Fix build and tests with Humble and Rolling #12
Merged
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Broken off Fix Humble / Rolling build #9
Requires Add sdformat12 (Fortress) rosdep key for Jammy rosdistro#33459
Update from
sdformat9
tosdformat12
. Version 12 is the first to be supported on Jammy.The header moves are needed for
cpplint
to pass on HumbleWhile moving the headers, I went ahead and made them narrower to speed up compilation