fix build under ros2 jazzy

tz61 · tz61 · commit cd5557b9a312 · 2025-09-07T14:24:15.000+08:00
diff --git a/.github/workflows/ros-jazzy.yml b/.github/workflows/ros-jazzy.yml
@@ -0,0 +1,32 @@
+name: jazzy
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+jobs:
+  build:
+    runs-on: ubuntu-24.04
+    container:
+      image: ros:jazzy
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: recursive
+    - name: Ignore scara_moveit
+      run: touch decomposition/scara_moveit/AMENT_IGNORE
+    - name: Install dependencies
+      shell: bash
+      run: |
+        sudo apt update
+        rosdep update
+        rosdep install -y --rosdistro jazzy --from-paths . --ignore-src
+        source /opt/ros/jazzy/local_setup.bash
+        colcon build --packages-skip-regex '.*'
+    - name: Install Eigen3
+      run: |
+        sudo apt install -y libeigen3-dev
+    - name: Build workspace
+      uses: ichiro-its/ros2-ws-action/build@v1.0.1
diff --git a/decomposition/meta_chassis_controller/include/meta_chassis_controller/agv_chassis_controller.hpp b/decomposition/meta_chassis_controller/include/meta_chassis_controller/agv_chassis_controller.hpp
@@ -49,7 +49,11 @@ class AgvChassisController : public controller_interface::ChainableControllerInt
     controller_interface::CallbackReturn
     on_deactivate(const rclcpp_lifecycle::State &previous_state) override;
 
+#if RCLCPP_VERSION_MAJOR >= 28 // ROS 2 Jazzy or later
+    controller_interface::return_type update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & period) override;
+#else
     controller_interface::return_type update_reference_from_subscribers() override;
+#endif
 
     controller_interface::return_type
     update_and_write_commands(const rclcpp::Time &time,
diff --git a/decomposition/meta_chassis_controller/include/meta_chassis_controller/omni_chassis_controller.hpp b/decomposition/meta_chassis_controller/include/meta_chassis_controller/omni_chassis_controller.hpp
@@ -48,7 +48,11 @@ class OmniChassisController : public controller_interface::ChainableControllerIn
     controller_interface::CallbackReturn
     on_deactivate(const rclcpp_lifecycle::State &previous_state) override;
 
+#if RCLCPP_VERSION_MAJOR >= 28 // ROS 2 Jazzy or later
+    controller_interface::return_type update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & period) override;
+#else
     controller_interface::return_type update_reference_from_subscribers() override;
+#endif
 
     controller_interface::return_type
     update_and_write_commands(const rclcpp::Time &time,
diff --git a/decomposition/meta_chassis_controller/src/agv_chassis_controller.cpp b/decomposition/meta_chassis_controller/src/agv_chassis_controller.cpp
@@ -258,8 +258,11 @@ AgvChassisController::on_deactivate(const rclcpp_lifecycle::State & /*previous_s
     return controller_interface::CallbackReturn::SUCCESS;
 }
 
-controller_interface::return_type
-AgvChassisController::update_reference_from_subscribers() {
+#if RCLCPP_VERSION_MAJOR >= 28 // ROS 2 Jazzy or later
+    controller_interface::return_type AgvChassisController::update_reference_from_subscribers(const rclcpp::Time &time,const rclcpp::Duration &period){
+#else
+    controller_interface::return_type AgvChassisController::update_reference_from_subscribers(){
+#endif
     auto cur_ref = *(ref_buf_.readFromRT());
 
     if (const auto command_age = get_node()->now() - cur_ref->header.stamp;
diff --git a/decomposition/meta_chassis_controller/src/omni_chassis_controller.cpp b/decomposition/meta_chassis_controller/src/omni_chassis_controller.cpp
@@ -206,8 +206,11 @@ OmniChassisController::on_deactivate(const rclcpp_lifecycle::State & /*previous_
     return controller_interface::CallbackReturn::SUCCESS;
 }
 
