Merge pull request #33 from Ar-Ray-code/fix/jazzy_pkg_broken

Fix/jazzy pkg broken

Author: Ar-Ray-code

build/Dockerfile

@@ -82,6 +82,9 @@ RUN apt-get update && \
 	# ros2_control
 	libfmt-dev \
 	librange-v3-dev \
+	libcap-dev \
+	# stackchan
+	libserial-dev \
 	# autoware-core
 	libsimde-dev \
 	libmatio-dev \
@@ -120,9 +123,9 @@ RUN wget https://s3.ap-northeast-1.wasabisys.com/download-raw/dpkg/openvino/debi
 	apt-get install -y ./openvino-2022-raspbian-bullseye-arm64-0.1.0-20221219.deb
 
 # realsense
-RUN wget https://s3.ap-northeast-1.wasabisys.com/download-raw/dpkg/librealsense/debian/bullseye/librealsense2-dev_2.54.1_arm64.deb && \
-	apt-get install -y ./librealsense2-dev_2.54.1_arm64.deb && \
-	rm ./librealsense2-dev_2.54.1_arm64.deb && \
+RUN wget https://s3.ap-northeast-1.wasabisys.com/download-raw/dpkg/librealsense/debian/bookworm/librealsense-v4l2-backend-app-bookworm-2.56.3-arm64.deb && \
+	apt-get install -y ./librealsense-v4l2-backend-app-bookworm-2.56.3-arm64.deb && \
+	rm ./librealsense-v4l2-backend-app-bookworm-2.56.3-arm64.deb && \
 	echo "export realsense2_DIR=/usr/local/lib/aarch64-linux-gnu/cmake/realsense2/" >> ~/.bashrc && \
 	echo "export OpenCV_DIR=/usr/lib/aarch64-linux-gnu/cmake/opencv4/" >> ~/.bashrc
 

build/ros2_ws/build.bash

@@ -27,12 +27,12 @@ mkdir -p src/
 
 if [ ${BUILD_FULL_PKG} = true ]; then
     echo "Building full package"
-    wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/repos/ds.repos
-    wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/repos/realsense.repos
-    wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/repos/rostackchan.repos
-    wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/repos/urg.repos
-    wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/repos/velodyne.repos
-    wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/repos/webcam.repos
+    wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/${DISTRO}/repos/ds.repos
+    wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/${DISTRO}/repos/realsense.repos
+    wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/${DISTRO}/repos/rostackchan.repos
+    wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/${DISTRO}/repos/urg.repos
+    wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/${DISTRO}/repos/velodyne.repos
+    wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/${DISTRO}/repos/webcam.repos
 
     for f in *.repos; do
         echo "---- importing $f ----"
@@ -57,6 +57,7 @@ export CPLUS_INCLUDE_PATH=${PCL_INCLUDE_PATH}:${EIGEN_INCLUDE_PATH}:$CPLUS_INCLU
 
 colcon build \
     --install-base $(pwd)/${DISTRO}/ \
+    --executor sequential \
     --packages-ignore autoware_trajectory autoware_ekf_localizer autoware_map_projection_loader autoware_test_utils autoware_planning_test_manager autoware_gnss_poser autoware_route_handler autoware_map_loader autoware_simple_pure_pursuit autoware_velocity_smoother autoware_mission_planner autoware_path_generator autoware_behavior_velocity_planner_common autoware_behavior_velocity_planner autoware_motion_velocity_planner_common autoware_motion_velocity_planner autoware_motion_velocity_obstacle_stop_module autoware_behavior_velocity_stop_line_module \
     --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=armv8-a+crc -mtune=cortex-a72 -O3" -DCMAKE_C_FLAGS="-march=armv8-a+crc -mtune=cortex-a72 -O3"
 

repos/realsense.repos

@@ -10,7 +10,7 @@ repositories:
   realsense-ros:
     type: git
     url: https://github.com/IntelRealSense/realsense-ros.git
-    version: 4.54.1
+    version: 4.56.4
   diagnostics:
     type: git
     url: https://github.com/ros/diagnostics.git

repos/rostackchan.repos

@@ -18,35 +18,39 @@ repositories:
   ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git
-    version: iron
+    version: jazzy
   control_msgs:
     type: git
     url: https://github.com/ros-controls/control_msgs.git
-    version: iron
+    version: jazzy
   backward_ros:
     type: git
     url: https://github.com/pal-robotics/backward_ros.git
     version: foxy-devel
   realtime_tools:
     type: git
     url: https://github.com/ros-controls/realtime_tools.git
-    version: 4.2.0
+    version: jazzy
   xacro:
     type: git
     url: https://github.com/ros/xacro.git
     version: ros2
   ros2_controllers:
     type: git
     url: https://github.com/ros-controls/ros2_controllers.git
-    version: iron
+    version: jazzy
+  ros2_control_cmake:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_cmake.git
+    version: master
   angles:
     type: git
     url: https://github.com/ros/angles.git
     version: 1.16.0
   control_toolbox:
     type: git
     url: https://github.com/ros-controls/control_toolbox.git
-    version: 5.1.0
+    version: jazzy
   filters:
     type: git
     url: https://github.com/ros/filters.git
@@ -78,8 +82,8 @@ repositories:
   DynamixelSDK:
     type: git
     url: https://github.com/ROBOTIS-GIT/DynamixelSDK.git
-    version: humble-devel
+    version: jazzy
   dynamixel-workbench:
     type: git
     url: https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
-    version: humble-devel
+    version: jazzy