Lyrical support (#1433)

* Lyrical support

* removed dep not available on lyrical

* updated docker lyrcical

* making cmake less verbose, disabled tests on rtabmap_python

* cleanup not used tests in rtabmap_python

* addressing some lyrical deprecated warnings

* cancel pr jobs on recommit

* small refactor

* disabled lyrical bin docker

* restored python test and fixed error

* trigger ci

* fixing docker lyrical

* disabled rtabmap_ros lyrical

* pytest

* fixing packages-skip

* bump 0.23.7

.devcontainer/lyrical/Dockerfile

@@ -0,0 +1,22 @@
+
+FROM introlab3it/rtabmap:resolute
+
+# remove ubuntu user
+RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/ros2_ws/src && \
+    chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/ros2_ws
+
+RUN echo "source /opt/ros/lyrical/setup.bash" >> /home/${USERNAME}/.bashrc
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc

.devcontainer/lyrical/devcontainer.json

@@ -0,0 +1,39 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile",
+      "pull": true
+    },
+    "remoteUser": "vscode",
+    "customizations": {
+        "vscode": {
+          "extensions": [
+            "ms-vscode.cpptools-themes",
+            "ms-vscode.cmake-tools", 
+            "ms-vscode.cpptools-extension-pack",
+            "ms-azuretools.vscode-docker",
+            "ms-python.python"]
+        }
+      },
+    "settings": {
+      "python.autoComplete.extraPaths": [
+        "/opt/ros/kilted/lib/python3/dist-packages"
+      ],
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/ros2_ws/src/rtabmap_ros,type=bind",
+    "workspaceFolder": "/home/vscode/ros2_ws",
+    "postCreateCommand": "sudo rosdep init && rosdep update && sudo apt update && rosdep install --from-paths ~/ros2_ws/src/rtabmap_ros -i --skip-keys=\"rtabmap nav2_msgs grid_map_ros nav2_costmap_2d nav2_bringup realsense2_camera velodyne\" -y && echo 'Initialize: export MAKEFLAGS=\"-j6\" && colcon build --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release --parallel-workers 2'",
+    "hostRequirements": {
+        "gpu": "optional"
+    },
+    "runArgs": ["--privileged",
+                "--network=host",
+                "--gpus=all",
+                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
+                "--env=DISPLAY",
+                "--env=QT_X11_NO_MITSHM=1",
+                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
+    "containerEnv": {
+        "NVIDIA_VISIBLE_DEVICES": "all"
+    }
+}

.devcontainer/rolling/Dockerfile

@@ -1,5 +1,5 @@
 
-FROM ubuntu:24.04
+FROM ubuntu:26.04
 
 ENV DEBIAN_FRONTEND=noninteractive
 

.github/workflows/docker-ros2.yml

@@ -2,8 +2,13 @@ name: docker
 
 on:
   push:
-    branches:
+    branches: [ ros2 ]
-      - 'ros2'
+  pull_request:
+    branches: [ ros2 ]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
 
 jobs:
   docker:
@@ -12,7 +17,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        docker_tag: [humble, humble-latest, jazzy, jazzy-latest, kilted-latest]
+        docker_tag: [humble, humble-latest, jazzy, jazzy-latest, kilted, kilted-latest, lyrical-latest]
         include:
         - docker_tag: humble
           docker_path: 'humble'
@@ -33,8 +38,23 @@ jobs:
           docker_platforms: |
             linux/amd64
             linux/arm64
+        - docker_tag: kilted
+          docker_path: 'kilted'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
         - docker_tag: kilted-latest
           docker_path: 'kilted/latest'
+          docker_platforms: |
+            linux/amd64
+        #Disabled till rtabmap_ros is released on lyrical
+        #- docker_tag: lyrical
+        #  docker_path: 'lyrical'
+        #  docker_platforms: |
+        #    linux/amd64
+        #    linux/arm64
+        - docker_tag: lyrical-latest
+          docker_path: 'lyrical/latest'
           docker_platforms: |
             linux/amd64
             linux/arm64
@@ -53,6 +73,9 @@ jobs:
         uses: docker/setup-buildx-action@v3
       -
         name: Login to DockerHub
+        # Only needed when pushing; skipped on pull requests (secrets are
+        # unavailable for fork PRs and we don't push there anyway).
+        if: github.event_name != 'pull_request'
         uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
@@ -62,8 +85,8 @@ jobs:
         uses: docker/build-push-action@v6
         with:
           context: .
-          push: true
+          push: ${{ github.event_name != 'pull_request' }}
-          platforms: ${{ matrix.docker_platforms }}
+          platforms: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
           file: ./docker/${{ matrix.docker_path }}/Dockerfile
           tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
           no-cache: true

