Merge pull request #327 from QUT-Motorsport/ros2-humble-2204

ROS2 Humble 22.04

.github/workflows/main.yml

@@ -22,7 +22,7 @@ jobs:
     - uses: actions/checkout@v2
       with:
         submodules: recursive
-
+    
     # Runs a set of commands using the runners shell
     - name: Setup ROS
       uses: betwo/github-setup-catkin@v1.3.0
@@ -32,29 +32,18 @@ jobs:
         build-tool: 'catkin_tools'
         # Root directory of the catkin workspace
         workspace: ./ros
-      env:
-       ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
-
-    - name: Install ROS deps
-      run: sudo apt-get install python-catkin-tools ros-melodic-tf2-geometry-msgs ros-melodic-tf python-catkin-tools ros-melodic-rqt-multiplot ros-melodic-joy ros-melodic-cv-bridge ros-melodic-image-transport libyaml-cpp-dev libcurl4-openssl-dev
-      env:
-       ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
 
     - name: Compilation settings
       run: |
-        sudo apt-get install gcc-8 g++-8
+        sudo apt-get -y install gcc-8 g++-8 rsync libyaml-cpp-dev libcurl4-openssl-dev
         sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 700 --slave /usr/bin/g++ g++ /usr/bin/g++-7
         sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8
-      env:
-       ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
       
     - name: Setup AirSim 
       run: |
         ./setup.sh
         ./build.sh
       working-directory: ./AirSim
-      env:
-       ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
 
     - name: Build catkin ws
       run: |

AirSim/build.sh

@@ -32,8 +32,8 @@ if [ "$(uname)" == "Darwin" ]; then
     export CC=/usr/local/opt/llvm@8/bin/clang
     export CXX=/usr/local/opt/llvm@8/bin/clang++
 else
-    export CC="clang-8"
-    export CXX="clang++-8"
+    export CC="clang-12"
+    export CXX="clang++-12"
 fi
 
 #install EIGEN library

AirSim/setup.sh

@@ -26,11 +26,12 @@ done
 VERSION=$(lsb_release -rs | cut -d. -f1)
 # Since Ubuntu 17 clang is part of the core repository
 # See https://packages.ubuntu.com/search?keywords=clang-8
-if [ "$VERSION" -lt "17" ]; then
-    wget -O - http://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-    sudo apt-get update
+if [ "$VERSION" -lt "20" ]; then
+    wget https://apt.llvm.org/llvm.sh
+    chmod +x llvm.sh
+    sudo ./llvm.sh 12
 fi
-sudo apt-get install -y clang-8 clang++-8 libc++-8-dev libc++abi-8-dev
+sudo apt-get install -y clang-12 clang++-12 libc++-12-dev libc++abi-12-dev
 
 #install additional tools
 sudo apt-get install -y build-essential

ros/src/fsds_ros_bridge/CMakeLists.txt

@@ -36,6 +36,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf2
   tf2_ros
   fs_msgs
+  tf2_geometry_msgs
 )
 
 catkin_package(

ros/src/fsds_ros_bridge/package.xml

@@ -22,6 +22,8 @@
   <build_depend>fs_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>tf</build_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>tf2_geometry_msgs</build_depend>
   <!-- <exec_depend>nodelet</exec_depend> -->
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>image_transport</exec_depend>

ros2/src/fsds_ros2_bridge/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.0)
+cmake_minimum_required(VERSION 3.18)
 project(fsds_ros2_bridge)
 
 # set this to path to AirSim root folder if you want your catkin workspace in a custom directory
@@ -7,8 +7,8 @@ set(AIRSIM_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../../../AirSim/)
 add_subdirectory("${AIRSIM_ROOT}/cmake/rpclib_wrapper" rpclib_wrapper)
 add_subdirectory("${AIRSIM_ROOT}/cmake/AirLib" AirLib)
 
-set(CMAKE_CXX_STANDARD 11)
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")
+set(CMAKE_CXX_STANDARD 17)
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread")
 set(CXX_EXP_LIB "-nostdinc++ -I/usr/include/c++/8 -I/usr/include/x86_64-linux-gnu/c++/8 -nodefaultlibs 
 -l/usr/lib/x86_64-linux-gnu/libc++.so -l/usr/lib/x86_64-linux-gnu/libc++abi.so
 -lm -lc -lgcc_s -lgcc