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Jazzy testing #4

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Merged
ndunkelb-nasa merged 5 commits into from
Mar 26, 2026
Merged

Jazzy testing #4

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23603a3
updating to hpp for jazzy
ndunkelb-nasa Mar 25, 2026
5525ebf
fixing MPI dependency issues
ndunkelb-nasa Mar 25, 2026
104ec40
Conditional headers based on humble
eholum-nasa Mar 26, 2026
a97c42f
Organize and remove duplicat imports
eholum-nasa Mar 26, 2026
5f03d83
Actually sort imports
eholum-nasa Mar 26, 2026
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16 changes: 16 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,15 @@ find_package(image_transport REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(image_geometry REQUIRED)
find_package(MPI REQUIRED)
if(NOT TARGET MPI::MPI_C)
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add_library(MPI::MPI_C INTERFACE IMPORTED)
set_target_properties(MPI::MPI_C PROPERTIES
INTERFACE_COMPILE_OPTIONS "${MPI_C_COMPILE_FLAGS}"
INTERFACE_INCLUDE_DIRECTORIES "${MPI_C_INCLUDE_PATH}"
INTERFACE_LINK_LIBRARIES "${MPI_C_LIBRARIES}"
)
endif()
find_package(pcl_ros REQUIRED)
find_package(pcl_conversions REQUIRED)
# find_package(tf2_ros REQUIRED)
Expand All @@ -29,6 +38,13 @@ find_package(pcl_conversions REQUIRED)
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

# Version 3.2.1 is the last version of the cv_bridge humble drivers, so check
# if that is the case and set a variable to indicate it to the compiler macros.
if(cv_bridge_VERSION VERSION_LESS_EQUAL "3.3")
message(STATUS "Using Humble cv_bridge headers")
add_definitions(-DCV_BRIDGE_HUMBLE)
endif()

########################## libRealSense ##############################

find_package(realsense2 REQUIRED)
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26 changes: 15 additions & 11 deletions include/realsense_polled_camera/RealSensePolledCameraNode.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,26 +19,30 @@

#pragma once

#include <rclcpp/rclcpp.hpp>
#include <rclcpp_components/register_node_macro.hpp>
#include <thread>

#include <cv_bridge/cv_bridge.h>
#include <image_geometry/pinhole_camera_model.h>

#include <pcl_conversions/pcl_conversions.h>
#include <image_transport/image_transport.hpp>
#include <opencv2/opencv.hpp>

// #include <tf2_ros/static_transform_broadcaster.hpp>
#include <tf2/LinearMath/Quaternion.h>
#include <librealsense2/rs.hpp>

#include <sensor_msgs/msg/image.h>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <image_transport/image_transport.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <std_srvs/srv/trigger.hpp>

#include <librealsense2/rs.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_components/register_node_macro.hpp>

#include <tf2/LinearMath/Quaternion.h>

// Use different headers for cv_bridge depending on Humble or later.
#ifdef CV_BRIDGE_HUMBLE
#include <cv_bridge/cv_bridge.h>
#include <image_geometry/pinhole_camera_model.h>
#else
#include <cv_bridge/cv_bridge.hpp>
#include <image_geometry/pinhole_camera_model.hpp>
#endif

class RealSensePolledCameraNode : public rclcpp::Node
{
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