Fix livox_ros_driver2 Jazzy CMake generation

.github/workflows/ros-ci.yml

@@ -16,7 +16,7 @@ jobs:
         ros_distribution:
           # - noetic
           - humble
-          # - iron
+          - jazzy
 
         # Define the Docker image(s) associated with each ROS distribution.
         # The include syntax allows additional variables to be defined, like
@@ -37,10 +37,10 @@ jobs:
             ros_distribution: humble
             ros_version: 2
 
-          # Iron Irwini (May 2023 - November 2024)
-          # - docker_image: ubuntu:jammy
-          #   ros_distribution: iron
-          #   ros_version: 2
+          # Jazzy Jalisco (May 2024 - May 2029)
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+            ros_version: 2
 
           # # Rolling Ridley (No End-Of-Life)
           # - docker_image: ubuntu:jammy
@@ -63,10 +63,10 @@ jobs:
         run: |
           REPO_DIR="/tmp/livox_sdk2_repo"
           mkdir -p "$REPO_DIR"
-          git clone --branch v1.2.5 --depth 1 https://github.com/Livox-SDK/Livox-SDK2.git "$REPO_DIR/Livox-SDK2"
+          git clone --branch v0.0.1 --depth 1 https://github.com/LCAS/Livox-SDK2.git "$REPO_DIR/Livox-SDK2"
           cd "$REPO_DIR/Livox-SDK2"
           mkdir -p build && cd build
-          cmake ..
+          cmake -DCMAKE_CXX_FLAGS="-include cstdint" ..
           make -j$(nproc)
           make install
           ldconfig

CMakeLists.txt

@@ -210,6 +210,10 @@ else(ROS_EDITION STREQUAL "ROS2")
   # Copyright(c) 2020 livoxtech limited.
 
   cmake_minimum_required(VERSION 3.14)
+  if(POLICY CMP0144)
+    cmake_policy(SET CMP0144 NEW)
+    set(CMAKE_POLICY_DEFAULT_CMP0144 NEW)
+  endif()
   project(livox_ros_driver2)
 
   # Default to C99
@@ -302,23 +306,27 @@ else(ROS_EDITION STREQUAL "ROS2")
 
   target_include_directories(${PROJECT_NAME} PRIVATE ${livox_sdk_INCLUDE_DIRS})
 
-  # get include directories of custom msg headers
-  if(HUMBLE_ROS STREQUAL "humble")
-    rosidl_get_typesupport_target(cpp_typesupport_target
-    ${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
-    target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
+  # Link the generated custom message target. The generated target carries the
+  # include directories for livox_ros_driver2/msg/*.hpp on ROS 2 distros such as
+  # Humble and Jazzy, so do not read INTERFACE_INCLUDE_DIRECTORIES directly.
+  if(COMMAND rosidl_get_typesupport_target)
+    rosidl_get_typesupport_target(LIVOX_INTERFACE_TARGET
+      ${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
   else()
     set(LIVOX_INTERFACE_TARGET "${LIVOX_INTERFACES}__rosidl_typesupport_cpp")
-    add_dependencies(${PROJECT_NAME} ${LIVOX_INTERFACES})
-    get_target_property(LIVOX_INTERFACES_INCLUDE_DIRECTORIES ${LIVOX_INTERFACE_TARGET} INTERFACE_INCLUDE_DIRECTORIES)
   endif()
 
+  if(NOT LIVOX_INTERFACE_TARGET OR NOT TARGET ${LIVOX_INTERFACE_TARGET})
+    message(FATAL_ERROR "Failed to resolve ${LIVOX_INTERFACES} C++ typesupport target")
+  endif()
+
+  add_dependencies(${PROJECT_NAME} ${LIVOX_INTERFACES})
+
   # include file direcotry
   target_include_directories(${PROJECT_NAME} PUBLIC
     ${PCL_INCLUDE_DIRS}
     ${APR_INCLUDE_DIRS}
     ${LIVOX_LIDAR_SDK_INCLUDE_DIR}
-    ${LIVOX_INTERFACES_INCLUDE_DIRECTORIES}   # for custom msgs
     3rdparty
     src
   )
@@ -367,4 +375,4 @@ else(ROS_EDITION STREQUAL "ROS2")
     launch
   )
 
-endif()
+endif()