Add ROS2 build step for LibRealSense

.github/workflows/build-ROS2-package-CI.yaml

@@ -0,0 +1,60 @@
+name: build_lrs_ROS2_package
+
+on:
+  push:
+    branches: ['**']
+  pull_request:
+    branches: ['**']
+
+jobs:
+
+  build_lrs_ros2_package:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distribution:
+          - foxy
+          - galactic
+          - humble
+          - rolling
+
+        include:
+          # Foxy Fitzroy
+          - docker_image: ubuntu:focal
+            ros_distribution: foxy
+
+          # Galactic Geochelone
+          - docker_image: ubuntu:focal
+            ros_distribution: galactic
+
+          # Humble Hawksbill
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+
+          # Rolling Ridley
+          - docker_image: ubuntu:jammy
+            ros_distribution: rolling
+
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+
+      - name: setup ROS environment
+        uses: ros-tooling/setup-ros@v0.4
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+
+      - name: build librealsense ROS 2
+        uses: ros-tooling/action-ros-ci@v0.2
+        with:
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          skip-tests: true
+          colcon-defaults: |  # We align the build flags to the librealsense2 ROS2 release build.
+            {
+              "build": {
+                "cmake-args": [
+                    "-DBUILD_GRAPHICAL_EXAMPLES=OFF",
+                    "-DBUILD_EXAMPLES=OFF"
+                ]
+              }
+            }

package.xml

@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 
 <!-- This file is only used to enable the building librealsense2 -->
-<!-- as a debian package for use with ROS (http://ros.org) -->
-<!-- via catkin_make (which invokes cmake) -->
+<!-- as a debian package for use with ROS 2 (http://ros.org) -->
+<!-- via ament_cmake (which invokes cmake) -->
 
 <package format="2">
   <name>librealsense2</name>
   <!-- The version tag needs to be updated with each new release of librealsense -->
-  <version>2.53.0</version>
+  <version>2.54.0</version>
   <description>
   Library for controlling and capturing data from the Intel(R) RealSense(TM) D400 devices.
   </description>
@@ -20,7 +20,7 @@
 
   <license>Apache License, Version 2.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>pkg-config</build_depend>
 
@@ -31,6 +31,6 @@
   <build_depend>udev</build_depend>
 
   <export>
-    <build_type>cmake</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>