend::addOnSetParametersCallback(
-    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback) {
-  ros_callback_ = node_->add_on_set_parameters_callback(callback);
-}
-#endif
 
 }  // namespace orbbec_camera

From e2216b306a50a100f8a90ca5eeab2b3f458f4926 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Date: Wed, 26 Mar 2025 15:25:56 +0100
Subject: [PATCH 4/4] add dependency 'opengl' to install 'libEGL.so.1' for
 'libdepthengine.so.2.0'

---
 orbbec_camera/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/orbbec_camera/package.xml b/orbbec_camera/package.xml
index 4511cff7..246b9bf0 100644
--- a/orbbec_camera/package.xml
+++ b/orbbec_camera/package.xml
@@ -35,6 +35,7 @@
   <depend>nlohmann-json-dev</depend>
   <depend>libgoogle-glog-dev</depend>
   <depend>libdw-dev</depend>
+  <depend>opengl</depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>