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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Switch the octomap dependency to the system version. #1314

Closed clalancette closed 4 months ago

clalancette commented 4 months ago

We are shortly going to be removing octomap the package from ROS 2 Rolling; that's because it's ABI conflicts with the system package. Instead, switch rtabmap to use the system package, which should work fine.

See https://github.com/ros/rosdistro/issues/41622 for more information.

Note that I targeted this at the rolling-devel branch, as that is what is listed in https://github.com/ros/rosdistro/blob/7a5a758b89acab0ce46632ca5ea6e9ba45d4c455/rolling/distribution.yaml#L6945-L6959 . Let me know if you'd prefer something else.

matlabbe commented 4 months ago

could the same change be applied to Noetic, Humble, Iron and Jazzy? If so, I would change the target branch to master.

clalancette commented 4 months ago

could the same change be applied to Noetic, Humble, Iron and Jazzy? If so, I would change the target branch to master.

I believe so; at least, the rosdep key seems to be available on all of Ubuntu Focal, Jammy, and Noble, along with RHEL-8 and RHEL-9. That constitutes all of the platforms that rosdep currently targets.

I'm happy for this to target master instead, so please feel free to make that change if you wish. That said, once this is merged I will be requesting an immediate release into Rolling, so please keep that in mind for whatever development process you use.

matlabbe commented 4 months ago

Pull requests have been made on rosdistro.

I was worried that ros-noetic-octomap-msgs (used by rtabmap_ros) would depend on ros-noetic-octomap (to avoid cv_bridge VS system/ros opencv versions like issue) but it doesn't, even if there is a conversions.h file in octomap_msgs including octomap headers.

clalancette commented 4 months ago

Pull requests have been made on rosdistro.

Thank you so much!