merged ros2->humble-devel

rtabmap_conversions/CMakeLists.txt

@@ -60,6 +60,10 @@ IF("$ENV{ROS_DISTRO}" STRLESS "iron")
   add_definitions(-DPRE_ROS_IRON)
 ENDIF()
 
+IF("$ENV{ROS_DISTRO}" STRLESS "kilted")
+  add_definitions(-DPRE_ROS_KILTED)
+ENDIF()
+
 ###########
 ## Build ##
 ###########
@@ -73,7 +77,9 @@ target_include_directories(rtabmap_conversions
 ament_target_dependencies(rtabmap_conversions ${Libraries})
 
 IF("$ENV{ROS_DISTRO}" STRLESS "iron")
-  target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON)
+  target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON -DPRE_ROS_KILTED)
+ELSEIF("$ENV{ROS_DISTRO}" STRLESS "kilted")
+  target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_KILTED)
 ENDIF()
 
 #############

rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h

@@ -65,6 +65,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap_msgs/msg/rgbd_image.hpp>
 #include <rtabmap_msgs/msg/user_data.hpp>
 
+#ifdef PRE_ROS_KILTED
+#define RCLCPP_QOS(queueSize, qos) rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()
+#else
+#define RCLCPP_QOS(queueSize, qos) rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos)
+#endif
+
 namespace rtabmap_conversions {
 
 void transformToTF(const rtabmap::Transform & transform, tf2::Transform & tfTransform);

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>0.22.0</version>
+  <version>0.22.1</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="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>