Merge branch 'lyrical' into v2/develop

orbbec_camera/examples/Gemini_435Le_example_node/camera_example_node.cpp

@@ -139,9 +139,9 @@ class CameraExampleNode : public rclcpp::Node {
         "/camera/device_status", 10,
         std::bind(&CameraExampleNode::deviceStatusCallback, this, std::placeholders::_1));
 
-    while (rclcpp::ok()) {
-      rclcpp::spin_some(shared_from_this());
-    }
+    rclcpp::executors::SingleThreadedExecutor executor;
+    executor.add_node(shared_from_this());
+    executor.spin();
   }
 
   // Feature 7: Set Color AE ROI

orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp

@@ -1,8 +1,17 @@
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/image.hpp>
+
+#if __has_include(<message_filters/subscriber.hpp>)
+#include <message_filters/subscriber.hpp>
+#include <message_filters/sync_policies/approximate_time.hpp>
+#include <message_filters/synchronizer.hpp>
+#elif __has_include(<message_filters/subscriber.h>)
 #include <message_filters/subscriber.h>
 #include <message_filters/sync_policies/approximate_time.h>
 #include <message_filters/synchronizer.h>
-#include <rclcpp/rclcpp.hpp>
-#include <sensor_msgs/msg/image.hpp>
+#else
+#error "No compatible message_filters headers found"
+#endif
 
 #if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
@@ -79,13 +88,19 @@ class ImageSyncNode : public rclcpp::Node {
     rclcpp::QoS qos{rclcpp::KeepLast(queue_size_)};
     qos.reliable();
 
+#ifdef ORBBEC_MESSAGE_FILTERS_USES_RCLCPP_QOS
+    const rclcpp::QoS qos_prof = qos;
+#else
+    const rmw_qos_profile_t qos_prof = qos.get_rmw_qos_profile();
+#endif
+
     if (sync_topics_.size() == 1) {
       single_sub_ = this->create_subscription<Image>(
           sync_topics_.front(), qos,
           [this](const ImageConstPtr msg) { this->handle_synced_images({msg}); });
     } else {
       for (size_t i = 0; i < sync_topics_.size(); ++i) {
-        subscribers_[i].subscribe(this, sync_topics_[i], qos.get_rmw_qos_profile());
+        subscribers_[i].subscribe(this, sync_topics_[i], qos_prof);
       }
       create_synchronizer();
     }