merged master->humble

)

.github/workflows/cmake-ros.yml

@@ -3,7 +3,7 @@ name: CMake-ROS
 on:
   push:
     branches: 
-      - jazzy-devel
+      - humble-devel
   pull_request:
     branches: 
       - '**'
@@ -27,9 +27,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [ jazzy]
+        ros_distribution: [ humble ]
         include:
-        - ros_distribution: 'jazzy'
+        - ros_distribution: 'humble'
           skip_keys: ""
     container:
       image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full

package.xml

@@ -16,7 +16,6 @@
   <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> <!-- optional but recommended if lidar is used, also not available on 32 bits system, but rtabmap can be built without it -->