add support for lyrical

.github/workflows/colcon.yml

@@ -0,0 +1,29 @@
+name: colcon
+
+on: [push, pull_request]
+
+jobs:
+  # build on Ubuntu docker images
+  build:
+    name: "${{ matrix.image }} (${{ matrix.ros }})"
+
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        include:
+            - {image: "ubuntu:22.04", ros: humble}
+            - {image: "ubuntu:24.04", ros: jazzy}
+            - {image: "ubuntu:26.04", ros: lyrical}
+
+    container:
+      image: ${{ matrix.image }}
+
+    steps:
+      - uses: actions/checkout@v6
+
+      - uses: ros-tooling/setup-ros@v0.7
+
+      - uses: ros-tooling/action-ros-ci@v0.4
+        with:
+          target-ros2-distro: ${{ matrix.ros }}

orbbec_camera/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.22)
 project(orbbec_camera)
 
 set(CMAKE_CXX_STANDARD 17)
@@ -13,6 +13,8 @@ option(INSTALL_UDEV_RULES "Install udev rule for Orbbec cameras" ON)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds)
+    add_compile_options(-Wno-error=deprecated-declarations)
+    add_link_options("-Wl,-z,relro,-z,now,-z,defs")
 endif()
 
 # find dependencies
@@ -26,6 +28,7 @@ set(dependencies
     camera_info_manager
     image_transport
     image_publisher
+    message_filters
     OpenCV
     orbbec_camera_msgs
     rclcpp
@@ -52,6 +55,14 @@ endforeach()
 find_package(PkgConfig REQUIRED)
 find_package(OpenSSL REQUIRED)
 
+if(message_filters_VERSION VERSION_GREATER_EQUAL 5.0)
+    add_compile_definitions(message_filters_QoS)
+endif()
+
+if(image_transport_VERSION VERSION_GREATER_EQUAL 6.4)
+    add_compile_definitions(image_transport_NODE_INTERFACE)
+endif()
+
 if(USE_RK_HW_DECODER)
     pkg_search_module(RK_MPP REQUIRED rockchip_mpp)
     if(NOT RK_MPP_FOUND)
@@ -100,26 +111,8 @@ set(COMMON_INCLUDE_DIRS
     $<INSTALL_INTERFACE:include> ${ORBBEC_INCLUDE_DIR} ${OpenCV_INCLUDED_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/tools
 )
 
-set(COMMON_LIBRARIES
-    ${ORBBEC_SDK_LIBRARIES}
-    ${OpenCV_LIBS}
-    Eigen3::Eigen
-    -lOrbbecSDK
-    -L${ORBBEC_LIBS_DIR}
-    Threads::Threads
-    -lrt
-    -ldw
-    yaml-cpp
-    OpenSSL::Crypto
+set(EXTRA_TARGETS
 )
-if(USE_RK_HW_DECODER)
-    list(APPEND COMMON_LIBRARIES ${RK_MPP_LIBRARIES} ${RGA_LIBRARIES})
-
-endif()
-
-if(USE_NV_HW_DECODER)
-    list(APPEND COMMON_LIBRARIES ${NV_LIBRARIES})
-endif()
 
 set(SOURCE_FILES
   src/d2c_viewer.cpp
@@ -140,15 +133,16 @@ if(USE_RK_HW_DECODER)
     add_definitions(-DUSE_RK_HW_DECODER)
     list(APPEND SOURCE_FILES src/rk_mpp_decoder.cpp)
     list(APPEND COMMON_INCLUDE_DIRS ${RK_MPP_INCLUDE_DIRS} ${RGA_INCLUDE_DIRS})
-    list(APPEND COMMON_LIBRARIES ${RGA_LIBRARIES} ${RK_MPP_LIBRARIES})
+    list(APPEND EXTRA_TARGETS ${RGA_LIBRARIES} ${RK_MPP_LIBRARIES})
     if(NOT RGA_FOUND)
-        list(APPEND COMMON_LIBRARIES -lyuv)
+        list(APPEND EXTRA_TARGETS yuv)
     endif()
 endif()
 
