chore: Fixed ros2 jazzy compile error

Author: jian-dong

orbbec_camera/CMakeLists.txt

@@ -15,6 +15,10 @@ 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")
+  add_compile_definitions(ROS_JAZZY)
+endif()
 
 # find dependencies
 set(dependencies

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -27,7 +27,6 @@
 #include <vector>
 #include <atomic>
 #include <opencv2/opencv.hpp>
-#include <cv_bridge/cv_bridge.h>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 #include <tf2_ros/static_transform_broadcaster.h>
@@ -64,6 +63,12 @@
 #include "jpeg_decoder.h"
 #include <std_msgs/msg/string.hpp>
 
+#if defined(ROS_JAZZY)
+#include <cv_bridge/cv_bridge.hpp>
+#else
+#include <cv_bridge/cv_bridge.h>
+#endif
+
 #define STREAM_NAME(sip)                                                                       \
   (static_cast<std::ostringstream&&>(std::ostringstream()                                      \
                                      << _stream_name[sip.first]                                \

orbbec_camera/include/orbbec_camera/ros_param_backend.h

@@ -1,18 +1,18 @@
 /*******************************************************************************
-* 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.
-*******************************************************************************/
+ * 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.
+ *******************************************************************************/
 
 #pragma once
 #include <rclcpp/rclcpp.hpp>
@@ -22,8 +22,13 @@ class ParametersBackend {
  public:
   explicit ParametersBackend(rclcpp::Node* node);
   ~ParametersBackend();
+#if defined(ROS_JAZZY)
+  void addOnSetParametersCallback(
+      rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback);
+#else
   void addOnSetParametersCallback(
       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
+#endif
 
  private:
   rclcpp::Node* node_;

orbbec_camera/src/d2c_viewer.cpp

@@ -13,7 +13,11 @@
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *******************************************************************************/
+#if defined(ROS_JAZZY)
+#include <cv_bridge/cv_bridge.hpp>
+#else
 #include <cv_bridge/cv_bridge.h>
+#endif
 #include <sensor_msgs/image_encodings.hpp>
 
 #include <opencv2/opencv.hpp>

orbbec_camera/src/ros_param_backend.cpp

@@ -1,18 +1,18 @@
 /*******************************************************************************
-* 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.
-*******************************************************************************/
+ * 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.
+ *******************************************************************************/
 
 #include "orbbec_camera/ros_param_backend.h"
 namespace orbbec_camera {
@@ -26,10 +26,16 @@ ParametersBackend::~ParametersBackend() {
     ros_callback_.reset();
   }
 }
-
+#if defined(ROS_JAZZY)
+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