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Merged
whoenig merged 2 commits into from
Jul 21, 2026
+14 −2
Merged

CI: always get latest packages #32

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a1cfb07
CI: always get latest packages
whoenig Jul 21, 2026
a17396d
fix build error on rolling
whoenig Jul 21, 2026
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4 changes: 4 additions & 0 deletions .github/workflows/ROS.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
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12 changes: 10 additions & 2 deletions motion_capture_tracking/src/motion_capture_tracking_node.cpp
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Expand Up @@ -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>

Expand Down Expand Up @@ -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>);
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