-controller_interface::return_type
-OmniChassisController::update_reference_from_subscribers() {
+#if RCLCPP_VERSION_MAJOR >= 28 // ROS 2 Jazzy or later
+    controller_interface::return_type OmniChassisController::update_reference_from_subscribers(const rclcpp::Time &time,const rclcpp::Duration &period){
+#else
+    controller_interface::return_type OmniChassisController::update_reference_from_subscribers(){
+#endif
     auto cur_ref = *(ref_buf_.readFromRT());
 
     if (const auto command_age = get_node()->now() - cur_ref->header.stamp;
diff --git a/decomposition/meta_gimbal_controller/include/gimbal_controller/gimbal_controller.hpp b/decomposition/meta_gimbal_controller/include/gimbal_controller/gimbal_controller.hpp
@@ -49,7 +49,11 @@ class GimbalController : public controller_interface::ChainableControllerInterfa
     controller_interface::CallbackReturn
     on_deactivate(const rclcpp_lifecycle::State &previous_state) override;
 
+#if RCLCPP_VERSION_MAJOR >= 28 // ROS 2 Jazzy or later
+    controller_interface::return_type update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & period) override;
+#else
     controller_interface::return_type update_reference_from_subscribers() override;
+#endif
 
     controller_interface::return_type
     update_and_write_commands(const rclcpp::Time &time,
diff --git a/decomposition/meta_gimbal_controller/include/gimbal_controller/gimbal_position_controller.hpp b/decomposition/meta_gimbal_controller/include/gimbal_controller/gimbal_position_controller.hpp
@@ -50,7 +50,11 @@ class GimbalPositionController : public controller_interface::ChainableControlle
     controller_interface::CallbackReturn
     on_deactivate(const rclcpp_lifecycle::State &previous_state) override;
 
+#if RCLCPP_VERSION_MAJOR >= 28 // ROS 2 Jazzy or later
+    controller_interface::return_type update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & period) override;
+#else
     controller_interface::return_type update_reference_from_subscribers() override;
+#endif
 
     controller_interface::return_type
     update_and_write_commands(const rclcpp::Time &time,
diff --git a/decomposition/meta_gimbal_controller/src/gimbal_controller.cpp b/decomposition/meta_gimbal_controller/src/gimbal_controller.cpp
@@ -6,7 +6,7 @@
 #include <string>
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/LinearMath/Matrix3x3.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <vector>
 
 #include "angles/angles.h"
@@ -214,8 +214,11 @@ controller_interface::CallbackReturn
 GimbalController::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/) {
     return controller_interface::CallbackReturn::SUCCESS;
 }
-
-controller_interface::return_type GimbalController::update_reference_from_subscribers() {
+#if RCLCPP_VERSION_MAJOR >= 28 // ROS 2 Jazzy or later
+    controller_interface::return_type GimbalController::update_reference_from_subscribers(const rclcpp::Time &time,const rclcpp::Duration &period){
+#else
+    controller_interface::return_type GimbalController::update_reference_from_subscribers(){
+#endif
     auto current_ref = *(input_ref_.readFromRT()); // A shared_ptr must be allocated
                                                    // immediately to prevent dangling
 
diff --git a/decomposition/meta_gimbal_controller/src/gimbal_position_controller.cpp b/decomposition/meta_gimbal_controller/src/gimbal_position_controller.cpp
@@ -6,7 +6,7 @@
 #include <string>
 #include <tf2/LinearMath/Matrix3x3.h>
 #include <tf2/LinearMath/Quaternion.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <vector>
 
 #include "angles/angles.h"
@@ -213,8 +213,11 @@ namespace gimbal_controller
         return controller_interface::CallbackReturn::SUCCESS;
     }
 
-    controller_interface::return_type GimbalPositionController::update_reference_from_subscribers()
-    {
+#if RCLCPP_VERSION_MAJOR >= 28 // ROS 2 Jazzy or later
+    controller_interface::return_type GimbalPositionController::update_reference_from_subscribers(const rclcpp::Time &time,const rclcpp::Duration &period){
+#else
+    controller_interface::return_type GimbalPositionController::update_reference_from_subscribers(){
+#endif
         auto current_ref = *(input_ref_.readFromRT()); // A shared_ptr must be allocated
                                                        // immediately to prevent dangling
 