.github/workflows/ros2.yml

@@ -20,7 +20,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        ros_distro: [humble, jazzy, kilted, rolling]
+        ros_distro: [humble, jazzy, kilted, lyrical, rolling]
         include:
         - ros_distro: humble
           skip_keys: ''
@@ -31,10 +31,10 @@ jobs:
         - ros_distro: kilted
           skip_keys: 'grid_map_ros'
           packages: 'rtabmap_ros'
-        #- ros_distro: lyrical
+        - ros_distro: lyrical
-        #  skip_keys: 'nav2_bringup nav2_msgs velodyne'
+          skip_keys: 'nav2_bringup nav2_msgs velodyne grid_map_ros realsense2_camera libpointmatcher'
-        #  # rtabmap_costmap_plugins cannot be built, missing nav2 on lyrical, build other packages:
+          # rtabmap_costmap_plugins cannot be built, missing nav2 on lyrical, build other packages:
-        #  packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins'
+          packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins'
         - ros_distro: rolling
           skip_keys: 'nav2_bringup nav2_msgs velodyne'
           # rtabmap_costmap_plugins cannot be built, missing nav2 on rolling, build other packages:

docker/humble/latest/Dockerfile

@@ -12,6 +12,6 @@ RUN source /ros_entrypoint.sh && \
     apt-get update && \
     rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap" && \
     apt-get clean && rm -rf /var/lib/apt/lists/ && \
-    colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
     cd && \
     rm -rf ros2_ws

docker/jazzy/latest/Dockerfile

@@ -14,6 +14,6 @@ RUN source /ros_entrypoint.sh && \
     apt-get update && \
     rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap grid_map_ros" && \
     apt-get clean && rm -rf /var/lib/apt/lists/ && \
-    colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
     cd && \
     rm -rf ros2_ws

docker/kilted/latest/Dockerfile

@@ -14,6 +14,6 @@ RUN source /ros_entrypoint.sh && \
     apt-get update && \
     rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros" && \
     apt-get clean && rm -rf /var/lib/apt/lists/ && \
-    colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
     cd && \
     rm -rf ros2_ws

docker/lyrical/Dockerfile

@@ -0,0 +1,6 @@
+FROM osrf/ros:lyrical-desktop
+# install rtabmap packages
+RUN apt-get update && apt-get install -y \
+    ros-lyrical-rtabmap \
+    ros-lyrical-rtabmap-ros \
+    && rm -rf /var/lib/apt/lists/

docker/lyrical/latest/Dockerfile

@@ -0,0 +1,19 @@
+FROM introlab3it/rtabmap:resolute
+
+RUN source /ros_entrypoint.sh && \
+    mkdir -p ros2_ws/src && \
+    cd ros2_ws/src
+
+COPY . ros2_ws/src/rtabmap_ros
+
+RUN source /ros_entrypoint.sh && \
+    cd ros2_ws && \
+    export MAKEFLAGS="-j2" && \
+    rosdep init && \
+    rosdep update && \
+    apt-get update && \
+    rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros nav2_costmap_2d" && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    colcon build --packages-skip rtabmap_costmap_plugins rtabmap_ros --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    cd && \
+    rm -rf ros2_ws

rtabmap_conversions/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_conversions</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's conversions package. This package can be used to convert rtabmap_msgs's msgs into RTAB-Map's library objects.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_costmap_plugins/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_costmap_plugins</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's costmap plugins.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_demos/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_demos</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's demo launch files.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_examples/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_examples</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's example launch files.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_launch/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_launch</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's main launch files.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_msgs</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's msgs package.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_odom/CMakeLists.txt

@@ -74,6 +74,10 @@ SET(AmentLibraries
    rtabmap_sync
 )
 
+IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
+  add_definitions(-DPRE_ROS_LYRICAL)
+ENDIF()
+
 ###########
 ## Build ##
 ###########

rtabmap_odom/include/rtabmap_odom/OdometryROS.h

@@ -30,9 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "rclcpp/rclcpp.hpp"
 
-#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_ros/transform_broadcaster.hpp>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 

rtabmap_odom/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_odom</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's odometry package.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_odom/src/nodelets/rgbd_odometry.cpp

@@ -362,12 +362,19 @@ void RGBDOdometry::onOdomInit()
 	}
 	else
 	{
-		image_transport::TransportHints rgb_hints(this); // using "image_transport" parameter
-		image_transport::TransportHints depth_hints(this, "raw", "depth_transport");
 		std::string rgbTopic = this->get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
 		std::string depthTopic = this->get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
+#ifdef PRE_ROS_LYRICAL
+		image_transport::TransportHints rgb_hints(this); // using "image_transport" parameter
+		image_transport::TransportHints depth_hints(this, "raw", "depth_transport");
 		image_mono_sub_.subscribe(this, rgbTopic, rgb_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
 		image_depth_sub_.subscribe(this, depthTopic, depth_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
+#else
+		image_transport::TransportHints rgb_hints(*this); // using "image_transport" parameter
+		image_transport::TransportHints depth_hints(*this, "raw", "depth_transport");
+		image_mono_sub_.subscribe(*this, rgbTopic, rgb_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()), options);
+		image_depth_sub_.subscribe(*this, depthTopic, depth_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()), options);
+#endif
 		info_sub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);
 
 		if(approxSync)

rtabmap_odom/src/nodelets/stereo_odometry.cpp

@@ -349,12 +349,17 @@ void StereoOdometry::onOdomInit()
 	}
 	else
 	{
-		image_transport::TransportHints hints(this); // using "image_transport" parameter
-		
 		std::string leftTopic = this->get_node_topics_interface()->resolve_topic_name("left/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
 		std::string rightTopic = this->get_node_topics_interface()->resolve_topic_name("right/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
+#ifdef PRE_ROS_LYRICAL
+		image_transport::TransportHints hints(this); // using "image_transport" parameter
 		imageRectLeft_.subscribe(this, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
 		imageRectRight_.subscribe(this, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
+#else
+		image_transport::TransportHints hints(*this); // using "image_transport" parameter
+		imageRectLeft_.subscribe(*this, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()), options);
+		imageRectRight_.subscribe(*this, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()), options);
+#endif
 		cameraInfoLeft_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);
 		cameraInfoRight_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);
 

rtabmap_python/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_python</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's python package.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_python/setup.py

@@ -17,7 +17,9 @@ setup(
     maintainer_email='matlabbe@gmail.com',
     description="RTAB-Map's python package.",
     license='BSD',
-    tests_require=['pytest'],
+    extras_require={
+        'test': ['pytest'],
+    },
     entry_points={
         'console_scripts': [
         ],

rtabmap_ros/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_ros</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>
     RTAB-Map Stack
   </description>

rtabmap_rviz_plugins/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_rviz_plugins</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's rviz plugins.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_slam/CMakeLists.txt

@@ -90,6 +90,10 @@ if("$ENV{ROS_DISTRO}" STRLESS "jazzy")
   add_definitions(-DPRE_ROS_JAZZY)
 endif()
 
+IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
+  add_definitions(-DPRE_ROS_LYRICAL)
+ENDIF()
+
 ###########
 ## Build ##
 ###########

rtabmap_slam/include/rtabmap_slam/CoreWrapper.h

@@ -33,9 +33,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <std_srvs/srv/empty.hpp>
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
-#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_ros/transform_broadcaster.hpp>
 
 #include <std_msgs/msg/empty.hpp>
 #include <std_msgs/msg/int32.hpp>

rtabmap_slam/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_slam</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's SLAM package.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_slam/src/CoreWrapper.cpp

@@ -770,10 +770,14 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
 					  Parameters::kRGBDEnabled().c_str(),
 					  Parameters::kRGBDEnabled().c_str());
 		}
-		image_transport::TransportHints hints(this); // using "image_transport" parameter
 		std::string imageTopic = this->get_node_topics_interface()->resolve_topic_name("image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
+#ifdef PRE_ROS_LYRICAL
+		image_transport::TransportHints hints(this); // using "image_transport" parameter
 		defaultSub_ = image_transport::create_subscription(this, imageTopic, std::bind(&CoreWrapper::defaultCallback, this, std::placeholders::_1), hints.getTransport(), rclcpp::QoS(this->getTopicQueueSize()).reliability((rmw_qos_reliability_policy_t)qosImage_).get_rmw_qos_profile(), subOptions);
-
+#else
+		image_transport::TransportHints hints(*this); // using "image_transport" parameter
+		defaultSub_ = image_transport::create_subscription(*this, imageTopic, std::bind(&CoreWrapper::defaultCallback, this, std::placeholders::_1), hints.getTransport(), rclcpp::QoS(this->getTopicQueueSize()).reliability((rmw_qos_reliability_policy_t)qosImage_), subOptions);
+#endif
 
 		RCLCPP_INFO(this->get_logger(), "\n%s subscribed to:\n   %s", get_name(), defaultSub_.getTopic().c_str());
 	}

rtabmap_sync/CMakeLists.txt

@@ -82,6 +82,10 @@ SET(AmentLibraries
    diagnostic_updater
 )
 
+IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
+  add_definitions(-DPRE_ROS_LYRICAL)
+ENDIF()
+
 ###########
 ## Build ##
 ###########

rtabmap_sync/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_sync</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's synchronization package.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_sync/src/impl/CommonDataSubscriberDepth.cpp

@@ -503,12 +503,19 @@ void CommonDataSubscriber::setupDepthCallbacks(
 {
 	RCLCPP_INFO(node.get_logger(), "Setup depth callback");
 
-	image_transport::TransportHints rgbHints(&node); // using "image_transport" parameter
-	image_transport::TransportHints depthHints(&node, "raw", "depth_transport");
 	std::string rgbTopic = node.get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
 	std::string depthTopic = node.get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
+#ifdef PRE_ROS_LYRICAL
+	image_transport::TransportHints rgbHints(&node); // using "image_transport" parameter
+	image_transport::TransportHints depthHints(&node, "raw", "depth_transport");
 	imageSub_.subscribe(&node, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
 	imageDepthSub_.subscribe(&node, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
+#else
+	image_transport::TransportHints rgbHints(node); // using "image_transport" parameter
+	image_transport::TransportHints depthHints(node, "raw", "depth_transport");
+	imageSub_.subscribe(node, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_), options);
+	imageDepthSub_.subscribe(node, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_), options);
+#endif
 	cameraInfoSub_.subscribe(&node, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
 
 #ifdef RTABMAP_SYNC_USER_DATA

rtabmap_sync/src/impl/CommonDataSubscriberRGB.cpp

@@ -503,9 +503,14 @@ void CommonDataSubscriber::setupRGBCallbacks(
 {
 	RCLCPP_INFO(node.get_logger(), "Setup rgb-only callback");
 
-	image_transport::TransportHints hints(&node); // using "image_transport" parameter
 	std::string rgbTopic = node.get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
+#ifdef PRE_ROS_LYRICAL
+	image_transport::TransportHints hints(&node); // using "image_transport" parameter
 	imageSub_.subscribe(&node, rgbTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
+#else
+	image_transport::TransportHints hints(node); // using "image_transport" parameter
+	imageSub_.subscribe(node, rgbTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_), options);
+#endif
 	cameraInfoSub_.subscribe(&node, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
 
 #ifdef RTABMAP_SYNC_USER_DATA

rtabmap_sync/src/impl/CommonDataSubscriberStereo.cpp

@@ -97,11 +97,17 @@ void CommonDataSubscriber::setupStereoCallbacks(
 {
 	RCLCPP_INFO(node.get_logger(), "Setup stereo callback");
 
