Support humble

[tonynajjar]

Fixes

https://github.com/microsoft/Azure_Kinect_ROS_Driver/issues/256

Description of the changes:

• Added defaults to declare_parameter as is required in Humble
• Added angles to Cmakelist to fix fatal error: angles/angles.h: No such file or directory
• Minor compiler warning fixes
• Removed "required" parameter as I don't see it used anywhere

Required before submitting a Pull Request:

• [x] I reviewed CONTRIBUTING.md
• [x] I built my changes locally
• [Not yet] I tested my changes with a device
• [Not Needed] I changed both the ROS1 and ROS2 branches

I tested changes on:

• [Not planning to] Windows
• [x] Linux
• [ Not needed] ROS1
• [x] ROS2

[tonynajjar]

Honestly, not sure either. I think this was done as an alternative to topic remapping, but likely should be removed.

thought so too, I'll remove then

[ooeygui]

Don't worry about CI - I'll have to switch it to humble when the Humble Windows release is completed.

[tonynajjar]

@tonynajjar please read the following Contributor License Agreement(CLA). If you agree with the CLA, please reply with the following information.

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[st99315]

Hi, Do you get the error following when execute the launch?

$ ros2 launch azure_kinect_ros_driver driver.launch.py

[INFO] [launch]: All log files can be found below /root/.ros/log/2022-11-03-07-52-45-234984-jun-15580
[INFO] [launch]: Default logging verbosity is set to INFO
Robot description xacro_file : /root/ws_moveit/install/azure_kinect_ros_driver/share/azure_kinect_ros_driver/urdf/azure_kinect.urdf.xacro
Robot description urdf_path : /root/ws_moveit/install/azure_kinect_ros_driver/share/azure_kinect_ros_driver/urdf/azure_kinect.urdf
[ERROR] [launch]: Caught exception in launch (see debug for traceback): package 'azure_kinect_ros_driver' found at '/root/ws_moveit/install/azure_kinect_ros_driver', but libexec directory '/root/ws_moveit/install/azure_kinect_ros_driver/lib/azure_kinect_ros_driver' does not exist

Finally, it can be executed after revised CMakeLists.txt

install(TARGETS ${PROJECT_NAME}_node
  RUNTIME DESTINATION lib/${PROJECT_NAME}/
)

[tonynajjar]

Thanks for the feedback, I haven't tried launching it yet actually as I didn't have a camera. I'll try it out and update you, at the latest next week.

[tonynajjar]

@st99315 I can't seem to reproduce your bug. Did you make sure to source setup.bash after building?

[tonynajjar]

@ooeygui FYI I am still adding changes to this PR as I am testing

[tonynajjar]

I'm done here :+1:

[tonynajjar]

Any estimate on when this can be merged? Are we talking days or weeks?

[ooeygui]

Running CI; although it seems to be targeting Foxy.

[ooeygui]

Pulled to bootstrap the humble builds. Thank you for your contribution!