Update: fixed iron compile error

Author: jian-dong

orbbec_camera/CMakeLists.txt

@@ -15,10 +15,12 @@ option(USE_NV_HW_DECODER "Use Nvidia hardware decoder" OFF)
 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 is installed
-if("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
+# Check if ROS Jazzy or iron is installed
+if ("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
   add_compile_definitions(ROS_JAZZY)
-endif()
+elseif ("$ENV{ROS_DISTRO}" STREQUAL "iron")
+  add_compile_definitions(ROS_IRON)
+endif ()
 
 # find dependencies
 set(dependencies
@@ -220,12 +222,12 @@ install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME}/)
 install(DIRECTORY ${ORBBEC_INCLUDE_DIR} DESTINATION include)
 install(DIRECTORY ${ORBBEC_LIBS_DIR}/ DESTINATION lib/ FILES_MATCHING PATTERN "*.so*")
-if(DEFINED ENV{BUILDING_PACKAGE})
+if (DEFINED ENV{BUILDING_PACKAGE})
   # Install udev rules
   install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/scripts/99-obsensor-libusb.rules
     DESTINATION /etc/udev/rules.d
   )
-endif()
+endif ()
 
 install(TARGETS list_devices_node
   list_depth_work_mode_node

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -63,7 +63,7 @@
 #include "jpeg_decoder.h"
 #include <std_msgs/msg/string.hpp>
 
-#if defined(ROS_JAZZY)
+#if defined(ROS_JAZZY) || defined(ROS_IRON)
 #include <cv_bridge/cv_bridge.hpp>
 #else
 #include <cv_bridge/cv_bridge.h>

orbbec_camera/include/orbbec_camera/ros_param_backend.h

@@ -22,7 +22,7 @@ class ParametersBackend {
  public:
   explicit ParametersBackend(rclcpp::Node* node);
   ~ParametersBackend();
-#if defined(ROS_JAZZY)
+#if defined(ROS_JAZZY) || defined(ROS_IRON)
   void addOnSetParametersCallback(
       rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback);
 #else

orbbec_camera/src/d2c_viewer.cpp

@@ -1,19 +1,20 @@
 /*******************************************************************************
-* Copyright (c) 2023 Orbbec 3D Technology, Inc
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-#if defined(ROS_JAZZY)
+ * Copyright (c) 2023 Orbbec 3D Technology, Inc
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *******************************************************************************/
+
+#if defined(ROS_JAZZY) || defined(ROS_IRON)
 #include <cv_bridge/cv_bridge.hpp>
 #else
 #include <cv_bridge/cv_bridge.h>

orbbec_camera/src/ros_param_backend.cpp

@@ -26,7 +26,7 @@ ParametersBackend::~ParametersBackend() {
     ros_callback_.reset();
   }
 }
-#if defined(ROS_JAZZY)
+#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);