Add kilted CI, bump action-ros-ci version, use ghcr (#6)

* Add kilted CI, bump action-ros-ci version, use ghcr

Signed-off-by: Emerson Knapp <[email protected]>

* Most specializations are humble-or-not so switch the ordering to have old-first else new

Signed-off-by: Emerson Knapp <[email protected]>

* Remove extra defs since not needed

Signed-off-by: Emerson Knapp <[email protected]>

---------

Signed-off-by: Emerson Knapp <[email protected]>

Author: emersonknapp

.github/workflows/build.yml

@@ -16,16 +16,18 @@ jobs:
             ubuntu: jammy
           - ros: jazzy
             ubuntu: noble
+          - ros: kilted
+            ubuntu: noble-testing
           - ros: rolling
             ubuntu: noble
     name: ROS 2 ${{ matrix.ros }}
     container:
-      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.ubuntu }}-latest
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-${{ matrix.ubuntu }}:latest
     env:
       ROS_DISTRO: ${{ matrix.ros }}
     steps:
       - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@v0.3
+      - uses: ros-tooling/action-ros-ci@v0.4
         with:
           target-ros2-distro: ${{ matrix.ros }}
           colcon-defaults: |

rosbag2_storage_broll/CMakeLists.txt

@@ -7,14 +7,6 @@ endif()
 
 if("$ENV{ROS_DISTRO}" STREQUAL "humble")
   add_compile_definitions(ROS2_HUMBLE)
-elseif("$ENV{ROS_DISTRO}" STREQUAL "iron")
-  add_compile_definitions(ROS2_IRON)
-elseif("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
-  add_compile_definitions(ROS2_JAZZY)
-elseif("$ENV{ROS_DISTRO}" STREQUAL "rolling")
-  add_compile_definitions(ROS2_ROLLING)
-else()
-  message(FATAL_ERROR "Unhandled ROS distro $ENV{ROS_DISTRO}")
 endif()
 
 # find dependencies

rosbag2_storage_broll/include/rosbag2_storage_broll/bag_utils.hpp

@@ -51,10 +51,10 @@ serialize_msg(
   serde.serialize_message(&msg, &serialized_msg);
 
   auto bag_msg = std::make_shared<rosbag2_storage::SerializedBagMessage>();
-#if defined(ROS2_JAZZY) || defined(ROS2_ROLLING)
-  bag_msg->recv_timestamp = timestamp.nanoseconds();
-#else
+#if defined(ROS2_HUMBLE)
   bag_msg->time_stamp = timestamp.nanoseconds();
+#else
+  bag_msg->recv_timestamp = timestamp.nanoseconds();
 #endif
   bag_msg->topic_name = topic_name;
 

rosbag2_storage_broll/src/bag_utils.cpp

@@ -18,12 +18,12 @@
 #include "rclcpp/qos.hpp"
 #include "rosbag2_storage/yaml.hpp"
 #include "rosbag2_storage_broll/bag_utils.hpp"
-#if defined(ROS2_JAZZY) || defined(ROS2_ROLLING)
-#include "rosbag2_storage/qos.hpp"
-using Rosbag2QoS = rosbag2_storage::Rosbag2QoS;
-#else
+#if defined(ROS2_HUMBLE)
 #include "rosbag2_transport/qos.hpp"
 using Rosbag2QoS = rosbag2_transport::Rosbag2QoS;
+#else
+#include "rosbag2_storage/qos.hpp"
+using Rosbag2QoS = rosbag2_storage::Rosbag2QoS;
 #endif
 
 namespace rosbag2_storage_broll

rosbag2_storage_broll/src/broll_storage.cpp

@@ -42,13 +42,13 @@ rosbag2_storage::TopicInformation create_topic_info(
   topic_info.topic_metadata.name = topic_name;
   topic_info.topic_metadata.type = type_name;
   topic_info.topic_metadata.serialization_format = "cdr";
-  #if defined(ROS2_JAZZY) || defined(ROS2_ROLLING)
-  topic_info.topic_metadata.offered_qos_profiles.push_back(qos_profile);
-  #else
+  #if defined(ROS2_HUMBLE)
   topic_info.topic_metadata.offered_qos_profiles = rosbag2_storage_broll::serialize_qos(
     {
       qos_profile
     });
+  #else
+  topic_info.topic_metadata.offered_qos_profiles.push_back(qos_profile);
   #endif
   topic_info.message_count = 1;
   return topic_info;
@@ -121,7 +121,7 @@ class BRollStorage : public rosbag2_storage::storage_interfaces::ReadOnlyInterfa
   bool has_next() override;
   std::shared_ptr<rosbag2_storage::SerializedBagMessage> read_next() override;
   std::vector<rosbag2_storage::TopicMetadata> get_all_topics_and_types() override;
-  #if defined(ROS2_IRON) || defined(ROS2_JAZZY) || defined(ROS2_ROLLING)
+  #ifndef ROS2_HUMBLE
   // Iron interface additions
   bool set_read_order(const rosbag2_storage::ReadOrder & order) override;
   void get_all_message_definitions(
@@ -294,7 +294,7 @@ std::vector<rosbag2_storage::TopicMetadata> BRollStorage::get_all_topics_and_typ
   return topics;
 }
 
-#if defined(ROS2_IRON) || defined(ROS2_JAZZY) || defined(ROS2_ROLLING)
+#ifndef ROS2_HUMBLE
 // Iron interface additions
 bool BRollStorage::set_read_order(const rosbag2_storage::ReadOrder & order)
 {