ros2: Fix cv_bridge and tf2_geometry_msgs header for Jazzy

ensenso_camera/include/ensenso_camera/ros2/cv_bridge/cv_bridge.h

@@ -0,0 +1,13 @@
+#pragma once
+
+#ifdef ROS2
+// We use the deprecated .h header instead of .hpp, because the latter is not available for foxy and humble.
+// TODO Use .hpp header as soon as we do not support foxy and humble anymore
+#ifdef ROS2_JAZZY
+#include <cv_bridge/cv_bridge.hpp>
+#else
+#include <cv_bridge/cv_bridge.h>
+#endif
+#else
+#include <cv_bridge/cv_bridge.h>
+#endif

ensenso_camera/include/ensenso_camera/ros2/tf2_geometry_msgs/tf2_geometry_msgs.h

@@ -1,9 +1,13 @@
 #pragma once
 
 #ifdef ROS2
-// We use the deprecated .h header instead of .hpp, because the latter is not available for foxy
-// TODO Use .hpp header as soon as we do not support foxy anymore
+// We use the deprecated .h header instead of .hpp, because the latter is not available for foxy and humble
+// TODO Use .hpp header as soon as we do not support foxy and humble anymore
+#ifdef ROS2_JAZZY
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#else
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#endif
 #else
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #endif

ensenso_camera/src/image_utilities.cpp

@@ -1,5 +1,5 @@
 // Do not change the order of this block. Otherwise getBinaryData with CV::mat overload will not be recognized
-#include <cv_bridge/cv_bridge.h>
+#include "ensenso_camera/ros2/cv_bridge/cv_bridge.h"
 #include "ensenso_camera/image_utilities.h"
 
 #include "ensenso_camera/conversion.h"

ensenso_camera/src/texture_point_cloud.cpp

@@ -2,7 +2,7 @@
 
 // Make sure cv_bridge is imported before image_transport. Otherwise
 // getBinaryData with CV::mat overload will not be recognized.
-#include <cv_bridge/cv_bridge.h>
+#include "ensenso_camera/ros2/cv_bridge/cv_bridge.h"
 
 #include "ensenso_camera/ros2/core.h"
 #include "ensenso_camera/ros2/image_transport.h"

ensenso_camera2/CMakeLists.txt

@@ -8,6 +8,12 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 add_compile_definitions(ROS2)
+if(DEFINED ENV{ROS_DISTRO})
+  if($ENV{ROS_DISTRO} STREQUAL "jazzy")
+    add_compile_definitions(ROS2_JAZZY)
+  endif()
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()