Merge PR #3066 from SamerKhshiboun: Revert Foxy Build Support (From S…

…ource)
IntelRealSense · Apr 8, 2024 · 34350e7 · 34350e7
2 parents b69891b + a75c2e2
commit 34350e7
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Showing 8 changed files with 85 additions and 28 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -25,14 +25,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: [rolling, iron, humble]
+        ros_distro: [rolling, iron, humble, foxy]
         include:
         - ros_distro: 'rolling'
           os: ubuntu-22.04
         - ros_distro: 'iron'
           os: ubuntu-22.04
         - ros_distro: 'humble'
           os: ubuntu-22.04
+        - ros_distro: 'foxy'
+          os: ubuntu-20.04
 
     steps:
 
@@ -50,13 +52,27 @@ jobs:
         cd ${{github.workspace}}/ros2/src/realsense-ros/scripts
         ./pr_check.sh 
 
-    - name: build ROS2
+    # [email protected] is the last version supporting foxy (EOL)
+    # [email protected] is needed to support humble/iron/rolling
+    # so, seperating steps with if conditions
+    - name: build ROS2 for foxy
+      if: ${{ matrix.ros_distro == 'foxy' }}
+      uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ matrix.ros_distro }}
+    - name: build ROS2 for humble/iron/rolling
+      if: ${{ matrix.ros_distro != 'foxy' }}
       uses: ros-tooling/[email protected]
       with:
         required-ros-distributions: ${{ matrix.ros_distro }}
 
-    - name: Build RealSense SDK 2.0 from source
+    - name: Build RealSense SDK 2.0 (development branch) from source
       run: |
+
+        # libusb-1.0-0-dev is needed for librealsense build in ubuntu 20.04
+        # This apt install command will be ignored in ubuntu 22.04 as libusb-1.0-0-dev already installed there
+        sudo apt install -y libusb-1.0-0-dev
+        
         cd ${{github.workspace}}
         git clone https://github.com/IntelRealSense/librealsense.git -b development
         cd librealsense
@@ -68,13 +84,13 @@ jobs:
         sudo make -j10
         sudo make install
 
-    - name: Build RealSense ROS2 Wrapper
-      run: | 
+    - name: Build RealSense ROS2 Wrapper from source
+      run: |
         echo "source /opt/ros/${{ matrix.ros_distro }}/setup.bash" >> ${{github.workspace}}/.bashrc
         source ${{github.workspace}}/.bashrc
         cd ${{github.workspace}}/ros2
         echo "================= ROSDEP UPDATE ====================="
-        rosdep update --rosdistro ${{ matrix.ros_distro }}
+        rosdep update --rosdistro ${{ matrix.ros_distro }} --include-eol-distros
         echo "================= ROSDEP INSTALL ===================="
         rosdep install -i --reinstall --from-path src --rosdistro ${{ matrix.ros_distro }} --skip-keys=librealsense2 -y
         echo "================== COLCON BUILD ======================"
@@ -103,10 +119,16 @@ jobs:
         cd ${{github.workspace}}/ros2
         source ${{github.workspace}}/.bashrc
         . install/local_setup.bash
+        # the next command might be needed for foxy distro, since this package is not installed
+        # by default in ubuntu 20.04. For other distro, the apt install command will be ignored.
+        sudo apt install -y ros-${{matrix.ros_distro}}-sensor-msgs-py
         python3 src/realsense-ros/realsense2_camera/scripts/rs2_test.py non_existent_file
     
+    # don't run integration tests for foxy since some testing dependecies packages like 
+    # tf_ros_py are not avaialble
+    # TODO: check when we can run integration tests on rolling
     - name: Run integration tests
-      if: ${{ matrix.ros_distro != 'rolling'}}
+      if: ${{ matrix.ros_distro != 'rolling' && matrix.ros_distro != 'foxy' }}
       run: |
         cd ${{github.workspace}}/ros2
         source ${{github.workspace}}/.bashrc

diff --git a/README.md b/README.md
@@ -14,6 +14,7 @@
 [![rolling][rolling-badge]][rolling]
 [![iron][iron-badge]][iron]
 [![humble][humble-badge]][humble]
+[![foxy][foxy-badge]][foxy]
 [![ubuntu22][ubuntu22-badge]][ubuntu22]
 [![ubuntu20][ubuntu20-badge]][ubuntu20]
 
