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Merge pull request #36 from tfoldi/ros2_humble_build_fix
build: fix Ros2 humble build
2 parents 06bd1be + 76ca478 commit b5caf71

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‎.github/workflows/build_test.yml

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name: ROS2 CI
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on:
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pull_request:
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branches:
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- 'develop'
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- 'ros2'
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push:
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branches:
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- 'ros2'
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jobs:
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test_environment:
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runs-on: [ubuntu-latest]
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strategy:
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fail-fast: false
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matrix:
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ros_distribution:
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- humble
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- iron
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- rolling
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include:
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# Humble Hawksbill (May 2022 - May 2027)
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- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
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ros_distribution: humble
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ros_version: 2
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# Iron Irwini (May 2023 - May 2028)
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- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
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ros_distribution: iron
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ros_version: 2
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# Rolling Ridley (June 2020 - Present)
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- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
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ros_distribution: rolling
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ros_version: 2
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container:
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image: ${{ matrix.docker_image }}
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steps:
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- name: checkout
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uses: actions/checkout@v2
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- name: install deps
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run: sudo apt-get -y install qtbase5-dev libqt5serialport5-dev
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- name: build and test
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uses: ros-tooling/action-ros-ci@master
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with:
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target-ros2-distro: ${{ matrix.ros_distribution }}
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vcs-repo-file-url: ""
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skip-tests: true

‎CMakeLists.txt

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add_subdirectory(witmotion-uart-qt)
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#set(CMAKE_AUTOMOC ON)
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#qt5_wrap_cpp(MOC_SOURCES include/witmotion_ros.h)
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include_directories(include)
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include_directories(/opt/ros/humble/include/tf2_geometry_msgs)
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include_directories(/opt/ros/iron/include/tf2_geometry_msgs)
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include_directories(witmotion-uart-qt/include)
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#add_library(witmotion_ros src/witmotion_ros.cpp include/witmotion_ros.h)
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find_package(ament_cmake REQUIRED)
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message(WARNING "tf2_geometry_msgs include dir: ${tf2_geometry_msgs_INCLUDE_DIRS} ")
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#find_package(Qt5 REQUIRED COMPONENTS Core SerialPort)
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set(INCLUDE_DIRS ${ament_cmake_INCLUDE_DIRS} ${tf2_INCLUDE_DIRS}
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${tf2_geometry_msgs_INCLUDE_DIRS} ${rclcpp_INCLUDE_DIRS}
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${std_srvs_INCLUDE_DIRS} ${sensor_msgs_INCLUDE_DIRS}
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${geometry_msgs_INCLUDE_DIRS} ${nav_msgs_INCLUDE_DIRS}
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${rosgraph_msgs_INCLUDE_DIRS} ${std_msgs_INCLUDE_DIRS} ${Qt5Core_INCLUDE_DIRS} ${Qt5SerialPort_INCLUDE_DIRS} ${rcl_interfaces_INCLUDE_DIRS}
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${rclcpp_lifecycle_INCLUDE_DIRS} ${lifecycle_msgs_INCLUDE_DIRS})
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include_directories(${INCLUDE_DIRS})
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set(dependencies
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tf2
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tf2_geometry_msgs
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rclcpp
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std_srvs
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sensor_msgs
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std_msgs
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rcl_interfaces
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rclcpp_lifecycle
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lifecycle_msgs
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)
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ament_target_dependencies(witmotion_ros ${dependencies})
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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set(LIBRARY_DIRS ${ament_cmake_LIBRARIES} ${tf2_LIBRARIES}
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${tf2_geometry_msgs_LIBRARIES} ${rclcpp_LIBRARIES} ${std_srvs_LIBRARIES}
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${sensor_msgs_LIBRARIES} ${geometry_msgs_LIBRARIES}
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${nav_msgs_LIBRARIES} ${rosgraph_msgs_LIBRARIES}
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${std_msgs_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5SerialPort_LIBRARIES} ${rcl_interfaces_LIBRARIES} ${rclcpp_lifecycle_LIBRARIES} ${lifecycle_msgs_LIBRARIES})
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#target_link_libraries(another PUBLIC one)
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set(LIBS ${ament_cmake_LIBRARIES} ${tf2_LIBRARIES}
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${tf2_geometry_msgs_LIBRARIES} ${rclcpp_LIBRARIES} ${std_srvs_LIBRARIES}
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${sensor_msgs_LIBRARIES} ${geometry_msgs_LIBRARIES}
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${nav_msgs_LIBRARIES} ${rosgraph_msgs_LIBRARIES}
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${std_msgs_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5SerialPort_LIBRARIES} ${rcl_interfaces_LIBRARIES} ${rclcpp_lifecycle_LIBRARIES} ${lifecycle_msgs_LIBRARIES})
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target_link_libraries(witmotion_ros ${LIBRARY_DIRS} witmotion-uart Qt5::Core Qt5::SerialPort)
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‎package.xml

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<package format="3">
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<name>witmotion_ros</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<description>Witmotion IMU sensor driver for ROS</description>
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<maintainer email="[email protected]">pi</maintainer>
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<license>TODO: License declaration</license>
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<license>MIT</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>rclcpp</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>message_runtime</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>std_srvs</build_depend>
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<build_depend>nav_core</build_depend>
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<build_depend>nav_msgs</build_depend>
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<build_depend>tf2</build_depend>
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<build_depend>tf2_geometry_msgs</build_depend>
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<build_depend>rosgraph_msgs</build_depend>
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<exec_depend>rclcpp</exec_depend>
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<exec_depend>sensor_msgs</exec_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>message_runtime</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>std_srvs</exec_depend>
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<exec_depend>nav_core</exec_depend>
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<exec_depend>nav_msgs</exec_depend>
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<exec_depend>rosgraph_msgs</exec_depend>
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<exec_depend>tf2</exec_depend>
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<exec_depend>tf2_geometry_msgs</exec_depend>
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<exec_depend>libqt5-serialport-dev</exec_depend>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<depend>tf2_geometry_msgs</depend>
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<depend>rclcpp</depend>
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<depend>std_srvs</depend>
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<depend>rcl_interfaces</depend>
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<depend>rclcpp_lifecycle</depend>
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<depend>lifecycle_msgs</depend>
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<depend>qtbase5-dev</depend>
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<depend>libqt5-serialport</depend>
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<depend>boost</depend>
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<depend>nav_msgs</depend>
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<depend>std_msgs</depend>
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<depend>tf2</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>

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