Merge pull request #57 from stereolabs/fix_jazzy_build

Fix jazzy build

Author: Myzhar

examples/zed_aruco_localization/CMakeLists.txt

@@ -82,9 +82,31 @@ endif()
 #############################################
 # Dependencies
 
-find_package(OpenCV 4 REQUIRED)
-find_package(ZED 4 REQUIRED)
-find_package(CUDA REQUIRED)
+find_package(OpenCV REQUIRED)
+
+if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.27")
+  cmake_policy(SET CMP0146 OLD)
+endif()
+if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.28")
+  cmake_policy(SET CMP0153 OLD)
+endif()
+find_package(ZED REQUIRED)
+if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.27")
+  cmake_policy(SET CMP0146 NEW)
+endif()
+if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.28")
+  cmake_policy(SET CMP0153 NEW)
+endif()
+
+execute_process(COMMAND uname -p OUTPUT_VARIABLE CMAKE_SYSTEM_NAME2 OUTPUT_STRIP_TRAILING_WHITESPACE)
+if(CMAKE_SYSTEM_NAME2 MATCHES "aarch64") # Jetson TX
+    set(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
+endif()
+
+find_package(CUDAToolkit REQUIRED)
+set(CUDA_INCLUDE_DIRS ${CUDAToolkit_INCLUDE_DIRS})
+set(CUDA_LIBRARIES CUDA::cudart)
+set(CUDA_LIBRARY_DIRS ${CUDAToolkit_LIBRARY_DIR})
 
 set(DEPENDENCIES_COMP
     rclcpp

examples/zed_aruco_localization/launch/zed_aruco_loc.launch.py

@@ -55,6 +55,7 @@
     'zed_descr.urdf.xacro'
 )
 
+
 def launch_setup(context, *args, **kwargs):
     wrapper_dir = get_package_share_directory('zed_wrapper')
 
@@ -97,15 +98,15 @@ def launch_setup(context, *args, **kwargs):
     # RVIZ2 Configurations to be loaded by ZED Node
     config_rviz2 = os.path.join(
         get_package_share_directory('zed_aruco_localization'),
-        'rviz2','aruco.rviz'
+        'rviz2', 'aruco.rviz'
     )
 
     # RVIZ2 node
     rviz2_node = Node(
         condition=IfCondition(start_rviz),
         package='rviz2',
         executable='rviz2',
-        name=camera_model_val +'_rviz2',
+        name=camera_model_val + '_rviz2',
         output='screen',
         arguments=[['-d'], [config_rviz2]],
     )
@@ -163,23 +164,24 @@ def launch_setup(context, *args, **kwargs):
         parameters=[config_path_aruco],
         remappings=[
                 ('in/zed_image', zed_node_name_val + '/rgb/color/rect/image'),
-                ('in/camera_info', zed_node_name_val + '/rgb/color/rect/camera_info'),
+                ('in/camera_info', zed_node_name_val +
+                 '/rgb/color/rect/camera_info'),
                 ('set_pose', zed_node_name_val + '/set_pose')
-            ],
+        ],
         extra_arguments=[{'use_intra_process_comms': True}]
     )
 
     # ROS 2 Component Container
     container = ComposableNodeContainer(
-            name='zed_aruco_localization',
-            namespace=camera_name_val,
-            package='rclcpp_components',
-            executable='component_container',
-            composable_node_descriptions=[
+        name='zed_aruco_localization',
+        namespace=camera_name_val,
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
                 zed_wrapper_component,
                 zed_aruco_component
-            ],
-            output='screen',
+        ],
+        output='screen',
     )
 
     return [

examples/zed_depth_to_laserscan/launch/zed_depth_to_laserscan.launch.py

@@ -55,6 +55,7 @@
     'zed_descr.urdf.xacro'
 )
 
+
 def launch_setup(context, *args, **kwargs):
 
     # Launch configuration variables
@@ -91,7 +92,7 @@ def launch_setup(context, *args, **kwargs):
     # RVIZ2 Configurations to be loaded by ZED Node
     config_rviz2 = os.path.join(
         get_package_share_directory('zed_depth_to_laserscan'),
-        'rviz2','zed_depth_to_laserscan.rviz'
+        'rviz2', 'zed_depth_to_laserscan.rviz'
     )
 
