azure-pipelines.yml: Fix ros:rolling CI

The ros:rolling docker container uses noble as base image as of
osrf/docker_images#731, which by default comes with GNU 13.2.0.
Libwebsockets, ToF and tof-ros2 are not compatible with this compiler
version, so downgrade it to gcc-9.

Signed-off-by: bia1708 <[email protected]>

Author: bia1708

CI/dependencies_setup.sh

@@ -2,7 +2,7 @@
 
 # Base Image Updates
 sudo apt-get update -y
-sudo apt-get install -y git cmake build-essential apt-utils libssl-dev wget
+sudo apt-get install -y git gcc-9 g++-9 cmake build-essential apt-utils libssl-dev wget
 
 # Install cmake v3.20
 wget https://github.com/Kitware/CMake/releases/download/v3.20.0/cmake-3.20.0.tar.gz
@@ -24,7 +24,7 @@ sudo apt-get install libssl-dev
 git clone --branch v3.1-stable --depth 1 https://github.com/warmcat/libwebsockets
 cd libwebsockets
 mkdir build_3_1 && cd build_3_1
-sudo cmake -DLWS_WITH_SSL=OFF -DLWS_STATIC_PIC=ON -DCMAKE_INSTALL_PREFIX=/opt/websockets ..
+sudo cmake -DCMAKE_C_COMPILER=gcc-9 -DCMAKE_CXX_COMPILER=g++-9 -DLWS_WITH_SSL=OFF -DLWS_STATIC_PIC=ON -DCMAKE_INSTALL_PREFIX=/opt/websockets ..
 sudo cmake --build . --target install
 
 # Install Protobuf

azure-pipelines.yml

@@ -43,7 +43,7 @@ steps:
       cd ToF 
       mkdir build 
       cd build 
-      sudo cmake -DWITH_EXAMPLES=off -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" .. 
+      sudo cmake -DCMAKE_C_COMPILER=gcc-9 -DCMAKE_CXX_COMPILER=g++-9 -DWITH_EXAMPLES=off -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" ..
       sudo make install .
 
     displayName: 'ToF Build'
@@ -80,6 +80,6 @@ steps:
       git clone -b ${{ variables.BRANCH_NAME }} https://github.com/analogdevicesinc/tof-ros2 
       cd ../ 
       source /opt/ros/rolling/setup.sh 
-      colcon build
+      colcon build --cmake-args -DCMAKE_C_COMPILER=gcc-9 -DCMAKE_CXX_COMPILER=g++-9
     condition: eq( variables['buildContainer'], 'ubuntu_22_04_ros2_rolling' )
     displayName: 'ros2_rolling'