Merge remote-tracking branch 'github/v2-main' into v2-main

Author: obyalian

orbbec_camera/CMakeLists.txt

@@ -7,20 +7,13 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -O3")
 set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG}  -fPIC -g3")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -O3")
 set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fPIC -g3")
-set(CMAKE_BUILD_TYPE "Release")
 option(USE_RK_HW_DECODER "Use Rockchip hardware decoder" OFF)
 option(USE_NV_HW_DECODER "Use Nvidia hardware decoder" OFF)
 option(INSTALL_UDEV_RULES "Install udev rule for Orbbec cameras" ON)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds)
 endif()
-# Check if ROS Jazzy or iron is installed
-if("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
-    add_compile_definitions(ROS_JAZZY)
-elseif("$ENV{ROS_DISTRO}" STREQUAL "iron")
-    add_compile_definitions(ROS_IRON)
-endif()
 
 # find dependencies
 set(dependencies
@@ -41,7 +34,6 @@ set(dependencies
     std_msgs
     std_srvs
     tf2
-    tf2_eigen
     tf2_msgs
     tf2_ros
     tf2_sensor_msgs

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -72,9 +72,9 @@
 #include <fcntl.h>
 #include <unistd.h>
 
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
-#else
+#elif __has_include(<cv_bridge/cv_bridge.h>)
 #include <cv_bridge/cv_bridge.h>
 #endif
 

orbbec_camera/include/orbbec_camera/ros_param_backend.h

@@ -22,13 +22,11 @@ class ParametersBackend {
  public:
   explicit ParametersBackend(rclcpp::Node* node);
   ~ParametersBackend();
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
-  void addOnSetParametersCallback(
-      rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback);
-#else
-  void addOnSetParametersCallback(
-      rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
-#endif
+
+  template <typename T>
+  void addOnSetParametersCallback(T callback) {
+    ros_callback_ = node_->add_on_set_parameters_callback(callback);
+  }
 
  private:
   rclcpp::Node* node_;

orbbec_camera/src/d2c_viewer.cpp

@@ -14,9 +14,9 @@
  * limitations under the License.
  *******************************************************************************/
 
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
-#else
+#elif __has_include(<cv_bridge/cv_bridge.h>)
 #include <cv_bridge/cv_bridge.h>
 #endif
 #include <sensor_msgs/image_encodings.hpp>

orbbec_camera/src/ros_param_backend.cpp

@@ -26,16 +26,5 @@ ParametersBackend::~ParametersBackend() {
     ros_callback_.reset();
   }
 }
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
-void ParametersBackend::addOnSetParametersCallback(
-    rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback) {
-  ros_callback_ = node_->add_on_set_parameters_callback(callback);
-}
-#else
-void ParametersBackend::addOnSetParametersCallback(
-    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback) {
-  ros_callback_ = node_->add_on_set_parameters_callback(callback);
-}
-#endif
 
 }  // namespace orbbec_camera