Jazzy定期観測

.github/workflows/build_test.yaml

@@ -15,13 +15,13 @@ jobs:
           || fromJSON('[ "ubuntu-latest" ]')
       }}
     timeout-minutes: 30
-    container: ghcr.io/ibis-ssl/crane:base
+    container: ros:${{ matrix.rosdistro }}
     env:
       DEBIAN_FRONTEND: noninteractive
     strategy:
       fail-fast: false
       matrix:
-        rosdistro: [humble]
+        rosdistro: [humble, jazzy]
     steps:
       - name: suppress warnings
         run: |
@@ -52,6 +52,18 @@ jobs:
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Install wget
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y wget
+
+      - name: Install orocos-bfl
+        run: |
+          wget https://launchpad.net/ubuntu/+archive/primary/+files/liborocos-bfl0.8_0.8.0-6_amd64.deb
+          wget https://launchpad.net/ubuntu/+archive/primary/+files/liborocos-bfl-dev_0.8.0-6_amd64.deb
+          sudo apt-get install -y ./liborocos-bfl0.8_0.8.0-6_amd64.deb
+          sudo apt-get install -y ./liborocos-bfl-dev_0.8.0-6_amd64.deb
+
       - name: Clone dependency packages
         run: |
           mkdir -p dependency_ws
@@ -76,7 +88,6 @@ jobs:
         run: |
           . /opt/ros/${{ matrix.rosdistro }}/setup.sh
           colcon build --event-handlers console_cohesion+ \
-            --packages-above-and-dependencies ${{ steps.get-modified-packages.outputs.modified-packages }} \
             --cmake-args -DCMAKE_BUILD_TYPE=Release \
             --mixin coverage-gcc coverage-pytest compile-commands
         shell: bash

consai_ros2/consai_vision_tracker/package.xml

@@ -11,7 +11,7 @@
 
   <depend>consai_visualizer_msgs</depend>
   <depend>launch_ros</depend>
-  <depend>liborocos-bfl</depend>
+  <depend condition="$ROS_DISTRO == humble">liborocos-bfl</depend>
   <depend>pkg-config</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

dependency_jazzy.repos

@@ -11,15 +11,3 @@ repositories:
         type: git
         url: https://github.com/ANYbotics/grid_map.git
         version: humble
-    navigation2:
-        type: git
-        url: https://github.com/open-navigation/navigation2.git
-        version: main
-    gazebo_ros_pkgs:
-        type: git
-        url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
-        version: ros2
-    slam_toolbox:
-        type: git
-        url: https://github.com/SteveMacenski/slam_toolbox.git
-        version: ros2