Merge branch 'master' of github.com:introlab/rtabmap into jazzy-devel

.github/workflows/cmake-ros.yml

@@ -3,7 +3,7 @@ name: CMake-ROS
 on:
   push:
     branches: 
-      - rolling-devel
+      - jazzy-devel
     paths-ignore: &platform_only
       - '.github/workflows/android.yml'
       - '.github/workflows/ios.yml'
@@ -33,12 +33,12 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [ rolling ]
-        # Testing only: the osrf/ros:rolling image is already set up on ros2-testing,
-        # and rolling's main repo is just a periodic snapshot of it.
-        use_ros2_testing: [ true ]
+        ros_distribution: [ jazzy ]
+        # Build against both main (what users install) and ros2-testing (closest to
+        # what the buildfarm builds bloom releases against).
+        use_ros2_testing: [ false, true ]
         include:
-        - ros_distribution: 'rolling'
+        - ros_distribution: 'jazzy'
           skip_keys: "" # When releasing to ROS2, the skip_keys should be empty, patch these deps in package.xml instead.
     container:
       image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full

package.xml

@@ -16,14 +16,15 @@
   <depend>cv_bridge</depend>
   <depend>libg2o</depend>
   <depend>gtsam</depend>
+  <depend>tbb</depend> <!-- till tbb is added to gtsam dependencies https://github.com/borglab/gtsam/issues/1759 -->
   <!-- <depend>libopenni2-dev</depend> --> <!-- not available on Jessie -->
   <depend>libpcl-all-dev</depend> <!--  include libvtk-qt -->
-  <!-- <depend>libpointmatcher</depend> Not available on rolling--> <!-- optional but recommended if lidar is used, also not available on 32 bits system, but rtabmap can be built without it -->
+  <depend>libpointmatcher</depend> <!-- optional but recommended if lidar is used, also not available on 32 bits system, but rtabmap can be built without it -->
   <!-- <depend>libproj-dev</depend> needed due to error in vtk6 (kinetic)-->
   <depend>libsqlite3-dev</depend>
   <depend>liboctomap-dev</depend>
-<!--  <depend>grid_map_core</depend> # not available on Rolling -->
-  <depend>qtbase5-dev</depend>
+  <!-- <depend>grid_map_core</depend> --> <!-- till this PR is released https://github.com/ANYbotics/grid_map/pull/499 -->
+  <depend>qt_gui_cpp</depend> <!-- libqt4-dev or libqt5-dev -->
   <depend>zlib</depend>
 
   <export>