-	image_transport::TransportHints hints(&node); // using "image_transport" parameter
 	std::string leftTopic = node.get_node_topics_interface()->resolve_topic_name("left/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
 	std::string rightTopic = node.get_node_topics_interface()->resolve_topic_name("right/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
+#ifdef PRE_ROS_LYRICAL
+	image_transport::TransportHints hints(&node); // using "image_transport" parameter
 	imageRectLeft_.subscribe(&node, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
 	imageRectRight_.subscribe(&node, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
+#else
+	image_transport::TransportHints hints(node); // using "image_transport" parameter
+	imageRectLeft_.subscribe(node, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_), options);
+	imageRectRight_.subscribe(node, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_), options);
+#endif
 	cameraInfoLeft_.subscribe(&node, "left/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
 	cameraInfoRight_.subscribe(&node, "right/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
 

rtabmap_sync/src/nodelets/rgb_sync.cpp

@@ -103,9 +103,14 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) :
 		exactSync_->registerCallback(std::bind(&RGBSync::callback, this, std::placeholders::_1, std::placeholders::_2));
 	}
 
-	image_transport::TransportHints hints(this); // using "image_transport" parameter
 	std::string rgbTopic = this->get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
+#ifdef PRE_ROS_LYRICAL
+	image_transport::TransportHints hints(this); // using "image_transport" parameter
 	imageSub_.subscribe(this, rgbTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+#else
+	image_transport::TransportHints hints(*this); // using "image_transport" parameter
+	imageSub_.subscribe(*this, rgbTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
+#endif
 	cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCaminfo));
 
 	std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s",

rtabmap_sync/src/nodelets/rgbd_sync.cpp

@@ -127,12 +127,19 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
 		exactSyncDepth_->registerCallback(std::bind(&RGBDSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
 	}
 
-	image_transport::TransportHints rgbHints(this); // using "image_transport" parameter
-	image_transport::TransportHints depthHints(this, "raw", "depth_transport");
 	std::string rgbTopic = this->get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
 	std::string depthTopic = this->get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble/Jazzy doesn't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
+#ifdef PRE_ROS_LYRICAL
+	image_transport::TransportHints rgbHints(this); // using "image_transport" parameter
+	image_transport::TransportHints depthHints(this, "raw", "depth_transport");
 	imageSub_.subscribe(this, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
 	imageDepthSub_.subscribe(this, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+#else
+	image_transport::TransportHints rgbHints(*this); // using "image_transport" parameter
+	image_transport::TransportHints depthHints(*this, "raw", "depth_transport");
+	imageSub_.subscribe(*this, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
+	imageDepthSub_.subscribe(*this, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
+#endif
 	cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
 
 	std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s,\n   %s",

rtabmap_sync/src/nodelets/stereo_sync.cpp

@@ -98,11 +98,17 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
 		exactSync_->registerCallback(std::bind(&StereoSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
 	}
 
-	image_transport::TransportHints hints(this); // using "image_transport" parameter
 	std::string leftTopic = this->get_node_topics_interface()->resolve_topic_name("left/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
 	std::string rightTopic = this->get_node_topics_interface()->resolve_topic_name("right/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
+#ifdef PRE_ROS_LYRICAL
+	image_transport::TransportHints hints(this); // using "image_transport" parameter
 	imageLeftSub_.subscribe(this, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
 	imageRightSub_.subscribe(this, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+#else
+	image_transport::TransportHints hints(*this); // using "image_transport" parameter
+	imageLeftSub_.subscribe(*this, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
+	imageRightSub_.subscribe(*this, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
+#endif
 	cameraInfoLeftSub_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
 	cameraInfoRightSub_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
 

rtabmap_util/CMakeLists.txt

@@ -87,6 +87,10 @@ if("$ENV{ROS_DISTRO}" STRLESS "jazzy")
   add_definitions(-DPRE_ROS_JAZZY)
 endif()
 
+IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
+  add_definitions(-DPRE_ROS_LYRICAL)
+ENDIF()
+
 ###########
 ## Build ##
 ###########

rtabmap_util/include/rtabmap_util/db_player.hpp

@@ -44,8 +44,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <std_srvs/srv/empty.hpp>
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
-#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_ros/transform_broadcaster.hpp>
 
