merged master->jazzy

.github/workflows/cmake-ros.yml

@@ -3,7 +3,7 @@ name: CMake-ROS
 on:
   push:
     branches: 
-      - lyrical-devel
+      - jazzy-devel
   pull_request:
     branches: 
       - '**'
@@ -27,10 +27,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [ lyrical ]
+        ros_distribution: [ jazzy]
         include:
-        - ros_distribution: 'lyrical'
-          skip_keys: "" # When releasing to ROS2, the skip_keys shoudl be empty, patch these deps in package.xml instead.
+        - ros_distribution: 'jazzy'
+          skip_keys: ""
     container:
       image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full
     steps:   

package.xml

@@ -16,9 +16,10 @@
   <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 lyrical--> <!-- 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>