 if(USE_NV_HW_DECODER)
     list(APPEND SOURCE_FILES src/jetson_nv_decoder.cpp)
     list(APPEND COMMON_INCLUDE_DIRS ${JETSON_MULTI_MEDIA_API_INCLUDE_DIR} ${LIBJPEG8B_INCLUDE_DIR})
+    list(APPEND EXTRA_TARGETS ${NV_LIBRARIES})
     # append jetson_multimedia_api source files
     list(
         APPEND
@@ -171,16 +165,42 @@ endif()
 macro(add_orbbec_executable TARGET SOURCE)
     add_executable(${TARGET} ${SOURCE})
     target_include_directories(${TARGET} PUBLIC ${COMMON_INCLUDE_DIRS})
-    target_link_libraries(${TARGET} ${COMMON_LIBRARIES} ${PROJECT_NAME})
-    ament_target_dependencies(${TARGET} ${dependencies})
+    target_link_directories(${TARGET} PRIVATE
+        ${ORBBEC_LIBS_DIR}
+    )
+    target_link_libraries(${TARGET}
+        ${OpenCV_LIBS}
+        ${PROJECT_NAME}
+        OrbbecSDK
+        yaml-cpp
+    )
 endmacro()
 
 # Define library and nodes
 add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES})
 
-ament_target_dependencies(${PROJECT_NAME} ${dependencies})
-target_include_directories(${PROJECT_NAME} PUBLIC ${COMMON_INCLUDE_DIRS})
-target_link_libraries(${PROJECT_NAME} ${COMMON_LIBRARIES})
+target_include_directories(${PROJECT_NAME} PUBLIC ${COMMON_INCLUDE_DIRS} ${image_publisher_INCLUDE_DIRS})
+target_link_directories(${PROJECT_NAME} PRIVATE ${ORBBEC_LIBS_DIR})
+target_link_libraries(${PROJECT_NAME}
+    ${OpenCV_LIBS}
+    ${orbbec_camera_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${std_srvs_TARGETS}
+    ament_index_cpp::ament_index_cpp
+    camera_info_manager::camera_info_manager
+    cv_bridge::cv_bridge
+    diagnostic_updater::diagnostic_updater
+    Eigen3::Eigen
+    image_transport::image_transport
+    message_filters::message_filters
+    OpenSSL::Crypto
+    OrbbecSDK
+    rclcpp::rclcpp
+    rclcpp_components::component
+    tf2::tf2
+    tf2_ros::tf2_ros
+    ${EXTRA_TARGETS}
+)
 
 rclcpp_components_register_node(
     ${PROJECT_NAME} PLUGIN "orbbec_camera::OBCameraNodeDriver" EXECUTABLE orbbec_camera_node
@@ -207,24 +227,57 @@ install(
 
 add_library(frame_latency SHARED tools/frame_latency.cpp)
 target_include_directories(frame_latency PUBLIC ${COMMON_INCLUDE_DIRS})
-target_link_libraries(frame_latency ${COMMON_LIBRARIES})
-ament_target_dependencies(frame_latency ${dependencies})
+target_link_libraries(frame_latency
+    ${orbbec_camera_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${tf2_msgs_TARGETS}
+    diagnostic_updater::diagnostic_updater
+    rclcpp::rclcpp
+    rclcpp_components::component
+)
 
 rclcpp_components_register_node(frame_latency PLUGIN "orbbec_camera::FrameLatencyNode" EXECUTABLE frame_latency_node)
 
 add_library(start_benchmark SHARED tools/start_benchmark.cpp)
-target_include_directories(start_benchmark PUBLIC ${COMMON_INCLUDE_DIRS})
-target_link_libraries(start_benchmark ${COMMON_LIBRARIES})
-ament_target_dependencies(start_benchmark ${dependencies})
+target_include_directories(start_benchmark PUBLIC ${COMMON_INCLUDE_DIRS} ${image_publisher_INCLUDE_DIRS})
+target_link_libraries(start_benchmark
+    ${OpenCV_LIBS}
+    ${orbbec_camera_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${std_srvs_TARGETS}
+    camera_info_manager::camera_info_manager
+    diagnostic_updater::diagnostic_updater
+    Eigen3::Eigen
+    image_transport::image_transport
+    rclcpp::rclcpp
+    rclcpp_components::component
+    tf2_ros::tf2_ros
+)
 
 rclcpp_components_register_node(
     start_benchmark PLUGIN "orbbec_camera::tools::StartBenchmark" EXECUTABLE start_benchmark_node
 )
 
