Rolling Support

[peterdavidfagan]

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, bug report, or anything other than a feature request directly related to this project.

Proposal

Support ROS rolling in order to enable applications that leverage the latest versions of ROS packages.

Use-Case

Leveraging rolling versions of existing ROS packages. Currently I am looking to build a Zed container leveraging rolling for the following repository.

[Myzhar]

@peterdavidfagan This is not scheduled, but I agree this could be useful for R&D.
We will consider this Feature Request for future development.

[peterdavidfagan]

Thanks @Myzhar much appreciated, for now I will remove these checks and test the launch files.

[Myzhar]

Maybe you can modify this part in all the CMakeLists.txt files too:

zed-ros2-wrapper/zed_wrapper/CMakeLists.txt

Lines 7 to 44 in 66e6d12

	################################################
	# Check the ROS2 version
	set(ROS2_FOUND FALSE)
	if(DEFINED ENV{ROS_DISTRO})
	set(FOUND_ROS2_DISTRO $ENV{ROS_DISTRO})
	set(ROS2_FOUND TRUE)
	#message("* Found ROS2 ${FOUND_ROS2_DISTRO}")
	else()
	message("* ROS2 distro variable not set. Trying to figure it out...")
	set(ROS2_DISTROS "ardent;crystal;dashing;eloquent;foxy;galactic;humble;rolling")
	set(ROS2_FOUND FALSE)
	foreach(distro ${ROS2_DISTROS})
	if(NOT ROS2_FOUND)
	find_path(RCLCPP_H rclcpp.hpp PATHS /opt/ros/${distro}/include/rclcpp)
	if(RCLCPP_H)
	#message("* Found ROS2 ${distro}")
	set(FOUND_ROS2_DISTRO ${distro})
	set(ROS2_FOUND TRUE)
	endif()
	endif()
	endforeach()
	endif()
	if(ROS2_FOUND)
	if(${FOUND_ROS2_DISTRO} STREQUAL "foxy")
	#message("* ROS2 ${FOUND_ROS2_DISTRO} is officially supported by this package.")
	add_definitions(-DFOUND_FOXY)
	elseif(${FOUND_ROS2_DISTRO} STREQUAL "humble")
	#message("* ROS2 ${FOUND_ROS2_DISTRO} is officially supported by this package.")
	add_definitions(-DFOUND_HUMBLE)
	else()
	message("*** WARNING *** ROS2 ${FOUND_ROS2_DISTRO} is not officially supported by this package. Correct working is not guarantee.")
	endif()
	else()
	message("*** WARNING *** ROS2 distro is unknown. This package could not work correctly.")
	endif()
	################################################

so you can add officially the ROLLING support

[Myzhar]

a nice and good

   elseif(${FOUND_ROS2_DISTRO} STREQUAL "rolling") 
     #message("* ROS2 ${FOUND_ROS2_DISTRO} is officially supported by this package.") 
     add_definitions(-DFOUND_ROLLING) 

at line 38 before the else() and you are ready

[peterdavidfagan]

Ok yes this is good advice, also a lot better than the quick solution I was going for to test things. Shall I open a PR with these changes?

Update: so far so good, I guess for opening a PR I would also need to update the CMakeLists.txt of the submodule dependency: https://github.com/stereolabs/zed-ros2-interfaces/blob/6dfb08531c324481418342e789adb2c3d836c917/CMakeLists.txt.

For my current purposes I think the above changes are ideal and better than simply deleting the check as I was doing.

[Myzhar]

Yes, you're welcome to open a PR