Jazzy Support (#241)

.github/workflows/build_and_test.yaml

@@ -20,18 +20,15 @@ jobs:
             CCOV: true
           - ROS_DISTRO: rolling
             ROS_REPO: testing
-          - ROS_DISTRO: humble
-            ROS_REPO: main
-          - ROS_DISTRO: humble
-            ROS_REPO: testing
-          - ROS_DISTRO: galactic
+          - ROS_DISTRO: jazzy
             ROS_REPO: main
-          - ROS_DISTRO: galactic
+          - ROS_DISTRO: jazzy
             ROS_REPO: testing
-          - ROS_DISTRO: foxy
+          - ROS_DISTRO: humble
             ROS_REPO: main
-          - ROS_DISTRO: foxy
+          - ROS_DISTRO: humble
             ROS_REPO: testing
+
     env:
       # Globally disable git security
       # https://github.blog/2022-04-12-git-security-vulnerability-announced

CMakeLists.txt

@@ -43,7 +43,9 @@ find_package(console_bridge REQUIRED)
 find_package(console_bridge_vendor REQUIRED)
 find_package(eigen_stl_containers REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(OCTOMAP REQUIRED)
+# Enforce the system package version on Ubuntu jammy and noble which is also used by libfcl-dev
+# The version is fixed to prevent ABI conflicts with ros-octomap
+find_package(octomap 1.9.7...<1.10.0 REQUIRED)
 find_package(QHULL REQUIRED)
 find_package(random_numbers REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -60,7 +62,7 @@ set(THIS_PACKAGE_EXPORT_DEPENDS
   console_bridge_vendor
   eigen_stl_containers
   geometry_msgs
-  OCTOMAP
+  octomap
   random_numbers
   rclcpp
   resource_retriever

package.xml

@@ -28,7 +28,16 @@
   <depend>eigen_stl_containers</depend>
   <depend>console_bridge_vendor</depend>
   <depend>libqhull</depend>
+  <!-- The ros-octomap package version is ABI-incompatible with
+       the liboctomap-dev system dependency of FCL (libfcl-dev)
+       used by MoveIt. Until this conflict is resolved, we are
+       enforcing the use of liboctomap-dev by declaring the
+       libfcl-dev dependency here (lacking a liboctomap-dev target)
+       and by setting a library version filter in the CMakeLists.txt.
+       See https://github.com/moveit/moveit2/issues/2862
   <depend>octomap</depend>
+   -->
+  <depend>libfcl-dev</depend>
   <depend>random_numbers</depend>
   <depend>resource_retriever</depend>
   <depend>shape_msgs</depend>