@@ -90,20 +91,23 @@
 - #### Ubuntu 22.04:
   - [ROS2 Iron](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html)
   - [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+  #### Ubuntu 20.04
+	- [ROS2 Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)
 </details>
 
 <details>
   <summary>
     Step 2: Install latest Intel&reg; RealSense&trade; SDK 2.0
   </summary>
+
   **Please choose only one option from the 3 options below (in order to prevent multiple versions installation and workspace conflicts)**
 
 - #### Option 1: Install librealsense2 debian package from Intel servers
   - Jetson users - use the [Jetson Installation Guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md)
   - Otherwise, install from [Linux Debian Installation Guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages)
     - In this case treat yourself as a developer: make sure to follow the instructions to also install librealsense2-dev and librealsense2-dkms packages
 
-- #### Option 2: Install librealsense2 (without graphical tools and examples) debian package from ROS servers:
+- #### Option 2: Install librealsense2 (without graphical tools and examples) debian package from ROS servers (Foxy EOL distro is not supported by this option):
   - [Configure](http://wiki.ros.org/Installation/Ubuntu/Sources) your Ubuntu repositories
   - Install all realsense ROS packages by ```sudo apt install ros-<ROS_DISTRO>-librealsense2*```
     - For example, for Humble distro: ```sudo apt install ros-humble-librealsense2*```
@@ -119,7 +123,7 @@
     Step 3: Install Intel&reg; RealSense&trade; ROS2 wrapper
   </summary>
 
-#### Option 1: Install debian package from ROS servers
+#### Option 1: Install debian package from ROS servers (Foxy EOL distro is not supported by this option):
   - [Configure](http://wiki.ros.org/Installation/Ubuntu/Sources) your Ubuntu repositories
   - Install all realsense ROS packages by ```sudo apt install ros-<ROS_DISTRO>-realsense2-*```
   - For example, for Humble distro: ```sudo apt install ros-humble-realsense2-*```
@@ -153,7 +157,7 @@
 
   -  Source environment
    ```bash
-   ROS_DISTRO=<YOUR_SYSTEM_ROS_DISTRO>  # set your ROS_DISTRO: iron, humble
+   ROS_DISTRO=<YOUR_SYSTEM_ROS_DISTRO>  # set your ROS_DISTRO: iron, humble, foxy
    source /opt/ros/$ROS_DISTRO/setup.bash
    cd ~/ros2_ws
    . install/local_setup.bash
@@ -172,14 +176,17 @@
   </summary>
 
 - #### Windows 10/11
+
   **Please choose only one option from the two options below (in order to prevent multiple versions installation and workspace conflicts)**
+
   - Manual install from ROS2 formal documentation:
     - [ROS2 Iron](https://docs.ros.org/en/iron/Installation/Windows-Install-Binary.html)
     - [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Windows-Install-Binary.html)
+    - [ROS2 Foxy](https://docs.ros.org/en/foxy/Installation/Windows-Install-Binary.html)
   - Microsoft IOT binary installation:
     - https://ms-iot.github.io/ROSOnWindows/GettingStarted/SetupRos2.html
     - Pay attention that the examples of install are for Foxy distro (which is not supported anymore by RealSense ROS2 Wrapper)
-	- Please replace the word "Foxy" with Humble or Iron, as you choose
+	- Please replace the word "Foxy" with Humble or Iron, depends on the chosen distro.
 </details>
 
 <details>
@@ -676,6 +683,8 @@ ros2 launch realsense2_camera rs_intra_process_demo_launch.py intra_process_comm
 
