ros-perception · k-okada · Oct 31, 2025 · Oct 31, 2025 · Oct 31, 2025 · Oct 31, 2025
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -81,3 +81,94 @@ jobs:
         if: matrix.DOCKER_IMAGE
         run: |
           docker run --rm -i -v $PWD:$PWD -e "CI_SOURCE_PATH=$PWD" -e "HOME=$HOME" -e "ROS_DISTRO=${{ matrix.ROS_DISTRO }}" -e "OPENCV_VERSION=${{ matrix.OPENCV_VERSION }}" -e "TEST=${{ matrix.TEST }}" -e "DOCKER_IMAGE=${{ matrix.DOCKER_IMAGE }}" ${{ matrix.DOCKER_IMAGE }} sh -c "cd $PWD; /bin/bash .travis.sh"
+
+  # ROS-O setup for v4hn https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
+  # ROS-O setup for techfak https://ros.packages.techfak.net/
+  # note that v4hn uses ROS_DISTRO=one and techfak uses ROS_DISTRO
+  ros-o:
+    strategy:
+      fail-fast: false
+      matrix:
+        DEB_DISTRO: [22.04, 24.04]
+        ARCH: [x64, arm64]
+        ROS_ONE_VARIANT: [techfak]
+
+    runs-on: ${{ matrix.ARCH == 'x64' && format('ubuntu-{0}', matrix.DEB_DISTRO) || (matrix.ARCH == 'arm64' && format('ubuntu-{0}-arm', matrix.DEB_DISTRO) || format('ubuntu-{0}', matrix.DEB_DISTRO)) }}
+
+    env:
+      DEBIAN_FRONTEND : noninteractive
+
+    steps:
+      - name: Chcekout Source
+        uses: actions/checkout@v3.0.2
+
+      - name: Setup ROS-O deb repository
+        run: |
+          set -x
+          sudo apt update && sudo apt install -qq -y ca-certificates git
+          if [[ "${{ matrix.DEB_DISTRO }}" == "22.04" ]]; then export CODE_NAME="jammy"; fi
+          if [[ "${{ matrix.DEB_DISTRO }}" == "24.04" ]]; then export CODE_NAME="noble"; fi
+          echo "deb [trusted=yes] https://ros.packages.techfak.net $CODE_NAME-testing main" | sudo tee /etc/apt/sources.list.d/ros-o-builder.list
+          ##
+          # https://github.com/v4hn/ros-deb-builder-action/blob/b7c0ed93fde3a86b5b1027bf8f7145cad6067c90/prepare.sh#L27-L28
+          # Canonical dropped the Debian ROS packages from 24.04 for political reasons. Wow.
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" && "${{ matrix.DISTRO }}" == "ubuntu:24.04" ]]; then apt install -y software-properties-common retry && retry -d 50,10,30,300 -t 12 add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/ros; fi
+          ##
+          sudo apt update
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
+              sudo apt install -qq -y python3-rosdep2
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak"  ]]; then
+              # Do not install python3-rosdep2, which is an outdated version of rosdep shipped via the Ubuntu repositories (instead of ROS)!
+              sudo apt install -qq -y python3-rosdep
+              sudo rosdep init
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
+              export ROSDEP_PACKAGE_MAPPING="yaml https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository/local.yaml debian"
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak"  ]]; then
+              export ROSDEP_PACKAGE_MAPPING="yaml https://ros.packages.techfak.net/ros-one.yaml ubuntu"
+          fi
+          echo $ROSDEP_PACKAGE_MAPPING | sudo tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+          rosdep update
+        shell: bash
+
+      - name: Setup catkin-tools
+        run: |
+          set -x
+          # setup catkin tools
+          sudo apt install -qq -y python3-pip
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
+              pip3 install catkin-tools==0.9.4
+              sudo apt install -qq -y catkin
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak" ]]; then
+              sudo apt install -qq -y ros-one-catkin python3-catkin-tools
+          fi
+          # setup build tools
+          sudo apt install -qq -y cmake build-essential ros-one-rosbash
+        shell: bash
+
+      - name: Setup Workspace
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          # setup workspace
+          mkdir -p ~/ws/src
+          cd ~/ws/src
+          ln -sf $GITHUB_WORKSPACE .
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+          # check all system packages are able to install, because ROS-O build deb files that needs all packages
+          PIP_BREAK_SYSTEM_PACKAGES=1 rosdep install -qq --simulate -y --from-path . --ignore-src -t exec -t buildtool_export -t buildtool -t build -t build_export | tee rosdep-install.sh
+          # catkin_tools is not available on v4hn/jammy
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then sed -i '/python3-catkin-tools/s/^/#/' rosdep-install.sh; fi
+          sed 's/apt-get install/apt-get -y install/;/install ros-one/s/^/#/;/pip3 install/s/^/#/' rosdep-install.sh | bash -xe
+        shell: bash
+
+      - name: Compile Packages
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          cd ~/ws/
+          catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+        shell: bash
diff --git a/.travis.sh b/.travis.sh
@@ -38,7 +38,7 @@ rosdep update
     else
         sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
     fi
-    wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+    wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
     # Setup EoL repository
     if [[ "$ROS_DISTRO" ==  "hydro" || "$ROS_DISTRO" ==  "jade" || "$ROS_DISTRO" ==  "lunar" ]]; then
         sudo -E sh -c 'echo "deb http://snapshots.ros.org/$ROS_DISTRO/final/ubuntu `lsb_release -sc` main" >> /etc/apt/sources.list.d/ros-latest.list'

diff --git a/msg/CircleArrayStamped.msg b/msg/CircleArrayStamped.msg
@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 Circle[] circles
 
diff --git a/msg/ContourArrayStamped.msg b/msg/ContourArrayStamped.msg
@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 Contour[] contours
 
diff --git a/msg/FaceArrayStamped.msg b/msg/FaceArrayStamped.msg
@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 Face[] faces
 
diff --git a/msg/FlowArrayStamped.msg b/msg/FlowArrayStamped.msg
@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 Flow[] flow
 bool[] status
diff --git a/msg/FlowStamped.msg b/msg/FlowStamped.msg
@@ -1,2 +1,2 @@
-Header header
+std_msgs/Header header
 Flow flow
diff --git a/msg/LineArrayStamped.msg b/msg/LineArrayStamped.msg
@@ -1,2 +1,2 @@
-Header header
+std_msgs/Header header
 Line[] lines
diff --git a/msg/MomentArrayStamped.msg b/msg/MomentArrayStamped.msg
@@ -1,2 +1,2 @@
-Header header
+std_msgs/Header header
 Moment[] moments
diff --git a/msg/Point2DArrayStamped.msg b/msg/Point2DArrayStamped.msg
@@ -1,2 +1,2 @@
-Header header
+std_msgs/Header header
 Point2D[] points
diff --git a/msg/Point2DStamped.msg b/msg/Point2DStamped.msg
@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 Point2D point
 
diff --git a/msg/RectArrayStamped.msg b/msg/RectArrayStamped.msg
@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 Rect[] rects
 
 
diff --git a/msg/RotatedRectArrayStamped.msg b/msg/RotatedRectArrayStamped.msg
@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 RotatedRect[] rects
 
diff --git a/msg/RotatedRectStamped.msg b/msg/RotatedRectStamped.msg
@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 RotatedRect rect
 
 
diff --git a/src/nodelet/nodelet.cpp b/src/nodelet/nodelet.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived