Distro compatibility for get_package_share_path <-> get_package_share_directory breaking change (#47)

* removed backward-ros from package.xml (still kept as optional build dependency)

* extended CI to check multiple ROS distros

* handling of the discrepancy between get_package_share_path and get_package_share_directory across all ROS distros

Author: authaldo

.github/workflows/ci.yml

@@ -5,10 +5,29 @@ on: [push, pull_request]
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ros:jazzy
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ros_distro: humble
+            allow_failure: false
+          - ros_distro: jazzy
+            allow_failure: false
+          - ros_distro: kilted
+            allow_failure: false
+          - ros_distro: lyrical 
+            allow_failure: false
+          - ros_distro: rolling
+            allow_failure: true
+
+    continue-on-error: ${{ matrix.allow_failure }}
+
+    container: ros:${{ matrix.ros_distro }}
+
     steps:
       - name: Check out repository code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           submodules: recursive
       - name: Configure git checkout as safe directory to allow dubious permission-setup

README.md

@@ -37,6 +37,10 @@ The following features are not implemented yet, but would be nice to have. PRs a
 - CPU usage is high when using non-hardware-accelerated OpenGL implementation, which is usually the case in VNC connections
 - vsync via glfw doesn't work in VNC sessions (leading to even higher CPU usage), enable the manual frame rate limiting to reduce it
 
+## Notes for Building From Source
+
+- the CMakeLists.txt is prepared to use [backward-ros](https://github.com/pal-robotics/backward_ros), but it is more handled like an optional dependency and thus not part of the package.xml
+
 ## Usage example
 
 ![Usage example](doc/demo.gif)

package.xml

@@ -14,7 +14,6 @@
     <depend>libglfw3-dev</depend>
     <depend>rclcpp</depend>
     <depend>ament_index_cpp</depend>
-    <depend>backward_ros</depend>
 
     <export>
         <build_type>ament_cmake</build_type>

src/utils.cpp

@@ -8,8 +8,8 @@
 
 #include "utils.hpp"
 
+#include <rclcpp/version.h>
 #include <ament_index_cpp/get_package_prefix.hpp>
-#include <ament_index_cpp/get_package_share_directory.hpp>
 #include <cstdint>
 #include <rcl_interfaces/msg/parameter_type.hpp>
 #include <cmath>
@@ -19,6 +19,12 @@
 
 #include "lodepng.h"
 
+#if RCLCPP_VERSION_GTE(21, 0, 0) // iron and never
+#include <ament_index_cpp/get_package_share_path.hpp>
+#else
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#endif
+
 void highlightedText(const std::string &text, std::size_t start, std::size_t end, const ImVec4 &highlightColor) {
     if (start == std::string::npos) {
         ImGui::Text("%s", text.c_str());
@@ -181,8 +187,12 @@ std::filesystem::path findResourcePath(const std::string &execPath) {
 
     try {
         // Try getting package share dir via ament, and use that if it succeeds.
+#if RCLCPP_VERSION_GTE(21, 0, 0) // iron and never
+        resourcePath = ament_index_cpp::get_package_share_path("rig_reconfigure") / "resource";
+#else
         resourcePath = ament_index_cpp::get_package_share_directory("rig_reconfigure");
-        resourcePath.append("resource");
+	resourcePath.append("resource");
+#endif
     } catch (ament_index_cpp::PackageNotFoundError &e) {
         std::cerr << "Warning: Error while looking for package share directory: " << e.what()
                   << "\n";