fix build and CI/CD checks (#1)

.github/workflows/ros_build.yaml

@@ -0,0 +1,47 @@
+name: ROS2 CI
+
+on:
+  pull_request:
+    branches:
+      - 'foxy-humble'
+  push:
+    branches:
+      - 'foxy-humble'
+      - 'build-fix'
+
+jobs:
+  test_environment:
+    runs-on: [ubuntu-latest]
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          - humble
+          - foxy
+        include:
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+            ros_distribution: humble
+            ros_version: 2
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
+            ros_distribution: foxy
+            ros_version: 2
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: checkout
+        uses: actions/checkout@v2
+        with:
+          submodules: recursive
+      - name: Set ROS_DISTRO environment variable
+        run: echo "ROS_DISTRO=${{ matrix.ros_distribution }}" >> $GITHUB_ENV
+      - name: Setup dependencies
+        run: |
+          sudo apt update
+          sudo apt install -y libusb-dev ros-$ROS_DISTRO-perception-pcl ros-$ROS_DISTRO-sensor-msgs-py ros-$ROS_DISTRO-tf-transformations ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-rmw-cyclonedds-cpp ros-$ROS_DISTRO-rosidl-generator-dds-idl ros-$ROS_DISTRO-tf2-sensor-msgs python3-colcon-common-extensions python-is-python3
+          pip install transforms3d pyyaml          
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@master
+        with:
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          vcs-repo-file-url: ""
+          skip-tests: true

README.md

@@ -10,16 +10,10 @@ The repository contains the full autonomy stack for the [Unitree Go2 platform](h
 
 The system is integrated with [Unity](https://unity.com) environment models. For simulation, the repository has been tested in Ubuntu 22.04 with [ROS2 Foxy](https://docs.ros.org/en/foxy/Installation.html) and Ubuntu 22.04 with [ROS2 Humble](https://docs.ros.org/en/humble/Installation.html). Install dependencies with the command lines below.
 
-For Foxy:
+For Foxy and Humble:
 ```
 sudo apt update
-sudo apt install libusb-dev ros-foxy-perception-pcl ros-foxy-sensor-msgs-py ros-foxy-tf-transformations ros-foxy-joy ros-foxy-rmw-cyclonedds-cpp ros-foxy-rosidl-generator-dds-idl python3-colcon-common-extensions python-is-python3 
-pip install transforms3d pyyaml
-```
-For Humble:
-```
-sudo apt update
-sudo apt install libusb-dev ros-humble-perception-pcl ros-humble-sensor-msgs-py ros-humble-tf-transformations ros-humble-joy ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl python3-colcon-common-extensions python-is-python3 
+sudo apt install -y libusb-dev ros-$ROS_DISTRO-perception-pcl ros-$ROS_DISTRO-sensor-msgs-py ros-$ROS_DISTRO-tf-transformations ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-rmw-cyclonedds-cpp ros-$ROS_DISTRO-rosidl-generator-dds-idl ros-$ROS_DISTRO-tf2-sensor-msgs python3-colcon-common-extensions python-is-python3
 pip install transforms3d pyyaml
 ```
 Clone the open-source repository.

src/route_planner/far_planner/CMakeLists.txt

@@ -28,6 +28,7 @@ find_package(visualization_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_sensor_msgs REQUIRED)
 find_package(visibility_graph_msg REQUIRED)
 
 # Directories
@@ -65,7 +66,7 @@ set(SOURCES ${SOURCES}
 
 add_executable(${PROJECT_NAME} src/far_planner.cpp ${SOURCES})
 
-ament_target_dependencies(${PROJECT_NAME} rclcpp std_msgs std_srvs sensor_msgs nav_msgs visualization_msgs pcl_conversions visibility_graph_msg tf2 tf2_ros tf2_geometry_msgs)
+ament_target_dependencies(${PROJECT_NAME} rclcpp std_msgs std_srvs sensor_msgs nav_msgs visualization_msgs pcl_conversions visibility_graph_msg tf2 tf2_ros tf2_geometry_msgs tf2_sensor_msgs)
 
 target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} ${OpenCV_LIBS})
 
@@ -79,4 +80,4 @@ install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 
 install(DIRECTORY data DESTINATION share/${PROJECT_NAME})
 
-ament_package()
+ament_package()

src/slam/point_lio_unilidar/CMakeLists.txt

@@ -5,11 +5,11 @@ if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
-ADD_COMPILE_OPTIONS(-std=c++14 )
-set(CMAKE_CXX_FLAGS "-std=c++14 -O3" ) 
+ADD_COMPILE_OPTIONS(-std=c++17 )
+set(CMAKE_CXX_FLAGS "-std=c++17 -O3" )
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
@@ -121,4 +121,4 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_package()
+ament_package()