Sync ros2-development-custom to 4.56.3

.github/ISSUE_TEMPLATE.md

@@ -0,0 +1,26 @@
+* Before opening a new issue, we wanted to provide you with some useful suggestions (Click "Preview" above for a better view):
+
+    * Consider checking our ROS RealSense Wrapper documentation [README](https://github.com/IntelRealSense/realsense-ros/blob/ros2-master/README.md).
+    * Have you looked in our [Discussions](https://github.com/IntelRealSense/realsense-ros/discussions)?
+    * Try [searching our GitHub Issues](https://github.com/IntelRealSense/realsense-ros/issues) (open and closed) for a similar issue.
+
+* All users are welcomed to report bugs, ask questions, suggest or request enhancements and generally feel free to open new issue, even if they haven't followed any of the suggestions above :)
+
+----------------------------------------------------------------------------------------------------
+
+| Required Info                         |                                                                                         |
+|---------------------------------|------------------------------------------------------------ |
+| Camera Model                       | { D405 / D415 / D435 / D435i / D455 / D457 }                          | 
+| Firmware Version                   | (Open RealSense Viewer --> Click info)                          | 
+| Operating System & Version |   { Win (10/11) / Linux (Ubuntu 18/20/22) / MacOS } | 
+| Kernel Version (Linux Only)    |  (e.g. 5.4)                                                                       | 
+| Platform                                 | PC/Raspberry Pi/ NVIDIA Jetson / etc..                           |
+| Librealsense SDK Version       |  { 2.<?>.<?> }                                                    | 
+| Language                               |  {C/C#/labview/opencv/pcl/python/unity }         | 
+| Segment			         |  {Robot/Smartphone/VR/AR/others }                             | 
+| ROS Distro			         |  {Iron/Humble/Jazzy/Rolling/etc.. }                                           | 
+| RealSense ROS Wrapper Version   |  {4.51.1, 4.54.1, etc..}                                                  | 
+
+
+### Issue Description
+<Describe your issue / question / feature request / etc..>

.github/workflows/main.yml

@@ -6,13 +6,17 @@ on:
   push:
     branches:
       - ros2-development
+      - ros2-master
   pull_request:
     branches:
       - ros2-development
+      - ros2-master
 
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
+permissions: read-all
+
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 # This workflow contains a single job called "build"
 
@@ -23,41 +27,64 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: [rolling, iron, humble]
+        ros_distro: [rolling, iron, humble, foxy, jazzy]
         include:
         - ros_distro: 'rolling'
-          os: ubuntu-22.04
+          os: ubuntu-24.04
+        - ros_distro: 'jazzy'
+          os: ubuntu-24.04
         - ros_distro: 'iron'
           os: ubuntu-22.04
         - ros_distro: 'humble'
           os: ubuntu-22.04
+        - ros_distro: 'foxy'
+          os: ubuntu-20.04
 
     steps:
 
     - name: Setup ROS2 Workspace
-      run: | 
+      run: |
         mkdir -p ${{github.workspace}}/ros2/src
 
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
       with:
         path: 'ros2/src/realsense-ros'
-    
+
     - name: Check Copyright & Line-Endings
       shell: bash
       run: |
         cd ${{github.workspace}}/ros2/src/realsense-ros/scripts
         ./pr_check.sh 
 
-    - name: build ROS2
-      uses: ros-tooling/setup-ros@v0.6
+    # setup-ros@v0.6 is the last version supporting foxy (EOL)
+    # setup-ros@v0.7 is needed to support humble/iron/rolling/jazzy
+    # so, seperating steps with if conditions
+    - name: build ROS2 for foxy
+      if: ${{ matrix.ros_distro == 'foxy' }}
+      uses: ros-tooling/setup-ros@236ab287884fd5a314fc030e91b2017abb46719e #v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distro }}
-
-    - name: Build RealSense SDK 2.0 from source
+    - name: build ROS2 for humble/iron/rolling/jazzy
+      if: ${{ matrix.ros_distro != 'foxy' }}
+      uses: ros-tooling/setup-ros@a6ce30ecca1e5dcc10ae5e6a44fe2169115bf852 #v0.7
+      with:
+        required-ros-distributions: ${{ matrix.ros_distro }}
+
+    - name: Checkout librealsense/development
+      uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
+      with:
+        repository: IntelRealSense/librealsense
+        path: librealsense
+        ref: development
+
+    - name: Build RealSense SDK 2.0 (development branch) from source
       run: |
-        cd ${{github.workspace}}
-        git clone https://github.com/IntelRealSense/librealsense.git -b development
-        cd librealsense
+
+        # libusb-1.0-0-dev is needed for librealsense build in ubuntu 20.04
+        # This apt install command will be ignored in ubuntu 22.04 as libusb-1.0-0-dev already installed there
+        sudo apt install -y libusb-1.0-0-dev
+
+        cd ${{github.workspace}}/librealsense
         sudo mkdir build
         cd build
         sudo cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false
@@ -66,17 +93,20 @@ jobs:
         sudo make -j10
         sudo make install
 
-    - name: Build RealSense ROS2 Wrapper
-      run: | 
+    - name: Build RealSense ROS2 Wrapper from source
+      run: |
         echo "source /opt/ros/${{ matrix.ros_distro }}/setup.bash" >> ${{github.workspace}}/.bashrc
         source ${{github.workspace}}/.bashrc
         cd ${{github.workspace}}/ros2
         echo "================= ROSDEP UPDATE ====================="
-        rosdep update --rosdistro ${{ matrix.ros_distro }}
+        rosdep update --rosdistro ${{ matrix.ros_distro }} --include-eol-distros
         echo "================= ROSDEP INSTALL ===================="
         rosdep install -i --reinstall --from-path src --rosdistro ${{ matrix.ros_distro }} --skip-keys=librealsense2 -y
         echo "================== COLCON BUILD ======================"
-        colcon build  --cmake-args '-DBUILD_TOOLS=ON'
+        # Enable 'BUILD_TOOLS' through cmake arguments. Since, this variable is available only in realsense2_camera package 
+        # and not in  realsense2_camera_msgs and realsense2_description packages, to avoid warnings from these packages,
+        # use '--no-warn-unused-cli'. Ref: https://cmake.org/cmake/help/v3.0/manual/cmake.1.html
+        colcon build  --cmake-args '-DBUILD_TOOLS=ON' --no-warn-unused-cli
 
