Port point_cloud_transport to ROS2

.github/workflows/build-and-test.sh

@@ -0,0 +1,33 @@
+#!/bin/bash
+set -ev
+
+# Configuration.
+export COLCON_WS=~/ws
+export COLCON_WS_SRC=${COLCON_WS}/src
+export DEBIAN_FRONTEND=noninteractive
+export ROS_PYTHON_VERSION=3
+
+apt update -qq
+apt install -qq -y lsb-release wget curl build-essential
+
+# Dependencies.
+echo "deb http://packages.ros.org/ros2-testing/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+apt-get update -qq
+apt-get install -y python3-colcon-common-extensions \
+                   python3-rosdep
+
+rosdep init
+rosdep update
+rosdep install --from-paths ./ -i -y -r --rosdistro $ROS_DISTRO $ROSDEP_ARGS
+
+# Build.
+source /opt/ros/$ROS_DISTRO/setup.bash
+mkdir -p $COLCON_WS_SRC
+cp -r $GITHUB_WORKSPACE $COLCON_WS_SRC
+cd $COLCON_WS
+colcon build --event-handlers console_direct+
+
+# Tests.
+colcon test --event-handlers console_direct+
+colcon test-result

.github/workflows/ros2-ci.yml

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+name: ROS2 CI
+
+on: [push, pull_request]
+
+jobs:
+  point_cloud_transport_ci:
+    name: point_cloud_transport CI
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - docker-image: "ubuntu:22.04"
+            ros-distro: "rolling"
+    container:
+      image: ${{ matrix.docker-image }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Build and Test
+        run: .github/workflows/build-and-test.sh
+        env:
+          DOCKER_IMAGE: ${{ matrix.docker-image }}
+          ROS_DISTRO: ${{ matrix.ros-distro }}

.gitignore

@@ -0,0 +1 @@
+.vscode/*

CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package point_cloud_transport
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.0.12 (2023-06-18)
+-------------------
+* ROS2 port
+* Contributors: John D'Angelo
+
 1.0.11 (2023-06-16)
 -------------------
 * Fixed bad_expected_access error when pointcloud encoding fails.