Merge branch 'master' into chat_thread2

.github/workflows/config.yml

@@ -6,6 +6,8 @@ on:
 
 env:
   DISPLAY: ':0.0'
+  # workaround required for checkout@v3, https://github.com/actions/checkout/issues/1590
+  ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
 
 jobs:
   ros:
@@ -38,7 +40,11 @@ jobs:
             CATKIN_PARALLEL_JOBS: "-i"
 
 
-    container: ${{ matrix.CONTAINER }}
+    container:
+      image: ${{ matrix.CONTAINER }}
+      volumes:
+        - /tmp/node20:/__e/node20
+
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu )
         run: |
@@ -61,6 +67,21 @@ jobs:
              git config --global --add safe.directory $GITHUB_WORKSPACE
           fi
 
+      - name: Try to replace `node` with an glibc 2.17
+        shell: bash
+        run: |
+          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
+             export USER=$(whoami)
+             sudo chmod 777 -R /__e/node20
+             sudo chown -R $USER /__e/node20
+          fi
+          ls -lar /__e/node20 &&
+          sudo apt-get install -y curl &&
+          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
+          cd /__e/node20 &&
+          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
+          ls -lar /__e/node20/bin/
+
       - name: Checkout
         uses: actions/[email protected]
 
@@ -149,14 +170,14 @@ jobs:
           export EXTRA_DEB=${{ matrix.EXTRA_DEB }}
           export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           export ROS_PARALLEL_TEST_JOBS="-j2"
-          export CATKIN_PARALLEL_JOBS="-i"
+          export CATKIN_PARALLEL_JOBS="-i -j2"
           export ROSDEP_ADDITIONAL_OPTIONS="-n -q -r --ignore-src --skip-keys=python-google-cloud-texttospeech-pip --skip-keys=python-dialogflow-pip"  # Skip installation of grpcio by pip because it causes error
           export BEFORE_SCRIPT="sudo pip install virtualenv==15.1.0"
           export USE_TRAVIS=true
           export USE_DOCKER=false
           export DOCKER_IMAGE=${{ matrix.CONTAINER }}
           export NOT_TEST_INSTALL=true
-          export ROS_PARALLEL_JOBS="--make-args LANG=C.UTF-8 LC_ALL=C.UTF-8"
+          export ROS_PARALLEL_JOBS="-j8 --make-args LANG=C.UTF-8 LC_ALL=C.UTF-8"
           set +o nounset
 
           export CI_SOURCE_PATH=$(pwd)
@@ -183,3 +204,64 @@ jobs:
         if: always()
         run: |
           rm -fr ${{ matrix.ROS_DISTRO }}-${{ github.run_number }}-${{ github.run_attempt }}-${{ github.run_id }} || echo "OK"
+
+# ROS-O setup https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
+  ros-o:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - DISTRO: ubuntu:22.04
+            ROS_REPOSITORY_URL: https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository
+
+    container: ${{ matrix.DISTRO }}
+
+    env:
+      DEBIAN_FRONTEND : noninteractive
+
+    steps:
+      - name: Chcekout Source
+        uses: actions/[email protected]
+
+      - name: Setup ROS-O deb repository
+        run: |
+          set -x
+          apt update && apt install -qq -y ca-certificates
+          echo "deb [trusted=yes] ${{ matrix.ROS_REPOSITORY_URL }}/ ./" | tee /etc/apt/sources.list.d/ros-o-builder.list
+          apt update
+          apt install -qq -y python3-rosdep2
+          echo "yaml ${{ matrix.ROS_REPOSITORY_URL }}/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+          rosdep update
+          # disable installing recommends as ros-o-builder do
+          echo 'APT::Install-Recommends "false";' | tee /etc/apt/apt.conf.d/99norecommends
+
+      - name: Setup catkin-tools
+        run: |
+          set -x
+          # setup catkin tools
+          apt install -qq -y python3-pip
+          pip3 install catkin-tools
+          # setup build tools
+          apt install -qq -y cmake build-essential catkin ros-one-rosbash
+
+      - name: Setup Workspace
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          # setup workspace
+          mkdir -p ~/ws/src
+          cd ~/ws/src
+          ln -sf $GITHUB_WORKSPACE .
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+        shell: bash
+
+      - name: Compile Packages
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          cd ~/ws/
+          catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+        shell: bash
+