 add_library(multi_save_rgbir SHARED tools/multi_save_rgbir.cpp src/utils.cpp)
-target_include_directories(multi_save_rgbir PUBLIC ${COMMON_INCLUDE_DIRS})
-target_link_libraries(multi_save_rgbir ${COMMON_LIBRARIES})
-ament_target_dependencies(multi_save_rgbir ${dependencies})
+target_include_directories(multi_save_rgbir PUBLIC ${COMMON_INCLUDE_DIRS} ${image_publisher_INCLUDE_DIRS})
+target_link_directories(multi_save_rgbir PRIVATE ${ORBBEC_LIBS_DIR})
+target_link_libraries(multi_save_rgbir
+    ${OpenCV_LIBS}
+    ${orbbec_camera_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${std_srvs_TARGETS}
+    camera_info_manager::camera_info_manager
+    cv_bridge::cv_bridge
+    diagnostic_updater::diagnostic_updater
+    Eigen3::Eigen
+    image_transport::image_transport
+    OpenSSL::Crypto
+    OrbbecSDK
+    rclcpp::rclcpp
+    rclcpp_components::component
+    tf2::tf2
+    tf2_ros::tf2_ros
+)
 
 rclcpp_components_register_node(
     multi_save_rgbir PLUGIN "orbbec_camera::tools::MultiCameraSubscriber" EXECUTABLE multi_save_rgbir_node

orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp

@@ -1,8 +1,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/image.hpp>
-#include <message_filters/subscriber.h>
-#include <message_filters/synchronizer.h>
-#include <message_filters/sync_policies/approximate_time.h>
+#include <message_filters/subscriber.hpp>
+#include <message_filters/synchronizer.hpp>
+#include <message_filters/sync_policies/approximate_time.hpp>
 
 #if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
@@ -56,14 +56,20 @@ class ImageSyncNode : public rclcpp::Node {
     rclcpp::QoS qos(rclcpp::KeepLast(10));
     qos.reliable();
 
-    camera_01_color_sub_.subscribe(this, "/camera_01/color/image_raw", qos.get_rmw_qos_profile());
-    camera_01_depth_sub_.subscribe(this, "/camera_01/depth/image_raw", qos.get_rmw_qos_profile());
-    camera_02_color_sub_.subscribe(this, "/camera_02/color/image_raw", qos.get_rmw_qos_profile());
-    camera_02_depth_sub_.subscribe(this, "/camera_02/depth/image_raw", qos.get_rmw_qos_profile());
-    camera_03_color_sub_.subscribe(this, "/camera_03/color/image_raw", qos.get_rmw_qos_profile());
-    camera_03_depth_sub_.subscribe(this, "/camera_03/depth/image_raw", qos.get_rmw_qos_profile());
-    camera_04_color_sub_.subscribe(this, "/camera_04/color/image_raw", qos.get_rmw_qos_profile());
-    camera_04_depth_sub_.subscribe(this, "/camera_04/depth/image_raw", qos.get_rmw_qos_profile());
+#ifdef message_filters_QoS
+    const rclcpp::QoS qos_prof = qos;
+#else
+    const rmw_qos_profile_t qos_prof = qos.get_rmw_qos_profile();
+#endif
+
+    camera_01_color_sub_.subscribe(this, "/camera_01/color/image_raw", qos_prof);
+    camera_01_depth_sub_.subscribe(this, "/camera_01/depth/image_raw", qos_prof);
+    camera_02_color_sub_.subscribe(this, "/camera_02/color/image_raw", qos_prof);
+    camera_02_depth_sub_.subscribe(this, "/camera_02/depth/image_raw", qos_prof);
+    camera_03_color_sub_.subscribe(this, "/camera_03/color/image_raw", qos_prof);
+    camera_03_depth_sub_.subscribe(this, "/camera_03/depth/image_raw", qos_prof);
+    camera_04_color_sub_.subscribe(this, "/camera_04/color/image_raw", qos_prof);
+    camera_04_depth_sub_.subscribe(this, "/camera_04/depth/image_raw", qos_prof);
 
     sync_ =
         std::make_shared<Sync>(SyncPolicy(10), camera_01_color_sub_, camera_01_depth_sub_,

orbbec_camera/include/orbbec_camera/d2c_viewer.h

@@ -14,10 +14,10 @@
 * limitations under the License.
 *******************************************************************************/
 #pragma once
-#include <message_filters/subscriber.h>
-#include <message_filters/sync_policies/approximate_time.h>
-#include <message_filters/synchronizer.h>
-#include <message_filters/time_synchronizer.h>
+#include <message_filters/subscriber.hpp>
+#include <message_filters/sync_policies/approximate_time.hpp>
+#include <message_filters/synchronizer.hpp>
+#include <message_filters/time_synchronizer.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <rclcpp/rclcpp.hpp>
 

