Merge branch 'development' into exported_flags

.github/workflows/build-ROS2-package-CI.yaml

@@ -43,12 +43,12 @@ jobs:
     steps:
 
       - name: setup ROS environment
-        uses: ros-tooling/setup-ros@44e00e21351330f8dbc9f298bc179cd0c7910477 # v0.7
+        uses: ros-tooling/setup-ros@a6ce30ecca1e5dcc10ae5e6a44fe2169115bf852 #v0.7
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
 
       - name: build librealsense ROS 2
-        uses: ros-tooling/action-ros-ci@0c87ffc035492b66c9afb9159ca9664fb0b513e1 # v0.3
+        uses: ros-tooling/action-ros-ci@0c87ffc035492b66c9afb9159ca9664fb0b513e1 #v0.3
         with:
           target-ros2-distro: ${{ matrix.ros_distribution }}
           skip-tests: true

.github/workflows/buildsCI.yaml

@@ -27,7 +27,7 @@ jobs:
     runs-on: windows-2019
     timeout-minutes: 60
     steps:
-    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
 
     - name: Enable Long Paths
       shell: powershell
@@ -69,7 +69,7 @@ jobs:
     runs-on: windows-2019
     timeout-minutes: 60
     steps:
-    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
 
     - name: Enable Long Paths
       shell: powershell
@@ -111,8 +111,8 @@ jobs:
     runs-on: windows-2019
     timeout-minutes: 60
     steps:
-    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
-    - uses: actions/setup-python@3542bca2639a428e1796aaa6a2ffef0c0f575566 # v3.1.4
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
+    - uses: actions/setup-python@f677139bbe7f9c59b41e40162b753c062f5d49a3 #v5
       with:
        python-version: '3.8.1'
 
@@ -171,8 +171,8 @@ jobs:
     runs-on: windows-2019
     timeout-minutes: 60
     steps:
-    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
-    - uses: actions/setup-python@3542bca2639a428e1796aaa6a2ffef0c0f575566 # v3.1.4
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
+    - uses: actions/setup-python@f677139bbe7f9c59b41e40162b753c062f5d49a3 #v5
       with:
        python-version: '3.8.1'
 
@@ -222,8 +222,8 @@ jobs:
     timeout-minutes: 60
 
     steps:
-    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
-    - uses: actions/setup-python@3542bca2639a428e1796aaa6a2ffef0c0f575566 # v3.1.4
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
+    - uses: actions/setup-python@f677139bbe7f9c59b41e40162b753c062f5d49a3 #v5
       with:
        python-version: '3.8.1'
 
@@ -273,7 +273,7 @@ jobs:
     name: ${{ matrix.name }}_ST_Py_EX_CfU 
     timeout-minutes: 60
     steps:
-    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
 
     - name: Prebuild
       shell: bash
@@ -293,41 +293,14 @@ jobs:
         cd build
         cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_RUN_CONFIG}} -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=true -DBUILD_TOOLS=true -DCHECK_FOR_UPDATES=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
         cmake --build . -- -j4
-
-    - name: Test
-      shell: bash
-      id: test-step
-      # We set continue-on-error: true as a workaround for not skipping the upload log step on failure,
-      # The final step will check the return value from the test step and decide if to fail/pass the job
-      continue-on-error: true 
-      run: |
-        export LRS_LOG_LEVEL="DEBUG";
-        cd build/${{env.LRS_RUN_CONFIG}}/
-        ./live-test -d yes -i [software-device]        
-
-    - name: Upload RS log artifact
-      uses: actions/upload-artifact@a8a3f3ad30e3422c9c7b888a15615d19a852ae32 # v3.1.3
-      with: 
-        name: Log file - U22_ST_Py_EX_CfU_LiveTest
-        path: build/*.log
-
-    - name: Provide correct exit status for job 
-      shell: bash
-      run: |
-        if [ ${{steps.test-step.outcome}} = "failure" ];then
-           echo "Test step failed, please open it to view the reported issue"
-           exit 1
-        else
-           exit 0
-        fi
 
 
   #--------------------------------------------------------------------------------
   U20_SH_Py_CI:  # Ubuntu 2020, Shared, Python, LibCI with executables
     runs-on: ubuntu-20.04
     timeout-minutes: 60
     steps:
-    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
 
     - name: Prebuild
       shell: bash
@@ -370,7 +343,7 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 60
     steps:
-    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
 
     - name: Prebuild
       shell: bash
@@ -435,7 +408,7 @@ jobs:
     name: ${{ matrix.name }}_SH_Py_DDS_CI
     timeout-minutes: 60
     steps:
-    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
 
     - name: Prebuild
       shell: bash
@@ -463,24 +436,9 @@ jobs:
         cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_RUN_CONFIG}} -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DBUILD_UNIT_TESTS=false -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
         cmake --build . -- -j4
 
