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in cmake file use correct image transport version 5.0.0 #53

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Merged
berndpfrommer merged 1 commit into from
Sep 3, 2025
Merged

in cmake file use correct image transport version 5.0.0 #53

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23 changes: 1 addition & 22 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -11,20 +11,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -Werror)
endif()

# the image transport api changed between distros
if(DEFINED ENV{ROS_DISTRO})
if($ENV{ROS_DISTRO} STREQUAL "foxy" OR
$ENV{ROS_DISTRO} STREQUAL "galactic")
add_definitions(-DIMAGE_TRANSPORT_API_V1)
elseif($ENV{ROS_DISTRO} STREQUAL "humble")
add_definitions(-DIMAGE_TRANSPORT_API_V2)
else()
add_definitions(-DIMAGE_TRANSPORT_API_V3)
endif()
else()
message(ERROR "ROS_DISTRO environment variable is not set!")
endif()

find_package(ament_cmake REQUIRED)
find_package(ament_cmake_ros REQUIRED)
find_package(ffmpeg_image_transport_msgs REQUIRED)
Expand All @@ -37,16 +23,9 @@ find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)


if(${image_transport_VERSION} VERSION_GREATER_EQUAL "3.1.0")
# Humble and later (formerly API_V2)
# add_definitions(-DIMAGE_TRANSPORT_API_V2)
endif()

if(${image_transport_VERSION} VERSION_GREATER_EQUAL "5.1.7")
# Jazzy and later (formerly API_V3)
if(${image_transport_VERSION} VERSION_GREATER_EQUAL "5.0.0")
add_definitions(-DIMAGE_TRANSPORT_USE_PUBLISHER_T)
add_definitions(-DIMAGE_TRANSPORT_NEEDS_PUBLISHEROPTIONS)
# add_definitions(-DIMAGE_TRANSPORT_API_V3)
endif()

if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.0.0")
Expand Down