From a1cfb07faea8a70ca1102d04a72daa68bc943ef9 Mon Sep 17 00:00:00 2001
From: Wolfgang Hoenig <hoenig@tu-berlin.de>
Date: Tue, 21 Jul 2026 15:11:17 +0200
Subject: [PATCH 1/2] CI: always get latest packages

---
 .github/workflows/ROS.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/ROS.yml b/.github/workflows/ROS.yml
index 66f6174..f63c26f 100644
--- a/.github/workflows/ROS.yml
+++ b/.github/workflows/ROS.yml
@@ -61,6 +61,10 @@ jobs:
     container:
       image: ${{ matrix.docker_image }}
     steps:
+      - name: install dependencies
+        run: |
+          sudo apt update
+          sudo apt-get dist-upgrade -y
       - name: build and test ROS 2
         uses: ros-tooling/action-ros-ci@v0.4
         with:

From a17396df3004b114479df04ace7fc5a9afaf09ab Mon Sep 17 00:00:00 2001
From: Wolfgang Hoenig <hoenig@tu-berlin.de>
Date: Tue, 21 Jul 2026 15:24:43 +0200
Subject: [PATCH 2/2] fix build error on rolling

---
 .../src/motion_capture_tracking_node.cpp             | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/motion_capture_tracking/src/motion_capture_tracking_node.cpp b/motion_capture_tracking/src/motion_capture_tracking_node.cpp
index f9d061c..1b4d17d 100644
--- a/motion_capture_tracking/src/motion_capture_tracking_node.cpp
+++ b/motion_capture_tracking/src/motion_capture_tracking_node.cpp
@@ -4,8 +4,11 @@
 
 // ROS
 #include <rclcpp/rclcpp.hpp>
+#include "rclcpp/node_interfaces/node_interfaces.hpp"
+#include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
+#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
+#include "tf2_ros/transform_broadcaster.h"
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tf2_ros/transform_broadcaster.h>
 #include <motion_capture_tracking_interfaces/msg/named_pose_array.hpp>
 #include <motion_capture_tracking_interfaces/msg/named_pose_array_v2.hpp>
 
@@ -217,7 +220,12 @@ int main(int argc, char **argv)
   tracker.setLogWarningCallback(std::bind(logWarn, node->get_logger(), std::placeholders::_1));
 
   // prepare TF broadcaster
-  tf2_ros::TransformBroadcaster tfbroadcaster(node);
+  tf2_ros::TransformBroadcaster tfbroadcaster(
+        rclcpp::node_interfaces::NodeInterfaces<
+          rclcpp::node_interfaces::NodeParametersInterface,
+          rclcpp::node_interfaces::NodeTopicsInterface>(
+            node->get_node_parameters_interface(),
+            node->get_node_topics_interface()));
   std::vector<geometry_msgs::msg::TransformStamped> transforms;
 
   pcl::PointCloud<pcl::PointXYZ>::Ptr markers(new pcl::PointCloud<pcl::PointXYZ>);