Support humble CI (#48)

* Change CI from foxy to humble

* Fix submodules

* Fix CI

* Update lidarslam_msgs/CMakeLists.txt

* Update main.yml

* Delete sudo in main,yml

* Fix main.yml

* Add locales install in main.yml

Author: rsasaki0109

.github/workflows/main.yml

@@ -1,30 +1,32 @@
-name: foxy
+name: humble
 
 on:
   push:
     branches:
-      - foxy
+      - humble
   pull_request:
     branches:
-      - foxy
+      - humble
 
 jobs:
     job1:
         name: Build
-        runs-on: ubuntu-20.04
+        runs-on: ubuntu-22.04
+        # container:
+        #   image: ubuntu:jammy 
         steps:
             - name: ROS2 Install
               run: |
-                  # Ref: https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/
+                  sudo apt update && sudo apt install locales
                   sudo locale-gen en_US en_US.UTF-8
                   sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
                   export LANG=en_US.UTF-8
                   sudo apt update && sudo apt install curl gnupg2 lsb-release
                   curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
                   sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
                   sudo apt update
-                  sudo apt install ros-foxy-desktop
-                  source /opt/ros/foxy/setup.bash
+                  sudo apt install ros-humble-desktop
+                  source /opt/ros/humble/setup.bash
             - uses: actions/checkout@v1
               with:
                 submodules: true
@@ -34,17 +36,17 @@ jobs:
                   cp -rf . ~/ros2_ws/src/lidarslam_ros2
             - name: Install dependencies
               run: |
-                  source /opt/ros/foxy/setup.bash
+                  source /opt/ros/humble/setup.bash
                   sudo apt install -y python3-rosdep2
                   rosdep update
                   cd ~/ros2_ws/src
                   rosdep install -r -y --from-paths . --ignore-src       
             - name: Build packages
               run: |
-                  source /opt/ros/foxy/setup.bash
+                  source /opt/ros/humble/setup.bash
                   # Install colcon
                   # Ref: https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/
                   sudo apt install python3-colcon-common-extensions
                   cd ~/ros2_ws
                   colcon build
-                  source ~/ros2_ws/install/setup.bash
+                  source ~/ros2_ws/install/setup.bash

lidarslam_msgs/CMakeLists.txt

@@ -16,12 +16,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 # find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/SubMap.msg"
@@ -34,6 +30,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_export_dependencies(rosidl_default_runtime)
-ament_export_include_directories(include)
-ament_package()
+ament_auto_package()