.travis.rosinstall.indigo

@@ -9,5 +9,5 @@
 # we need to avoid pip upgrade
 - git:
     local-name: locusrobotics/catkin_virtualenv
-    uri: https://github.com/locusrobotics/catkin_virtualenv
-    version: 0.2.2
+    uri: https://github.com/locusrobotics/catkin_virtualenv-release
+    version: release/melodic/catkin_virtualenv/0.2.2-0

3rdparty/downward/CMakeLists.txt

@@ -14,7 +14,7 @@ externalproject_add(downward
   URL http://cdn.rawgit.com/jsk-ros-pkg/archives/master/Fast-Downward-f33d3b65601f.tar.gz
   TIMEOUT 120
   CONFIGURE_COMMAND ""
-  BUILD_COMMAND cd src && sed -i "s@^CXXFLAGS =$@CXXFLAGS = ${CXXFLAGS_NOETIC} -Wno-maybe-uninitialized@" search/Makefile && ./build_all DOWNWARD_BITWIDTH=native && patch -p3 < ${PROJECT_SOURCE_DIR}/fix_time_clock.patch
+  BUILD_COMMAND cd src && sed -i "s@^CXXFLAGS =$@CXXFLAGS = ${CXXFLAGS_NOETIC} -Wno-deprecated-copy -Wno-maybe-uninitialized@" search/Makefile && patch -p3 < ${PROJECT_SOURCE_DIR}/fix_std_vector_namespace.patch && ./build_all DOWNWARD_BITWIDTH=native && patch -p3 < ${PROJECT_SOURCE_DIR}/fix_time_clock.patch
   INSTALL_COMMAND bash -c "cp -rf --parents src/{validate,plan,preprocess/preprocess,search/downward*,search/unitcost,search/portfolio.py,translate} ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}"
   BUILD_IN_SOURCE 1
 )

3rdparty/downward/fix_std_vector_namespace.patch

@@ -0,0 +1,10 @@
+--- src/downward/src/search/landmarks/landmark_factory_zhu_givan.h.bak	2024-11-13 13:20:10.508657847 +0900
++++ src/downward/src/search/landmarks/landmark_factory_zhu_givan.h	2024-11-13 13:20:12.591485789 +0900
+@@ -7,6 +7,7 @@
+ #include "../globals.h"
+
+ using namespace __gnu_cxx;
++using std::vector;
+
+ class LandmarkFactoryZhuGivan : public LandmarkFactory {
+ private:

3rdparty/downward/package.xml

@@ -17,6 +17,7 @@
   <build_depend condition="$ROS_PYTHON_VERSION == 2">python</build_depend>
   <build_depend condition="$ROS_PYTHON_VERSION == 3">python3</build_depend>
   <build_depend>flex</build_depend>
+  <build_depend>libfl-dev</build_depend>
   <build_depend>bison</build_depend>
   <build_depend>gawk</build_depend>
   <build_depend>rostest</build_depend>