diff --git a/decomposition/meta_shoot_controller/include/shoot_controller/shoot_controller.hpp b/decomposition/meta_shoot_controller/include/shoot_controller/shoot_controller.hpp
@@ -46,8 +46,11 @@ namespace shoot_controller {
 
         controller_interface::CallbackReturn
         on_deactivate(const rclcpp_lifecycle::State &previous_state) override;
-
+#if RCLCPP_VERSION_MAJOR >= 28 // ROS 2 Jazzy or later
+        controller_interface::return_type update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & period) override;
+#else
         controller_interface::return_type update_reference_from_subscribers() override;
+#endif
 
         controller_interface::return_type
         update_and_write_commands(const rclcpp::Time &time,
diff --git a/decomposition/meta_shoot_controller/src/shoot_controller.cpp b/decomposition/meta_shoot_controller/src/shoot_controller.cpp
@@ -143,8 +143,11 @@ namespace shoot_controller {
         msg->fric_state = false;
         msg->feed_speed = NaN;
     }
-
+#if RCLCPP_VERSION_MAJOR >= 28 // ROS 2 Jazzy or later
+    controller_interface::return_type ShootController::update_reference_from_subscribers(const rclcpp::Time &time,const rclcpp::Duration &period){
+#else
     controller_interface::return_type ShootController::update_reference_from_subscribers(){
+#endif
         auto current_ref = *(input_ref_.readFromRT()); // A shared_ptr must be allocated
                                                    // immediately to prevent dangling
         if (!std::isnan(current_ref->feed_speed)) {
diff --git a/execution/meta_hardware/include/meta_hardware/dm_imu_interface.hpp b/execution/meta_hardware/include/meta_hardware/dm_imu_interface.hpp
@@ -11,7 +11,7 @@
 
 #include <tf2/LinearMath/Matrix3x3.h>
 #include <tf2/LinearMath/Quaternion.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/sensor_interface.hpp"
diff --git a/execution/metav_gazebo/package.xml b/execution/metav_gazebo/package.xml
@@ -11,7 +11,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>ros_gz</exec_depend>
-  <exec_depend>ign_ros2_control</exec_depend>
+  <exec_depend>gz_ros2_control</exec_depend>
+  <!-- <exec_depend>ign_ros2_control</exec_depend> for humble and earlier -->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/perception/ahrs_feedback/fdilink_ahrs/include/ahrs_driver.hpp b/perception/ahrs_feedback/fdilink_ahrs/include/ahrs_driver.hpp
@@ -21,7 +21,7 @@
 
 #include <string>
 //#include <ros/package.h>
-#include <ament_index_cpp/get_package_prefix.hpp>
+// #include <ament_index_cpp/get_package_prefix.hpp>
 #include <crc_table.h>
 #include <Eigen/Eigen>
 #include <Eigen/Geometry>
diff --git a/perception/ahrs_feedback/fdilink_ahrs/package.xml b/perception/ahrs_feedback/fdilink_ahrs/package.xml
@@ -18,6 +18,7 @@
   <depend>nav_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>serial</depend>
+  <depend>ament_index_cpp</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/perception/ahrs_feedback/fdilink_ahrs/src/ahrs_driver.cpp b/perception/ahrs_feedback/fdilink_ahrs/src/ahrs_driver.cpp
@@ -1,4 +1,4 @@
-﻿#include <ahrs_driver.h>
+﻿#include <ahrs_driver.hpp>
 //#include <Eigen/Eigen>
 rclcpp::Node::SharedPtr nh_=nullptr;
 
diff --git a/perception/ahrs_feedback/fdilink_ahrs/src/imu_tf.cpp b/perception/ahrs_feedback/fdilink_ahrs/src/imu_tf.cpp
@@ -3,7 +3,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <tf2_ros/transform_broadcaster.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <tf2/LinearMath/Transform.h>
 #include <tf2/LinearMath/Quaternion.h>
 #include <string>
diff --git a/perception/solais_vision b/perception/solais_vision
@@ -1 +1 @@
-Subproject commit 83b65177270575be6aaacf0aa6aab65a31037514
+Subproject commit 959d923d5bae12b2974c68a1482b639ad7a7356a
