upgrade: porting rolling and jazzy APIs

.github/workflows/ci.yml

@@ -14,7 +14,7 @@ jobs:
     strategy:
       matrix:
         os: [ubuntu-22.04]
-        ros_distribution: [foxy, galactic, humble, rolling]
+        ros_distribution: [foxy, galactic, humble, jazzy, rolling]
       fail-fast: false
     steps:
       - name: add more dependencies
@@ -23,6 +23,6 @@ jobs:
           sudo apt-get install -y python3-colcon-coveragepy-result
           sudo apt-get install -y ros-${{ matrix.ros_distribution }}-diagnostic-updater
       - name: build and test
-        uses: ros-tooling/action-ros-ci@v0.2
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros2-distro: ${{ matrix.ros_distribution }}

ch4/service/ch4_service_cpp/CMakeLists.txt

@@ -9,6 +9,11 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 
+set(ROS_DISTRO $ENV{ROS_DISTRO})
+if(${ROS_DISTRO} STREQUAL "rolling")
+  add_compile_definitions(NEW_SERVICE_TEMPLATE)
+endif()
+
 set(executable_selfservice self_exec)
 set(executable_selfnode self_node)
 

ch4/service/ch4_service_cpp/src/single_node.cpp

@@ -45,7 +45,11 @@ class SingleNode : public rclcpp::Node
     server_ = this->create_service<rcl_interfaces::srv::GetParameters>(
       "get_para",
       std::bind(&SingleNode::service_callback, this, std::placeholders::_1, std::placeholders::_2),
+      #ifdef NEW_SERVICE_TEMPLATE
+      rclcpp::ServicesQoS(),
+      #else
       rmw_qos_profile_services_default,
+      #endif
       cb_group_);
   }
 

ch4/service/ch4_service_py/ch4_service_py/self_service.py

@@ -12,12 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from rcl_interfaces.msg import Parameter
+from rcl_interfaces.srv import GetParameters
+
 import rclpy
 import rclpy.executors
 
 from rclpy.node import Node
-from rcl_interfaces.msg import Parameter
-from rcl_interfaces.srv import GetParameters
 
 
 class ServerNode(Node):

ch6/ch6_bag_cpp/CMakeLists.txt

@@ -19,6 +19,9 @@ endif()
 if(${ROS_DISTRO} STREQUAL "foxy" OR ${ROS_DISTRO} STREQUAL "galactic")
   add_compile_definitions(DEPRECATED_BAG_API)
 endif()
+if(${ROS_DISTRO} STREQUAL "rolling" OR ${ROS_DISTRO} STREQUAL "jazzy")
+  add_compile_definitions(JAZZY_NEWER_BAG_API)
+endif()
 
 set(executable_data pubdata)
 set(executable_bag operatebag)

ch6/ch6_bag_cpp/src/operatebag.cpp

@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#ifdef JAZZY_NEWER_BAG_API
+#include <filesystem>
+#endif
 #include <memory>
 #include <string>
 #include <vector>
@@ -31,9 +34,17 @@ int main()
   const auto LOGTAG = std::string("OperateBag");
   using TimeT = builtin_interfaces::msg::Time;
   TimeT time = rclcpp::Clock().now();
+  #ifdef JAZZY_NEWER_BAG_API
+  auto rosbag_dir = std::filesystem::path("time_box");
+  #else
   auto rosbag_dir = rcpputils::fs::path("time_box");
+  #endif
   rclcpp::Serialization<TimeT> serialization;
+  #ifdef JAZZY_NEWER_BAG_API
+  std::filesystem::remove_all(rosbag_dir);
+  #else
   rcpputils::fs::remove_all(rosbag_dir);
+  #endif
   {
     #ifdef FOXY_BAG_API
     const rosbag2_cpp::StorageOptions storage_options({rosbag_dir.string(), "sqlite3"});
@@ -54,7 +65,11 @@ int main()
     #else
     writer.open(rosbag_dir.string());
     #endif
+    #ifndef JAZZY_NEWER_BAG_API
     if (rcutils_system_time_now(&write_bag_msg->time_stamp) != RCL_RET_OK) {
+    #else
+    if (rcutils_system_time_now(&write_bag_msg->recv_timestamp) != RCL_RET_OK) {
+    #endif
       RCLCPP_ERROR(rclcpp::get_logger(LOGTAG), "Get time failed.");
       return 1;
     }