Debug builtin interfaces issue (#1328)

* debugging builtin_interfaces issue on arm64

* add logh

* cmake debug

* show arch

* refactored

* explicit find_library

* explicitly search builtin_interfaces__rosidl_generator_c

* fixing in rtabmap_slam

* rtabmap_sync

* openssl error

* rtabmap odom

* rtabmap_viz

* adding missing deps instead

* testing on all distros

* limit fix to humble-aarch64 build

* remvoed debug code

* Running aarch64 workaround for all distros

* message_filters error

* added cmake --debug-find

* using 2 threads

* reseting ros2 ci

rtabmap_odom/CMakeLists.txt

@@ -10,6 +10,15 @@ if(POLICY CMP0074)
     cmake_policy(SET CMP0074 NEW)
 endif()
 
+if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+  # issues #1285 #1288
+  find_library(
+    builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
+    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
+  )
+endif()
+      
 find_package(ament_cmake_ros REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(image_geometry REQUIRED)

rtabmap_odom/package.xml

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