Humble sync August 4 (#626)

* fixing 588 (#589)

* In addScan, fix if-condition for processor_type (#610)

Co-authored-by: patrick.christoph.sowinski <patrick.christoph.sowinski@continental-corporation.com>

* exclude lifelong launch file (#624)

* bumping humble to 2.6.5 for release

---------

Co-authored-by: Patrick Sowinski <patricksowinski@gmx.de>
Co-authored-by: patrick.christoph.sowinski <patrick.christoph.sowinski@continental-corporation.com>

CMakeLists.txt

@@ -194,6 +194,7 @@ install(TARGETS async_slam_toolbox_node
                 map_and_localization_slam_toolbox_node
                 merge_maps_kinematic
                 ${libraries}
+                kartoSlamToolbox
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}
@@ -213,6 +214,7 @@ install(DIRECTORY include/
 
 install(DIRECTORY launch
   DESTINATION share/${PROJECT_NAME}
+  PATTERN "lifelong_launch.py" EXCLUDE
 )
 
 install(DIRECTORY config
@@ -224,7 +226,7 @@ install(FILES solver_plugins.xml rviz_plugins.xml
 )
 
 ament_export_include_directories(include)
-ament_export_libraries(${libraries})
+ament_export_libraries(${libraries} kartoSlamToolbox)
 ament_export_dependencies(${dependencies})
 ament_export_targets(SlamToolboxPlugin HAS_LIBRARY_TARGET)
 ament_package()

lib/karto_sdk/CMakeLists.txt

@@ -34,14 +34,3 @@ target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} TBB::tbb)
 install(DIRECTORY include/
 	DESTINATION include/
 )
-
-install(TARGETS kartoSlamToolbox
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
-
-ament_export_libraries(kartoSlamToolbox)
-ament_export_include_directories(include)
-ament_export_dependencies(${dependencies})
-ament_package()

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>slam_toolbox</name>
-  <version>2.6.4</version>
+  <version>2.6.5</version>
   <description>
      This package provides a sped up improved slam karto with updated SDK and visualization and modification toolsets
   </description>

src/slam_toolbox_localization.cpp

@@ -150,7 +150,7 @@ LocalizedRangeScan * LocalizationSlamToolbox::addScan(
 {
   boost::mutex::scoped_lock l(pose_mutex_);
 
-  if (PROCESS_LOCALIZATION && process_near_pose_) {
+  if (processor_type_ == PROCESS_LOCALIZATION && process_near_pose_) {
     processor_type_ = PROCESS_NEAR_REGION;
   }