 [rolling-badge]: https://img.shields.io/badge/-ROLLING-orange?style=flat-square&logo=ros
 [rolling]: https://docs.ros.org/en/rolling/index.html
+[foxy-badge]: https://img.shields.io/badge/-foxy-orange?style=flat-square&logo=ros
+[foxy]: https://docs.ros.org/en/foxy/index.html
 [humble-badge]: https://img.shields.io/badge/-HUMBLE-orange?style=flat-square&logo=ros
 [humble]: https://docs.ros.org/en/humble/index.html
 [iron-badge]: https://img.shields.io/badge/-IRON-orange?style=flat-square&logo=ros

diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt
@@ -154,7 +154,11 @@ endif()
 if(NOT DEFINED ENV{ROS_DISTRO})
   message(FATAL_ERROR "ROS_DISTRO is not defined." )
 endif()
-if("$ENV{ROS_DISTRO}" STREQUAL "humble")
+if("$ENV{ROS_DISTRO}" STREQUAL "foxy")
+  message(STATUS "Build for ROS2 Foxy")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFOXY")
+  set(SOURCES "${SOURCES}" src/ros_param_backend.cpp)
+elseif("$ENV{ROS_DISTRO}" STREQUAL "humble")
   message(STATUS "Build for ROS2 Humble")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHUMBLE")
   set(SOURCES "${SOURCES}" src/ros_param_backend.cpp)

diff --git a/realsense2_camera/launch/rs_launch.py b/realsense2_camera/launch/rs_launch.py
@@ -98,14 +98,22 @@ def yaml_to_dict(path_to_yaml):
 def launch_setup(context, params, param_name_suffix=''):
     _config_file = LaunchConfiguration('config_file' + param_name_suffix).perform(context)
     params_from_file = {} if _config_file == "''" else yaml_to_dict(_config_file)
+
+    _output = LaunchConfiguration('output' + param_name_suffix)
+    if(os.getenv('ROS_DISTRO') == 'foxy'):
+        # Foxy doesn't support output as substitution object (LaunchConfiguration object)
+        # but supports it as string, so we fetch the string from this substitution object
+        # see related PR that was merged for humble, iron, rolling: https://github.com/ros2/launch/pull/577
+        _output = context.perform_substitution(_output)
+
     return [
         launch_ros.actions.Node(
             package='realsense2_camera',
             namespace=LaunchConfiguration('camera_namespace' + param_name_suffix),
             name=LaunchConfiguration('camera_name' + param_name_suffix),
             executable='realsense2_camera_node',
             parameters=[params, params_from_file],
-            output=LaunchConfiguration('output' + param_name_suffix),
+            output=_output,
             arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level' + param_name_suffix)],
             emulate_tty=True,
             )

diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml
@@ -28,17 +28,17 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>diagnostic_updater</depend>
-  <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>launch_testing</test_depend>
-  <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_pytest</test_depend>
-  <test_depend>sensor_msgs_py</test_depend>
-  <test_depend>python3-numpy</test_depend>
-  <test_depend>python3-tqdm</test_depend>
-  <test_depend>sensor_msgs_py</test_depend>
-  <test_depend>python3-requests</test_depend>
-  <test_depend>tf2_ros_py</test_depend>
-  <test_depend>ros2topic</test_depend>
+  <test_depend condition="$ROS_DISTRO != foxy">ament_cmake_gtest</test_depend>
+  <test_depend condition="$ROS_DISTRO != foxy">launch_testing</test_depend>
+  <test_depend condition="$ROS_DISTRO != foxy">ament_cmake_pytest</test_depend>
+  <test_depend condition="$ROS_DISTRO != foxy">launch_pytest</test_depend>
+  <test_depend condition="$ROS_DISTRO != foxy">sensor_msgs_py</test_depend>
+  <test_depend condition="$ROS_DISTRO != foxy">python3-numpy</test_depend>
+  <test_depend condition="$ROS_DISTRO != foxy">python3-tqdm</test_depend>
+  <test_depend condition="$ROS_DISTRO != foxy">sensor_msgs_py</test_depend>
+  <test_depend condition="$ROS_DISTRO != foxy">python3-requests</test_depend>
+  <test_depend condition="$ROS_DISTRO != foxy">tf2_ros_py</test_depend>
+  <test_depend condition="$ROS_DISTRO != foxy">ros2topic</test_depend>
 