     # Camera depth frame for the laser scan topic
@@ -102,7 +103,7 @@ def launch_setup(context, *args, **kwargs):
         condition=IfCondition(start_rviz),
         package='rviz2',
         executable='rviz2',
-        name=camera_model_val +'_rviz2',
+        name=camera_model_val + '_rviz2',
         output='screen',
         arguments=[['-d'], [config_rviz2]],
     )
@@ -159,23 +160,23 @@ def launch_setup(context, *args, **kwargs):
                 'output_frame': camera_depth_frame
             }],
         remappings=[
-                ('depth', zed_node_name_val + '/depth/depth_registered'),
-                ('depth_camera_info', zed_node_name_val + '/depth/camera_info')
-            ],
-        #extra_arguments=[{'use_intra_process_comms': True}] # Uncomment when supported by the package
+            ('depth', zed_node_name_val + '/depth/depth_registered'),
+            ('depth_camera_info', zed_node_name_val + '/depth/camera_info')
+        ],
+        # extra_arguments=[{'use_intra_process_comms': True}] # Uncomment when supported by the package
     )
 
     # ROS 2 Component Container
     container = ComposableNodeContainer(
-            name='zed_depth_to_laserscan',
-            namespace=camera_name_val,
-            package='rclcpp_components',
-            executable='component_container',
-            composable_node_descriptions=[
+        name='zed_depth_to_laserscan',
+        namespace=camera_name_val,
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
                 zed_wrapper_component,
                 zed_cvt_component
-            ],
-            output='screen',
+        ],
+        output='screen',
     )
 
     return [

isaac_ros/zed_isaac_ros_april_tag/launch/zed_isaac_ros_april_tag.launch.py

@@ -65,10 +65,11 @@ def launch_setup(context, *args, **kwargs):
     camera_model = LaunchConfiguration('camera_model')
 
     disable_tf_val = disable_tf.perform(context)
-    
+
     # ROS 2 Component Container
     container_name = 'zed_container'
-    info = '* Starting Composable node container: ' + namespace_val + '/' + container_name
+    info = '* Starting Composable node container: ' +\
+        namespace_val + '/' + container_name
     actions.append(LogInfo(msg=TextSubstitution(text=info)))
 
     # Note: It is crucial that the 'executable' field is set to be 'component_container_mt'
@@ -84,7 +85,6 @@ def launch_setup(context, *args, **kwargs):
     )
     actions.append(zed_container)
 
-   
     # ZED Wrapper launch file
     zed_wrapper_launch = IncludeLaunchDescription(
         launch_description_source=PythonLaunchDescriptionSource([
@@ -184,6 +184,7 @@ def launch_setup(context, *args, **kwargs):
 
     return actions
 
+
 def generate_launch_description():
     return LaunchDescription(
         [

isaac_ros/zed_isaac_ros_multi_camera/launch/zed_multi_camera.launch.py

@@ -34,6 +34,7 @@
     ComposableNodeContainer
 )
 
+
 def parse_array_param(param):
     str = param.replace('[', '')
     str = str.replace(']', '')
@@ -45,18 +46,19 @@ def parse_array_param(param):
 
     return arr
 
+
 def launch_setup(context, *args, **kwargs):
 
     # List of actions to be launched
     actions = []
 
     namespace_val = 'zed_multi'
-    
+
     # URDF/xacro file to be loaded by the Robot State Publisher node
     multi_zed_xacro_path = os.path.join(
-    get_package_share_directory('zed_multi_camera'),
-    'urdf',
-    'zed_multi.urdf.xacro')
+        get_package_share_directory('zed_multi_camera'),
+        'urdf',
+        'zed_multi.urdf.xacro')
 
     names = LaunchConfiguration('cam_names')
     models = LaunchConfiguration('cam_models')
@@ -84,17 +86,18 @@ def launch_setup(context, *args, **kwargs):
             LogInfo(msg=TextSubstitution(
                 text='The `cam_serials` or `cam_ids` array argument must match the size of the `cam_names` array argument.'))
         ]
-    
+
     # ROS 2 Component Container
     container_name = 'zed_multi_container'
     distro = os.environ['ROS_DISTRO']
     if distro == 'foxy':
         # Foxy does not support the isolated mode
-        container_exec='component_container'
+        container_exec = 'component_container'
     else:
-        container_exec='component_container_isolated'
-    
-    info = '* Starting Composable node container: /' + namespace_val + '/' + container_name
+        container_exec = 'component_container_isolated'
+
+    info = '* Starting Composable node container: /' +\
+        namespace_val + '/' + container_name
     actions.append(LogInfo(msg=TextSubstitution(text=info)))
 
     zed_container = ComposableNodeContainer(
@@ -121,14 +124,14 @@ def launch_setup(context, *args, **kwargs):
             id = ids_arr[cam_idx]
         else:
             id = '-1'
-        
+
         pose = '['
 
-        info = '* Starting a ZED ROS2 node for camera ' + name + \
-            ' (' + model        
-        if(serial != '0'):
+        info = '* Starting a ZED ROS2 node for camera ' + name +\
+            ' (' + model
+        if (serial != '0'):
             info += ', serial: ' + serial
-        elif( id!= '-1'):
+        elif (id != '-1'):
             info += ', id: ' + id
         info += ')'
 