     ## This step is commented out since we don't use rosbag files in "Run Tests" step below.
     ## Please uncomment when "Run Tests" step is fixed to run all tests.
@@ -89,22 +119,49 @@ jobs:
     #    bag_filename="https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag";
     #    wget $bag_filename -P "records/"
     #    sudo apt install ros-${{ matrix.ros_distro}}-launch-pytest
-
-    - name: Install Packages For Tests
+
+    - name: Install Packages For Foxy Tests
+      if: ${{ matrix.ros_distro == 'foxy' }}
+      run: |
+        # To avoid mixing of 'apt' provided packages and 'pip' provided packages, one way is to create virtual env
+        # and manage python packages within it. Ref: https://peps.python.org/pep-0668/
+        python3 -m venv .venv
+        # Activate the virtual env such that following python related commands run within it.
+        source .venv/bin/activate
+        sudo apt-get install python3-pip
+        # numpy-quaternion needs numpy<2.0.0. Chose 1.24.1 as it is the highest version that support foxy.
+        pip3 install --force-reinstall numpy==1.24.1
+        pip3 install numpy-quaternion tqdm pyyaml
+
+    - name: Install Packages For Humble/Iron/Rolling/Jazzy Tests
+      if: ${{ matrix.ros_distro != 'foxy' }}
       run: |
+        # To avoid mixing of 'apt' provided packages and 'pip' provided packages, one way is to create virtual env
+        # and manage python packages within it. Ref: https://peps.python.org/pep-0668/
+        python3 -m venv .venv
+        # Activate the virtual env such that following python related commands run within it.
+        source .venv/bin/activate
         sudo apt-get install python3-pip
-        pip3 install numpy --upgrade
-        pip3 install numpy-quaternion tqdm
-
+        # numpy-quaternion needs numpy<2.0.0. Chose 1.26.4 as it is the lowest working version for ubuntu 24.04.
+        pip3 install --force-reinstall numpy==1.26.4
+        pip3 install numpy-quaternion tqdm pyyaml
+
     - name: Run Tests
       run: |
         cd ${{github.workspace}}/ros2
         source ${{github.workspace}}/.bashrc
         . install/local_setup.bash
+        # the next command might be needed for foxy distro, since this package is not installed
+        # by default in ubuntu 20.04. For other distro, the apt install command will be ignored.
+        sudo apt install -y ros-${{matrix.ros_distro}}-sensor-msgs-py
+        source ../.venv/bin/activate
         python3 src/realsense-ros/realsense2_camera/scripts/rs2_test.py non_existent_file
-
+
+    # don't run integration tests for foxy since some testing dependecies packages like 
+    # tf_ros_py are not avaialble
+    # TODO: check when we can run integration tests on rolling
     - name: Run integration tests
-      if: ${{ matrix.ros_distro != 'rolling'}}
+      if: ${{ matrix.ros_distro != 'rolling' && matrix.ros_distro != 'foxy' }}
       run: |
         cd ${{github.workspace}}/ros2
         source ${{github.workspace}}/.bashrc

.github/workflows/pre-release.yml

@@ -23,6 +23,7 @@ on:
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
+permissions: read-all
 
 jobs:
   build:
@@ -44,6 +45,6 @@ jobs:
       BASEDIR: ${{ github.workspace }}/.work
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
       - name: industrial_ci
-        uses: ros-industrial/industrial_ci@master
+        uses: ros-industrial/industrial_ci@d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b #Replace reference to 'master' with the latest commit hash

.github/workflows/static_analysis.yaml

@@ -6,12 +6,14 @@ on:
   pull_request:
     branches: ['**']
 
+permissions: read-all
+
 jobs:
   cppcheck:
     name: cppcheck
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
 
       - name: Install 
         shell: bash

CONTRIBUTING.md

@@ -5,7 +5,7 @@ This project welcomes third-party code via GitHub pull requests.
 You are welcome to propose and discuss enhancements using project [issues](https://github.com/IntelRealSense/realsense-ros/issues).
 
 > **Branching Policy**:
-> The `ros2-development` branch is considered stable, at all times.
+> The `ros2-master` branch is considered stable, at all times.
 > If you plan to propose a patch, please commit into the `ros2-development` branch, or its own feature branch.
 
 In addition, please run `pr_check.sh` under `scripts` directory. This scripts verify compliance with project's standards:

Intel Copyright

@@ -0,0 +1,7 @@
+Copyright (2017-2024), Intel Corporation.
+This "Software" is furnished under license and may only be used or copied in accordance with the terms of that license.
+No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted by this document.
+The Software is subject to change without notice, and should not be construed as a commitment by Intel Corporation to market, license, sell or support any product or technology.
+Unless otherwise provided for in the license under which this Software is provided, the Software is provided AS IS, with no warranties of any kind, express or implied.
+Except as expressly permitted by the Software license, neither Intel Corporation nor its suppliers assumes any responsibility or liability for any errors or inaccuracies that may appear herein.
+Except as expressly permitted by the Software license, no part of the Software may be reproduced, stored in a retrieval system, transmitted in any form, or distributed by any means without the express written consent of Intel Corporation.