Merge branch 'ros2' of github.com:introlab/rtabmap_ros into kilted-devel

.github/workflows/ros2.yml

@@ -17,6 +17,9 @@ jobs:
     strategy:
       matrix:
         ros_distro: [kilted]
+        include:
+        - ros_distro: kilted
+          skip_keys: ''
       fail-fast: false
     container:
       image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
@@ -34,3 +37,4 @@ jobs:
         target-ros2-distro: ${{ matrix.ros_distro }}
         vcs-repo-file-url: /tmp/deps.repos
         rosdep-check: true
+        rosdep-skip-keys: "${{ matrix.skip_keys }}"

docker/humble/latest/Dockerfile

@@ -1,4 +1,4 @@
-FROM introlab3it/rtabmap:22.04
+FROM introlab3it/rtabmap:jammy
 
 RUN source /ros_entrypoint.sh && \
     mkdir -p ros2_ws/src && \
@@ -12,8 +12,7 @@ RUN source /ros_entrypoint.sh && \
     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 && \
-    apt remove ros-$ROS_DISTRO-rtabmap* -y && \
+    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 --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
     cd && \

docker/humble/latest/hooks/build

@@ -1,2 +0,0 @@
-#!/bin/bash 
-docker build --build-arg CACHE_DATE="$(date)" --cache-from $IMAGE_NAME -f $DOCKERFILE_PATH -t $IMAGE_NAME -t $DOCKER_REPO:humble-latest  .

docker/jazzy/latest/Dockerfile

@@ -1,4 +1,4 @@
-FROM introlab3it/rtabmap:24.04
+FROM introlab3it/rtabmap:noble
 
 RUN source /ros_entrypoint.sh && \
     mkdir -p ros2_ws/src && \

docker/kilted/latest/Dockerfile

@@ -1,4 +1,4 @@
-FROM introlab3it/rtabmap:24.04
+FROM introlab3it/rtabmap:noble-kilted
 
 RUN source /ros_entrypoint.sh && \
     mkdir -p ros2_ws/src && \

rtabmap_slam/package.xml

@@ -12,6 +12,8 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
+  <build_depend>ros_environment</build_depend>
+
   <depend>cv_bridge</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>

rtabmap_util/package.xml

@@ -12,6 +12,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>ros_environment</build_depend>
+
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
   <depend>rclcpp</depend>