 #include <rtabmap_msgs/msg/rgbd_image.hpp>
 #include <rtabmap_msgs/msg/env_sensor.hpp>

rtabmap_util/include/rtabmap_util/imu_to_tf.hpp

@@ -30,9 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <sensor_msgs/msg/imu.hpp>
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
-#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_ros/transform_broadcaster.hpp>
 
 namespace rtabmap_util
 {

rtabmap_util/include/rtabmap_util/lidar_deskewing.hpp

@@ -30,8 +30,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap_sync/SyncDiagnostic.h>
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/msg/laser_scan.hpp>

rtabmap_util/include/rtabmap_util/obstacles_detection.hpp

@@ -28,8 +28,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rclcpp/rclcpp.hpp"
 #include <rtabmap_util/visibility.h>
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 

rtabmap_util/include/rtabmap_util/point_cloud_aggregator.hpp

@@ -30,8 +30,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 
 #include <message_filters/sync_policies/approximate_time.hpp>
 #include <message_filters/subscriber.hpp>

rtabmap_util/include/rtabmap_util/point_cloud_assembler.hpp

@@ -28,8 +28,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap_util/visibility.h>
 #include "rclcpp/rclcpp.hpp"
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>

rtabmap_util/include/rtabmap_util/pointcloud_to_depthimage.hpp

@@ -34,8 +34,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <image_transport/image_transport.hpp>
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 
 #include <message_filters/sync_policies/approximate_time.hpp>
 #include <message_filters/sync_policies/exact_time.hpp>

rtabmap_util/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_util</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's various useful nodes and nodelets.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_util/scripts/netvlad_tf_ros.py

@@ -24,7 +24,7 @@ import netvlad_tf.nets as nets
 from std_msgs.msg import String
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge, CvBridgeError
-from rtabmap_python import compression as cp
+from rtabmap_python import cv_compression as cp
 from rtabmap_msgs.msg import GlobalDescriptor
 
 class netvlad_ros:

rtabmap_util/src/DbPlayerNode.cpp

@@ -87,6 +87,9 @@ int main(int argc, char **argv)
 
 	rclcpp::Rate pauseRate(10);
 
+	rclcpp::executors::SingleThreadedExecutor executor;
+	executor.add_node(node);
+
 	while(rclcpp::ok())
 	{
 		if(!node->publishNextFrame()) {
@@ -117,7 +120,7 @@ int main(int argc, char **argv)
 			}
 
 			pauseRate.sleep();
-			rclcpp::spin_some(node);
+			executor.spin_some();
 		}
 	}
 

rtabmap_util/src/nodelets/db_player.cpp

@@ -220,7 +220,11 @@ void DbPlayer::initializePublishers(const rtabmap::OdometryEvent & odom)
         else
         {
             if(rgbPub_.getTopic().empty()) {
+#ifdef PRE_ROS_LYRICAL
                 rgbPub_ = image_transport::create_publisher(this, "rgb/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_).get_rmw_qos_profile());
+#else
+                rgbPub_ = image_transport::create_publisher(*this, "rgb/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_));
+#endif
                 RCLCPP_INFO(get_logger(), "Gray/RGB image       \"%s\" will be published.", rgbPub_.getTopic().c_str());
             }
             if(!rgbInfoPub_.get()) {
@@ -228,7 +232,11 @@ void DbPlayer::initializePublishers(const rtabmap::OdometryEvent & odom)
                 RCLCPP_INFO(get_logger(), "Gray/RGB calibration \"%s\" will be published.", rgbInfoPub_->get_topic_name());
             }
             if(depthPub_.getTopic().empty()) {
+#ifdef PRE_ROS_LYRICAL
                 depthPub_ = image_transport::create_publisher(this, "depth/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_).get_rmw_qos_profile());
+#else
+                depthPub_ = image_transport::create_publisher(*this, "depth/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_));
+#endif
                 RCLCPP_INFO(get_logger(), "Depth image          \"%s\" will be published.", depthPub_.getTopic().c_str());
             }
             if(!depthInfoPub_.get()) {
@@ -254,7 +262,11 @@ void DbPlayer::initializePublishers(const rtabmap::OdometryEvent & odom)
         else
         {
             if(leftPub_.getTopic().empty()) {
+#ifdef PRE_ROS_LYRICAL
                 leftPub_ = image_transport::create_publisher(this, "left/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_).get_rmw_qos_profile());
+#else
+                leftPub_ = image_transport::create_publisher(*this, "left/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_));
+#endif
                 RCLCPP_INFO(get_logger(), "Left image           \"%s\" will be published.", leftPub_.getTopic().c_str());
             }
             if(!leftInfoPub_.get()) {
@@ -262,7 +274,11 @@ void DbPlayer::initializePublishers(const rtabmap::OdometryEvent & odom)
                 RCLCPP_INFO(get_logger(), "Left calibration     \"%s\" will be published.", leftInfoPub_->get_topic_name());
             }
             if(rightPub_.getTopic().empty()) {
+#ifdef PRE_ROS_LYRICAL
                 rightPub_ = image_transport::create_publisher(this, "right/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_).get_rmw_qos_profile());
+#else
+                rightPub_ = image_transport::create_publisher(*this, "right/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_));
+#endif
                 RCLCPP_INFO(get_logger(), "Right image          \"%s\" will be published.", rightPub_.getTopic().c_str());
             }
             if(!rightInfoPub_.get()) {
@@ -274,8 +290,12 @@ void DbPlayer::initializePublishers(const rtabmap::OdometryEvent & odom)
     }
     else if(imagePub_.getTopic().empty())
     {
+#ifdef PRE_ROS_LYRICAL
         imagePub_ = image_transport::create_publisher(this, "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_).get_rmw_qos_profile());
-                RCLCPP_INFO(get_logger(), "Image                \"%s\" without calibration will be published.", imagePub_.getTopic().c_str());
+#else
+        imagePub_ = image_transport::create_publisher(*this, "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_));
+#endif
+        RCLCPP_INFO(get_logger(), "Image                \"%s\" without calibration will be published.", imagePub_.getTopic().c_str());
     }
 
