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Code Issues Packages Projects Releases Wiki Activity

Adding ROS2 Kilted to CI (#1322)

Browse Source 
* Adding ROS2 Kilted to CI

* updated ros2 ci workflow

* updated version of action-ros-ci

* Updated dev containers, fixed kilted build

* Added git autocompletion
This commit is contained in:
matlabbe
2025-06-08 15:01:07 -07:00
committed by GitHub
parent 2d270e9c3c
commit 50fe38ef6c
18 changed files with 223 additions and 71 deletions
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rtabmap_util/CMakeLists.txt
+4
View File
@@ -56,6 +56,10 @@ SET(Libraries
rtabmap_conversions
)
if("$ENV{ROS_DISTRO}" STRLESS "jazzy")
add_definitions(-DPRE_ROS_JAZZY)
endif()
###########
## Build ##
###########
rtabmap_util/src/nodelets/imu_to_tf.cpp
+1 -3
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@@ -64,8 +64,7 @@ void ImuToTF::imuCallback(const sensor_msgs::msg::Imu::ConstSharedPtr msg)
{
tf2::Quaternion q;
tf2::fromMsg(msg->orientation, q);
tf2::Transform st;
st.setRotation(q);
tf2::Transform st(q);
std::string childFrameId = msg->header.frame_id;
@@ -97,7 +96,6 @@ void ImuToTF::imuCallback(const sensor_msgs::msg::Imu::ConstSharedPtr msg)
return;
}
}
st.setOrigin(tf2::Vector3(0,0,0));
geometry_msgs::msg::TransformStamped output;
output.header.frame_id = fixedFrameId_;
rtabmap_util/src/nodelets/map_assembler.cpp
+7 -1
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@@ -40,6 +40,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#endif
#endif
#ifdef PRE_ROS_JAZZY
namespace rclcpp{
rmw_qos_profile_t ServicesQoS() {return rmw_qos_profile_services_default;}
}
#endif
using namespace std::chrono_literals;
namespace rtabmap_util
@@ -187,7 +193,7 @@ MapAssembler::MapAssembler(const rclcpp::NodeOptions & options) :
// We cannot call the service and wait in the constructor, lets call it later and subscribe afterwards
serviceCbGroup_ = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
timerCbGroup_ = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
client_ = this->create_client<rtabmap_msgs::srv::GetMap>(getMapSrv, rmw_qos_profile_services_default, serviceCbGroup_); // Put it in a different group than the timer
client_ = this->create_client<rtabmap_msgs::srv::GetMap>(getMapSrv, rclcpp::ServicesQoS(), serviceCbGroup_); // Put it in a different group than the timer
timer_ = this->create_wall_timer(1s, std::bind(&MapAssembler::timerCallback, this), timerCbGroup_);
}