   <exec_depend>launch_ros</exec_depend>
   <build_depend>ros_environment</build_depend>

diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
@@ -690,7 +690,14 @@ rclcpp::Time BaseRealSenseNode::frameSystemTimeSec(rs2::frame frame)
     {
         double elapsed_camera_ns = millisecondsToNanoseconds(timestamp_ms - _camera_time_base);
 
+        /*
+        Fixing deprecated-declarations compilation error for EOL distro (foxy)
+        */
+#if defined(FOXY)
+        auto duration = rclcpp::Duration(elapsed_camera_ns);
+#else
         auto duration = rclcpp::Duration::from_nanoseconds(elapsed_camera_ns);
+#endif
 
         return rclcpp::Time(_ros_time_base + duration);
     }

diff --git a/realsense2_camera/src/dynamic_params.cpp b/realsense2_camera/src/dynamic_params.cpp
@@ -115,7 +115,11 @@ namespace realsense2_camera
         try
         {
             ROS_DEBUG_STREAM("setParam::Setting parameter: " << param_name);
-            descriptor.dynamic_typing=true; // Without this, undeclare_parameter() throws error.
+#if defined(FOXY)
+            //do nothing for old versions (foxy)
+#else
+            descriptor.dynamic_typing=true;
+#endif
             if (!_node.get_parameter(param_name, result_value))
             {
                 result_value = _node.declare_parameter(param_name, initial_value, descriptor);

diff --git a/realsense2_camera/src/ros_sensor.cpp b/realsense2_camera/src/ros_sensor.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <ros_sensor.h>
+#include <assert.h>
 
 using namespace realsense2_camera;
 using namespace rs2;
@@ -409,7 +410,7 @@ void RosSensor::set_sensor_auto_exposure_roi()
 {
     try
     {
-        rs2_stream stream_type;
+        rs2_stream stream_type = RS2_STREAM_ANY;
         if (this->rs2::sensor::is<rs2::depth_sensor>())
         {
             stream_type = RS2_STREAM_DEPTH;
@@ -418,6 +419,7 @@ void RosSensor::set_sensor_auto_exposure_roi()
         {
             stream_type = RS2_STREAM_COLOR;
         }
+        assert(stream_type != RS2_STREAM_ANY);
 
         int width = std::dynamic_pointer_cast<VideoProfilesManager>(_profile_managers[0])->getWidth(stream_type);
         int height = std::dynamic_pointer_cast<VideoProfilesManager>(_profile_managers[0])->getHeight(stream_type);
@@ -451,7 +453,7 @@ void RosSensor::registerAutoExposureROIOptions()
 
     if (this->rs2::sensor::is<rs2::roi_sensor>())
     {
-        rs2_stream stream_type;
+        rs2_stream stream_type = RS2_STREAM_ANY;
         if (this->rs2::sensor::is<rs2::depth_sensor>())
         {
             stream_type = RS2_STREAM_DEPTH;
@@ -460,7 +462,8 @@ void RosSensor::registerAutoExposureROIOptions()
         {
             stream_type = RS2_STREAM_COLOR;
         }
-
+        assert(stream_type != RS2_STREAM_ANY);
+
         int width = std::dynamic_pointer_cast<VideoProfilesManager>(_profile_managers[0])->getWidth(stream_type);
         int height = std::dynamic_pointer_cast<VideoProfilesManager>(_profile_managers[0])->getHeight(stream_type);