     if(!odom.data().laserScanRaw().isEmpty())

rtabmap_util/src/nodelets/disparity_to_depth.cpp

@@ -45,8 +45,13 @@ DisparityToDepth::DisparityToDepth(const rclcpp::NodeOptions & options) :
 	int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
 	qos = this->declare_parameter("qos", qos);
 
+#ifdef PRE_ROS_LYRICAL
 	pub32f_ = image_transport::create_publisher(this, "depth", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-	pub16u_ = image_transport::create_publisher(this, "depth_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+	pub16u_ = image_transport::create_publisher(this, "depth_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());	
+#else
+	pub32f_ = image_transport::create_publisher(*this, "depth", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
+	pub16u_ = image_transport::create_publisher(*this, "depth_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
+#endif
 
 	sub_ = create_subscription<stereo_msgs::msg::DisparityImage>("disparity", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&DisparityToDepth::callback, this, std::placeholders::_1));
 }

rtabmap_util/src/nodelets/point_cloud_xyz.cpp

@@ -157,9 +157,14 @@ PointCloudXYZ::PointCloudXYZ(const rclcpp::NodeOptions & options) :
 
 	cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
 
-	image_transport::TransportHints hints(this, "raw", "depth_transport");
 	std::string depthTopic = this->get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
+#ifdef PRE_ROS_LYRICAL
+	image_transport::TransportHints hints(this, "raw", "depth_transport");
 	imageDepthSub_.subscribe(this, depthTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+#else
+	image_transport::TransportHints hints(*this, "raw", "depth_transport");
+	imageDepthSub_.subscribe(*this, depthTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
+#endif
 	cameraInfoSub_.subscribe(this, "depth/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
 
 	disparitySub_.subscribe(this, "disparity/image", RCLCPP_QOS(topicQueueSize, qos));

rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp

@@ -186,20 +186,32 @@ PointCloudXYZRGB::PointCloudXYZRGB(const rclcpp::NodeOptions & options) :
 		exactSyncStereo_->registerCallback(std::bind(&PointCloudXYZRGB::stereoCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
 	}
 
-	image_transport::TransportHints rgbHints(this); // using "image_transport" parameter
-	image_transport::TransportHints depthHints(this, "raw", "depth_transport");
 	std::string rgbTopic = this->get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
 	std::string depthTopic = this->get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
+#ifdef PRE_ROS_LYRICAL
+	image_transport::TransportHints rgbHints(this); // using "image_transport" parameter
+	image_transport::TransportHints depthHints(this, "raw", "depth_transport");
 	imageSub_.subscribe(this, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
 	imageDepthSub_.subscribe(this, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+#else
+	image_transport::TransportHints rgbHints(*this); // using "image_transport" parameter
+	image_transport::TransportHints depthHints(*this, "raw", "depth_transport");
+	imageSub_.subscribe(*this, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
+	imageDepthSub_.subscribe(*this, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
+#endif
 	cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
 