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -29,11 +29,11 @@
 #include <opencv2/opencv.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tf2_ros/static_transform_broadcaster.h>
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/LinearMath/Vector3.h>
-#include <tf2/LinearMath/Transform.h>
+#include <tf2_ros/static_transform_broadcaster.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
+#include <tf2/LinearMath/Vector3.hpp>
+#include <tf2/LinearMath/Transform.hpp>
 #include <std_srvs/srv/set_bool.hpp>
 #include <std_srvs/srv/empty.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
@@ -47,7 +47,6 @@
 #include "libobsensor/ObSensor.hpp"
 
 #include "orbbec_camera_msgs/msg/device_info.hpp"
-#include "orbbec_camera_msgs/msg/depth_filter_param.hpp"
 #include "orbbec_camera_msgs/msg/depth_filter_state.hpp"
 #include "orbbec_camera_msgs/msg/depth_filters_status.hpp"
 #include "orbbec_camera_msgs/srv/get_device_info.hpp"

orbbec_camera/include/orbbec_camera/ob_lidar_node.h

@@ -31,11 +31,11 @@
 #include <sensor_msgs/msg/laser_scan.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tf2_ros/static_transform_broadcaster.h>
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/LinearMath/Vector3.h>
-#include <tf2/LinearMath/Transform.h>
+#include <tf2_ros/static_transform_broadcaster.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
+#include <tf2/LinearMath/Vector3.hpp>
+#include <tf2/LinearMath/Transform.hpp>
 #include <std_srvs/srv/set_bool.hpp>
 #include <std_srvs/srv/empty.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
@@ -48,10 +48,8 @@
 #include <sensor_msgs/msg/imu.hpp>
 #include "libobsensor/ObSensor.hpp"
 
-#include "orbbec_camera_msgs/msg/device_info.hpp"
 #include "orbbec_camera_msgs/srv/get_device_info.hpp"
 #include "orbbec_camera_msgs/msg/extrinsics.hpp"
-#include "orbbec_camera_msgs/msg/metadata.hpp"
 #include "orbbec_camera_msgs/msg/imu_info.hpp"
 #include "orbbec_camera_msgs/srv/get_int32.hpp"
 #include "orbbec_camera_msgs/srv/get_string.hpp"

orbbec_camera/include/orbbec_camera/utils.h

@@ -17,7 +17,7 @@
 #pragma once
 #include <ostream>
 #include <Eigen/Dense>
-#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/LinearMath/Quaternion.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include "libobsensor/ObSensor.hpp"

orbbec_camera/package.xml

@@ -14,10 +14,11 @@
   <depend>backward_ros</depend>
   <depend>image_transport</depend>
   <depend>image_publisher</depend>
+  <depend>message_filters</depend>
   <depend>rclcpp_components</depend>
   <depend>cv_bridge</depend>
   <depend>camera_info_manager</depend>
-  <depend>orbbec_camera_msgs</depend>
+  <depend version_gte="2.8.6">orbbec_camera_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>

orbbec_camera/src/d2c_viewer.cpp

@@ -30,9 +30,21 @@ D2CViewer::D2CViewer(rclcpp::Node* const node, rmw_qos_profile_t rgb_qos,
                      rmw_qos_profile_t depth_qos, bool use_intra_process)
     : node_(node), logger_(rclcpp::get_logger("d2c_viewer")), is_active_(true) {
   rgb_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Image>>(
-      node_, "color/image_raw", rgb_qos);
+      node_, "color/image_raw",
+#ifdef message_filters_QoS
+      rclcpp::QoS{rclcpp::QoSInitialization::from_rmw(rgb_qos), rgb_qos}
+#else
+      rgb_qos
+#endif
+  );
   depth_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Image>>(
-      node_, "depth/image_raw", depth_qos);
+      node_, "depth/image_raw",
+#ifdef message_filters_QoS
+      rclcpp::QoS{rclcpp::QoSInitialization::from_rmw(depth_qos), depth_qos}
+#else
+      depth_qos
+#endif
+  );
   sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(MySyncPolicy(10), *rgb_sub_,
                                                                         *depth_sub_);
   sync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(1.0));  // 1s