@@ -176,11 +179,11 @@ def launch_setup(context, *args, **kwargs):
         xacro_command.append('camera_name_'+str(cam_idx)+':=')
         xacro_command.append(name)
         xacro_command.append(' ')
-        cam_idx+=1
+        cam_idx += 1
 
     # Robot State Publisher node
     # this will publish the static reference link for a multi-camera configuration
-    # and all the joints. See 'urdf/zed_dual.urdf.xacro' as an example    
+    # and all the joints. See 'urdf/zed_dual.urdf.xacro' as an example
     rsp_name = 'state_publisher'
     info = '* Starting robot_state_publisher node to link all the frames: ' + rsp_name
     actions.append(LogInfo(msg=TextSubstitution(text=info)))

isaac_ros/zed_isaac_ros_nitros_sub/launch/zed_nitros_sub_example.launch.py

@@ -58,7 +58,8 @@ def launch_setup(context, *args, **kwargs):
 
     # ROS 2 Component Container
     container_name = 'zed_container'
-    info = '* Starting Composable node container: ' + namespace_val + '/' + container_name
+    info = '* Starting Composable node container: ' +\
+        namespace_val + '/' + container_name
     actions.append(LogInfo(msg=TextSubstitution(text=info)))
 
     # Note: It is crucial that the 'executable' field is set to be 'component_container_mt'
@@ -69,12 +70,12 @@ def launch_setup(context, *args, **kwargs):
         namespace=namespace_val,
         package='rclcpp_components',
         executable='component_container_mt',
-        #executable='component_container_isolated',
+        # executable='component_container_isolated',
         arguments=['--ros-args', '--log-level', 'info'],
         output='screen',
     )
     actions.append(zed_container)
-   
+
     # ZED Wrapper launch file
     zed_wrapper_launch = IncludeLaunchDescription(
         launch_description_source=PythonLaunchDescriptionSource([
@@ -119,6 +120,7 @@ def launch_setup(context, *args, **kwargs):
 
     return actions
 
+
 def generate_launch_description():
     return LaunchDescription(
         [

tools/README.md tools/benchmark/README.mdtools/README.md renamed to tools/benchmark/README.md

@@ -20,7 +20,7 @@ The node publishes a message on the topic `<name_of_the_topic_to_test>_stats` co
 Open a new terminal console and start the benchmark node:
 
 ```bash
-$ ros2 run zed_topic_benchmark zed_topic_benchmark --ros-args -p topic_name:=<name_of_the_topic_to_test>
+ros2 run zed_topic_benchmark zed_topic_benchmark --ros-args -p topic_name:=<name_of_the_topic_to_test>
 ```
 
 for example:
@@ -51,7 +51,7 @@ The node will print all the topic information on the console:
 The node published a message on the topic `<name_of_the_topic_to_test>_stats` containing the previous information to be plotted.
 The topic is a custom message of type `BenchmarkStatsStamped` defined as:
 
-```
+``` ros
 # Standard Header
 std_msgs/Header header
 
@@ -67,4 +67,5 @@ float32 topic_avg_bw
 ```
 
 ## Advanced
+
 The package provides a ROS 2 component called `stereolabs::TopicBenchmarkComponent` to be used with [Composition](https://docs.ros.org/en/humble/Tutorials/Intermediate/Composition.html) to test [Intra Process Communication (IPC)](https://design.ros2.org/articles/intraprocess_communications.html) performances.

tools/zed_benchmark/CMakeLists.txt …s/benchmark/zed_benchmark/CMakeLists.txttools/zed_benchmark/CMakeLists.txt renamed to tools/benchmark/zed_benchmark/CMakeLists.txt tools/zed_benchmark/CMakeLists.txt renamed to tools/benchmark/zed_benchmark/CMakeLists.txt

@@ -29,10 +29,7 @@ else()
 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")
+  if("${FOUND_ROS2_DISTRO}" STREQUAL "humble")
         #message("* ROS2 ${FOUND_ROS2_DISTRO} is officially supported by this package.")
         add_definitions(-DFOUND_HUMBLE)
   elseif("${FOUND_ROS2_DISTRO}" STREQUAL "iron")
@@ -49,7 +46,9 @@ else()
 endif()
 ################################################
 
-if("${FOUND_ROS2_DISTRO}" STREQUAL "humble" OR "${FOUND_ROS2_DISTRO}" STREQUAL "iron")
+if("${FOUND_ROS2_DISTRO}" STREQUAL "humble" OR 
+   "${FOUND_ROS2_DISTRO}" STREQUAL "iron" OR 
+   "${FOUND_ROS2_DISTRO}" STREQUAL "jazzy")
   # if CMAKE_BUILD_TYPE is not specified, take 'Release' as default
   if(NOT CMAKE_BUILD_TYPE)
       set(CMAKE_BUILD_TYPE Release)