 	imageDisparitySub_.subscribe(this, "disparity", RCLCPP_QOS(topicQueueSize, qos));
 
 	std::string leftTopic = this->get_node_topics_interface()->resolve_topic_name("left/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
 	std::string rightTopic = this->get_node_topics_interface()->resolve_topic_name("right/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
+#ifdef PRE_ROS_LYRICAL
 	imageLeft_.subscribe(this, leftTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
 	imageRight_.subscribe(this, rightTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+#else
+	imageLeft_.subscribe(*this, leftTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
+	imageRight_.subscribe(*this, rightTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
+#endif
 	cameraInfoLeft_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
 	cameraInfoRight_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
 }

rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp

@@ -107,8 +107,13 @@ PointCloudToDepthImage::PointCloudToDepthImage(const rclcpp::NodeOptions & optio
 	RCLCPP_INFO(this->get_logger(), "  decimation=%d", decimation_);
 	RCLCPP_INFO(this->get_logger(), "  upscale=%s (upscale_depth_error_ratio=%f)", upscale_?"true":"false", upscaleDepthErrorRatio_);
 
+#ifdef PRE_ROS_LYRICAL
 	depthImage16Pub_ = image_transport::create_publisher(this, "image_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); // 16 bits unsigned in mm
-	depthImage32Pub_ = image_transport::create_publisher(this, "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());// 32 bits float in meters
+	depthImage32Pub_ = image_transport::create_publisher(this, "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());// 32 bits float in meters	
+#else
+	depthImage16Pub_ = image_transport::create_publisher(*this, "image_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos)); // 16 bits unsigned in mm
+	depthImage32Pub_ = image_transport::create_publisher(*this, "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));// 32 bits float in meters
+#endif
 	pointCloudTransformedPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("cloud_transformed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
 	cameraInfo16Pub_ = create_publisher<sensor_msgs::msg::CameraInfo>(depthImage16Pub_.getTopic()+"/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo));
 	cameraInfo32Pub_ = create_publisher<sensor_msgs::msg::CameraInfo>(depthImage32Pub_.getTopic()+"/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo));

rtabmap_util/src/nodelets/rgbd_split.cpp

@@ -46,8 +46,13 @@ RGBDSplit::RGBDSplit(const rclcpp::NodeOptions & options) :
 
 	rgbdImageSub_ = create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(5).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&RGBDSplit::callback, this, std::placeholders::_1));
 
+#ifdef PRE_ROS_LYRICAL
 	rgbPub_ = image_transport::create_publisher(this, std::string(rgbdImageSub_->get_topic_name()) + "/rgb/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-	depthPub_ = image_transport::create_publisher(this, std::string(rgbdImageSub_->get_topic_name()) + "/depth/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+	depthPub_ = image_transport::create_publisher(this, std::string(rgbdImageSub_->get_topic_name()) + "/depth/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());	
+#else
+	rgbPub_ = image_transport::create_publisher(*this, std::string(rgbdImageSub_->get_topic_name()) + "/rgb/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
+	depthPub_ = image_transport::create_publisher(*this, std::string(rgbdImageSub_->get_topic_name()) + "/depth/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
+#endif
 	rgbInfoPub_ = this->create_publisher<sensor_msgs::msg::CameraInfo>(std::string(rgbdImageSub_->get_topic_name()) + "/rgb/camera_info", 1);
 	depthInfoPub_ = this->create_publisher<sensor_msgs::msg::CameraInfo>(std::string(rgbdImageSub_->get_topic_name()) + "/depth/camera_info", 1);
 }

rtabmap_viz/include/rtabmap_viz/GuiWrapper.h

@@ -38,8 +38,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UEventsHandler.h"
 #include "rtabmap/core/Transform.h"
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <nav_msgs/msg/path.hpp>

rtabmap_viz/include/rtabmap_viz/rgbd_image_viewer.hpp

@@ -32,8 +32,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rclcpp/rclcpp.hpp>
 #include <QMainWindow>
 #include "rtabmap_msgs/msg/rgbd_image.hpp"
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 #include <rtabmap/core/Parameters.h>
 #include <rtabmap/utilite/UEventsSender.h>
 

rtabmap_viz/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_viz</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's visualization package.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>