fix: update dependencies and deprecated code for ROS 2 jazzy release

[f0reachARR]

Description

As ROS 2 jazzy will be released soon, this PR will fix dependency error and some deprecated code found in rolling build environment.

• Rewrite some #include to use recommended header file
• Add missing dependency that caused build errors

Note

This change does not change code that should be fixed to support jazzy, so this PR does not mean supporting jazzy is completed.

• QoS arguments of create_client / create_service: In jazzy, setting it to rmw_qos_* is deprecated, but humble does not support new method.
• Ogre deprecated API for Rviz plugin
• Currently, some required packages are not provided by apt for jazzy.

Tests performed

colcon test on humble distribution does not show new error.
colcon test on rolling shows some errors in vehicle_cmd_gate, so it should be fixed before supporting jazzy officially.

Effects on system behavior

Not applicable.

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[felixf4xu]

I think it's better to merge this PR into a new branch named "jazzy" in autoware.universe instead of "main" branch.

[Timple]

I think it's better to merge this PR into a new branch named "jazzy" in autoware.universe instead of "main" branch.

Is there an official branching policy for autoware?

If not, this list of changes is rather small. And actually most of it should technically also be applied on humble.
Then there are only a few condition statements left. Having these seem like less maintenance than the backport / mergify hell challenge that other repositories have.

[f0reachARR]

I checked this PR is working on both humble and jazzy, and does not include jazzy specific things.
So I think this PR can be merged into "main" branch without breaking changes

[isamu-takagi]

LGTM (for diagnostic_graph_aggregator package)

[yukkysaito]

@f0reachARR Thanks 👍 I seem to be having a conflict, can you please resolve it?

[f0reachARR]

Sure! I fixed it.

[yukkysaito]

@f0reachARR Thanks 👍
Can you tell me what kind of tests you did with humble and jazzy?
If possible, having a video of the following items in operation can serve as evidence and make it easier to proceed with merging.

• rosbag replay simulator
• planning simulator

[mitsudome-r]

We might want to leave comments so that we know why we need this when we look back to this code in the future.

Suggested change

	#if __has_include(<cv_bridge/cv_bridge.hpp>)
	#include <cv_bridge/cv_bridge.hpp>
	#else
	#include <cv_bridge/cv_bridge.h>
	#endif
	#if __has_include(<cv_bridge/cv_bridge.hpp>)
	#include <cv_bridge/cv_bridge.hpp> // for ROS 2 Jazzy
	#else
	#include <cv_bridge/cv_bridge.h> // for ROS 2 Humble
	#endif

[mitsudome-r]

We should also fix other __has_include codes.

[f0reachARR]

I see. This comment will help devs later. Thanks!

Similar usage of __has_include can be found some files that is not included in this PR.
(These codes seem to have been added to support ROS 2 Iron.)
Should I add some comment to these files?

[mitsudome-r]

Yes, I think that would help. (If they are really for Jazzy or Iron)

[f0reachARR]

I performed these tests.

• Humble: Build test and unit test (by colcon test). I will test using rosbag replay simulator / planning simulator and upload some vides later
• Jazzy: Build test only. This PR is intended to resolve build errors in the Jazzy environment and does not guarantee that Autoware is working.

[Timple]

Somehow locally on this branch I get:

/src/autoware.universe/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp:105:25: error: ‘FLT_MAX’ was not declared in this scope
  105 |   min_point.setConstant(FLT_MAX);

Does this sound familiar?

[f0reachARR]

I have not seen pointcloud_preprocessor error @Timple showed.
If this error occured in Jazzy environment, I will investigate it.

[mitsudome-r]

I have few questions regarding the PR:

• You said "Currently, some required packages are not provided by apt for jazzy.", could you provide the list of the packages that are not released as binary?
• ament_index_cpp is added as a new dependency for many packages. What is it used for? Why were they not needed in Humble? (Were there any dependency changed in ament packages in Jazzy?)

[f0reachARR]

Here is a list of required packages that is not provided by apt (binary package).

• navigation2 (nav2_costmap_2d, etc...). Related issue: Navigation2 for Jazzy ros-navigation/navigation2#4428
• grid_map
• pacmod3_msgs
• Open3D (python3-open3d package). Related issue: libopen3d-dev not available on Ubuntu 24.04 (Noble) isl-org/Open3D#6730

[f0reachARR]

ament_index_cpp was added because it was the cause of build errors.
I looked into the build error about ament_index_cpp but could not find anything definite as to why. I also could not get anything from the ament_index repository.
It seems certain that it is a jazzy (or rolling) issue, as there are similar changes in several repositories other than Autoware.
Whatever the reason, the dependency that is used in source code was definitely missing and should be fixed.

Example usage of ament_index_cpp
https://github.com/autowarefoundation/autoware.universe/blob/main/common/autoware_test_utils/src/autoware_test_utils.cpp#L15

[f0reachARR]

I'm thinking of splitting the Pull Request because there are too many changes, is that ok?

[HansRobo]

I'm thinking of splitting the Pull Request because there are too many changes, is that ok?

Ok. I would appreciate it if you could proceed.
This is what I agreed to in the internal chat with @mitsudome-r .

[Timple]

The ament_index_cpp I've had to apply on more repositories. I think the new cmake version is simply a bit more strict?

[HansRobo]

The ament_index_cpp I've had to apply on more repositories. I think the new cmake version is simply a bit more strict?

That's a point to pay attention to!

And there are many changes in ament_cmake, which may affect the colcon/ament behavior.
ament/ament_cmake@humble...jazzy