Support simulation_interfaces 2.1.0 package alongside 1.4.0/1.5.0/1.6.0#1044
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jhanca-robotecai wants to merge 5 commits intoo3de:developmentfrom
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Support simulation_interfaces 2.1.0 package alongside 1.4.0/1.5.0/1.6.0#1044jhanca-robotecai wants to merge 5 commits intoo3de:developmentfrom
jhanca-robotecai wants to merge 5 commits intoo3de:developmentfrom
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Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
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What does this PR do?
This PR adds a support for the latest simulation_interfaces 2.1.0 package alongside already supported 1.4.0/1.5.0/1.6.0. 2.1.0 will be a part of ROS 2 Lyrical Luth release in late May.
The implementation follows the pattern from
ROS2Gem, i.e., the version of the API is checked at the configure level and respective implementation is selected using precompiler options.Note: this PR includes changes that were pushed to the
stabilization/26050branch:How was this PR tested?
I tested with ROS 2 Humble, Jazzy and Rolling using the following docker environment: https://github.com/jhanca-robotecai/TestROSRolling
The some basic CLI commands were used to check if services work as expected.