-    - name: Test
-      shell: bash
-      id: test-step
-      # We set continue-on-error: true as a workaround for not skipping the upload log step on failure,
-      # The final step will check the return value from the test step and decide if to fail/pass the job
-      continue-on-error: true 
-      run: | 
-        export LRS_LOG_LEVEL="DEBUG";
-        cd build/${{env.LRS_BUILD_CONFIG}}/
-        ./live-test -d yes -i [software-device]
-
-    - name: Upload RS log artifact
-      uses: actions/upload-artifact@a8a3f3ad30e3422c9c7b888a15615d19a852ae32 # v3.1.3
-      with:
-        name: Log file - U22_SH_RSUSB_LiveTest
-        path: build/*.log
-
-    - name: Provide correct exit status for job 
+    - name: LibCI
+      # Note: we specifically disable BUILD_UNIT_TESTS so the executable C++ unit-tests won't run
+      # This is to save time as DDS already lengthens the build...
       shell: bash
       run: |
         python3 unit-tests/run-unit-tests.py --no-color --debug --stdout --not-live --context "dds linux" --tag dds
@@ -491,7 +449,7 @@ jobs:
     timeout-minutes: 60
 
     steps:
-    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
 
     - name: Check_API
       shell: bash
@@ -525,7 +483,7 @@ jobs:
     runs-on: ubuntu-20.04   
     timeout-minutes: 60
     steps:
-    - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
 
     - name: Check_API
       shell: bash

.github/workflows/static_analysis.yaml

@@ -14,7 +14,7 @@ jobs:
     timeout-minutes: 30
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
+      - uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 #v3
 
       - name: Install 
         shell: bash
@@ -64,7 +64,7 @@ jobs:
             &&  echo "No diffs found in cppcheck_run.parsed.log"
 
       - name: Upload logs
-        uses: actions/upload-artifact@a8a3f3ad30e3422c9c7b888a15615d19a852ae32 # v3.1.3
+        uses: actions/upload-artifact@ff15f0306b3f739f7b6fd43fb5d26cd321bd4de5 #v3
         with: 
           name: cppcheck_log
           path: |
@@ -105,7 +105,7 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: Checkout
-        uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
+        uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 #v3
 
       - name: "Install Dependencies"
         run: |

doc/installation_jetson.md

@@ -8,14 +8,13 @@
 
 ### 1. Prerequisites
 
-* NVIDIA® **Jetson Nano™**, **Jetson TX2™**, **Jetson AGX Xavier™** or **Jetson Orin™** board (may also work on other Jetson devices)
+* NVIDIA® **Jetson Nano™**, **Jetson TX2™**, **Jetson AGX Xavier™** or **Jetson AGX Orin™** board (may also work on other Jetson devices)
 * A supported RealSense Camera device
 
 ### 2. Establish Developer's Environment
 
 Follow [official instructions](https://developer.nvidia.com/embedded/learn/getting-started-jetson) to get your board ready. This guide will assume you are using **NVIDIA® L4T Ubuntu 18.04/20.04/22.04** image with kernels 4.9/5.10/5.15. Note that in most cases it is necessary to install a toll named "SDK Manager" to flash and install **Jetson** boards with both the L4T (Linux for Tegra) and NVIDIA-specific software packages (CUDA, Tensor Flow, AI, etc.)
 
-For **Jetson Orin™** with JetPack 6.0 you will need to follow build for MIPI driver as NVIDIA released Kernel 5.15 default configuration with disabled HID: [Intel® RealSense™ camera driver for GMSL* interface](https://github.com/IntelRealSense/realsense_mipi_platform_driver)
 
 For **Jetson Nano™** we strongly recommend enabling the Barrel Jack connector for extra power (See [jetsonhacks.com/jetson-nano-use-more-power/](https://www.jetsonhacks.com/2019/04/10/jetson-nano-use-more-power/) to learn how)
 
@@ -42,7 +41,7 @@ In order to enable the full capabilities of RealSense devices certain modificati
 NVIDIA's L4T delivers an Ubuntu-based distribution with a customized kernel based on version 4.9/5.10. The way the kernel is configured and deployed is different from a desktop Ubuntu image with two notable differences being the list of kernel modules included in default configuration and the way a new image is flashed.
 
 And while it is possible to rebuild and flash a new kernel image the procedure can be perceived as challenging and shall be performed with extra caution.
-This guide comes with a script that allows to modify the kernel modules with Librealsense2-related patches without replacing the kernel image. The script has been verified with **Jetson AGX Xavier™** board using L4T versions 4.6.1 (Sept 2020) and 5.0.2. Scroll to the end of the guide for details.
+This guide comes with a script that allows to modify the kernel modules with Librealsense2-related patches without replacing the kernel image. The script has been verified with **Jetson AGX Xavier™** board using L4T versions 5.0.2 and 6.0. Scroll to the end of the guide for details.
 
 ### 4. Install with Debian Packages
  The minimum JetPack SDK required to run the precompiled Debians is [JetPack version 5.0.2](https://developer.nvidia.com/jetpack-sdk-441-archive) ( L4T 35.1 , CUDA version 11.4).
@@ -93,7 +92,7 @@ You can also double-TAB after typing `rs-` to see the full list of SDK examples.
 
 ⮕ Use the V4L Native backend by applying the kernel patching
 
-The method was verified with **Jetson AGX** boards with JetPack **4.4**[L4T 32.4.3], **4.6.1**[L4T 32.7.1] and **5.0.2**[L4T 35.1.0].
+The method was verified with **Jetson AGX Orin™** with JetPack 6.0, **Jetson AGX Xavier™** boards with JetPack **5.0.2**[L4T 35.1.0].
 
 For **Jetson Nano™** setup, please see the following user instructions [NVIDIA Jetson Nano with Intel RealSense Depth Camera Using ROS2 Humble | by Kabilankb | May, 2024 | Medium](https://medium.com/@kabilankb2003/nvidia-jetson-nano-with-intel-realsense-depth-camera-using-ros2-humble-c5926566a4d8)