Supporting Jazzy distribution

[f0reachARR]

In this PR, I will introduce a support for Jazzy distribution. (Iron is not tested but I think it will work)

There are some changes:

• Add repository information for Jazzy, including new package rosidl_core.
  • rosidl_core is newly introduced package in https://github.com/ros2/rosidl_defaults/pull/22
• Changes for CMake functions
  • Use more proper way (checking dependencies version) to use rosidl_get_typesupport_target
  • Add jazzy as CycloneDDS supported distribution.

I tested this PR on my Ubuntu 24.04 + Unity 2022.3.15f1 + ROS 2 Jazzy environment.

[LegitYew0108]

I tested this PR on Ubuntu24.04 + ROS 2 Jazzy environment, but I encountered one error with --standalone option.

CMake Error at CMakeLists.txt:294 (message):
  Could not find yaml
Call Stack (most recent call first):
  CMakeLists.txt:395 (get_standalone_dependencies)

So, I changed these points, and it works successfully.

(src/ros2cs/ros2cs_core/CMakeLists.txt)

(row:31)
+ find_package( yaml-cpp REQUIRED)
....
(row:360~382)
  set(ros2_standalone_libs

    rcl
    rcl_logging_spdlog
    rcl_yaml_param_parser
    rcpputils
    rcutils
    rmw
    FastRTPS
    rmw_fastrtps_cpp
    CycloneDDS
    rmw_cyclonedds_cpp
    rmw_dds_common
    rmw_implementation
    rosidl_runtime_c
    rosidl_typesupport_c
    rosidl_typesupport_cpp
    rosidl_typesupport_introspection_c
    rosidl_typesupport_introspection_cpp
    spdlog
    tracetools
-   yaml
+   yaml-cpp
    tinyxml2
  )

[f0reachARR]

Thank you @LegitYew0108 ! I confirmed yaml-cpp errors on standalone mode, and fixed it.

[watanabe-pfr]

Thank you for your work, I would like the maintainer to merge this PR.

I've also tested this branch with Ros2ForUnity, and it works with my Jazzy environment (Ubuntu 24.04, ROS 2 Jazzy)

Maybe the line of find_package is needed as @LegitYew0108 mentioned.

+ find_package(yaml-cpp REQUIRED)

[Mechaick]

Thank you for your work, I would like the maintainer to merge this PR.

I've also tested this branch with Ros2ForUnity, and it works with my Jazzy environment (Ubuntu 24.04, ROS 2 Jazzy)

Maybe the line of find_package is needed as @LegitYew0108 mentioned.

+ find_package(yaml-cpp REQUIRED)

Dear Watanabe,

Could you detail how you managed to get it work with your jazzy environment, do you have your own fork of Ros2ForUnity you might share ?

Many thanks !

[f0reachARR]

Here is my version of ros2-for-unity: https://github.com/RobotecAI/ros2-for-unity/pull/125 In addition to these PR, you may need to use this patch for build errors: https://github.com/RobotecAI/ros2cs/pull/69

[Mechaick]

Here is my version of ros2-for-unity: RobotecAI/ros2-for-unity#125 In addition to these PR, you may need to use this patch for build errors: #69

Have you tried it ? Because in the ros2cs.repos you are not refering to your fork of ros2cs, so if I do pull the repos its doing : Detected ROS2 jazzy. Getting required repos from 'ros2_jazzy.repos' ./get_repos.sh: line 9: ros2_jazzy.repos: No such file or directory /home/mechaick/ros2unity_ws/ros2-for-unity

Do I only need to change the target of ros2cs.repo to your work ?

Thats what I tried earlier and was facing other issues when importing in linux the standalone compiled one :

RuntimeError: failed to get symbol 'rmw_init_options_init' due to Environment variable 'AMENT_PREFIX_PATH' is not set or empty, at ./src/functions.cpp:171, at ./src/rcl/init_options.c:75
ROS2.Utils.CheckReturnEnum (System.Int32 ret) (at <4fd8cdb8b3a94e43acf2c21a144d59e0>:0)
ROS2.Ros2cs.Init () (at <4fd8cdb8b3a94e43acf2c21a144d59e0>:0)
ROS2.ROS2ForUnity..ctor () (at Assets/Ros2ForUnity/Scripts/ROS2ForUnity.cs:311)
ROS2.ROS2UnityCore..ctor () (at Assets/Ros2ForUnity/Scripts/ROS2UnityCore.cs:55)
Ros2Node..ctor () (at Assets/Scripts/Ros2Node.cs:12)
Ros2ExampleNode..ctor () (at Assets/Scripts/Ros2ExampleNode.cs:19)
UnityEditor.EditorApplication:Internal_CallDelayFunctions() (at /home/bokken/build/output/unity/unity/Editor/Mono/EditorApplication.cs:395)

[RuyaArabaci]

Thank you for your work, I would like the maintainer to merge this PR.

I've also tested this branch with Ros2ForUnity, and it works with my Jazzy environment (Ubuntu 24.04, ROS 2 Jazzy)

Maybe the line of find_package is needed as @LegitYew0108 mentioned.

+ find_package(yaml-cpp REQUIRED)

dear Watanabe,

Would it be enough to install it directly like the 22.04 installation? Could you give more detail about your experiences?

Kind regards