3rdparty/ff/Makefile

@@ -16,7 +16,7 @@ MAKE_ARGS = ADDONS=-DYY_SKIP_YYWRAP
 
 installed:$(SOURCE_DIR)/unpacked
 	rm -f $(SOURCE_DIR)/ff
-	(cd $(SOURCE_DIR) && $(MAKE) clean && $(MAKE) CFLAGS='-O6 -g -ansi -Wno-array-bounds -Wno-endif-labels -Wno-format-overflow -Wno-implicit-function-declaration -Wno-int-in-bool-context -Wno-unused-function -Wno-unused-variable -fno-builtin-strncpy -fno-builtin-strcpy  -fno-builtin-strlen -fno-builtin-strcat -fno-builtin-memset ' $(MAKE_ARGS))
+	(cd $(SOURCE_DIR) && $(MAKE) clean && $(MAKE) CFLAGS='-O6 -g -ansi -Wno-array-bounds -Wno-endif-labels -Wno-format-overflow -Wno-implicit-function-declaration -Wno-int-in-bool-context -Wno-unused-function -Wno-unused-variable -fno-builtin-strncpy -fno-builtin-strcpy  -fno-builtin-strlen -fno-builtin-strcat -fno-builtin-memset -fcommon ' $(MAKE_ARGS))
 	mkdir -p bin
 	cp $(SOURCE_DIR)/ff bin/
 	touch installed

3rdparty/ffha/Makefile

@@ -22,7 +22,7 @@ $(SOURCE_DIR)/patched:$(SOURCE_DIR)/unpacked
 	touch $(SOURCE_DIR)/patched
 
 installed:$(SOURCE_DIR)/patched
-	(cd $(SOURCE_DIR) && $(MAKE) clean && $(MAKE) CFLAGS='-O6 -g -ansi -Wno-array-bounds -Wno-endif-labels -Wno-format-overflow -Wno-implicit-function-declaration -Wno-int-in-bool-context -Wno-unused-function -Wno-unused-variable -fno-builtin-strncpy -fno-builtin-strcpy  -fno-builtin-strlen -fno-builtin-strcat -fno-builtin-memset ' $(MAKE_ARGS))
+	(cd $(SOURCE_DIR) && $(MAKE) clean && $(MAKE) CFLAGS='-O6 -g -ansi -Wno-array-bounds -Wno-endif-labels -Wno-format-overflow -Wno-implicit-function-declaration -Wno-int-in-bool-context -Wno-unused-function -Wno-unused-variable -fno-builtin-strncpy -fno-builtin-strcpy  -fno-builtin-strlen -fno-builtin-strcat -fno-builtin-memset -fcommon ' $(MAKE_ARGS))
 	mkdir -p bin
 	cp $(SOURCE_DIR)/ffha bin/
 	touch installed

3rdparty/libsiftfast/Makefile

@@ -24,7 +24,7 @@ clone: $(SVN_DIR)
 patch: clone
 	cd $(SVN_DIR) && svn revert --recursive . && for patch in $(SOURCE_DIR)/patches/0*.patch; do patch -p0 -f -E < $$patch; done
 	# for python3
-	if [ "${ROS_DISTRO}" \> "melodic" ]; then cd $(SVN_DIR) && svn revert --recursive . && for patch in $(SOURCE_DIR)/patches/1*.patch; do patch -p0 -f -E < $$patch; done; fi
+	if [ "${ROS_DISTRO}" != "kinetic" -a "${ROS_DISTRO}" != "melodic" ]; then cd $(SVN_DIR) && svn revert --recursive . && for patch in $(SOURCE_DIR)/patches/1*.patch; do patch -p0 -f -E < $$patch; done; fi
 
 libsiftfast: patch
 	cd $(SVN_DIR)/$(BUILDDIR) && BOOST_INCLUDEDIR=$(BOOST_INCLUDE_DIRS) BOOST_LIBRARYDIR=$(BOOST_LIBRARY_DIRS) cmake -DCMAKE_INSTALL_PREFIX=$(INSTALL_DIR) -DCMAKE_BUILD_TYPE=$(CMAKE_BUILD_TYPE) .. && make $(ROS_PARALLEL_JOBS) install

3rdparty/libsiftfast/patches/10.boost_python38.patch

@@ -2,12 +2,14 @@ Index: CMakeLists.txt
 ===================================================================
 --- CMakeLists.txt	(revision 54)
 +++ CMakeLists.txt	(working copy)
-@@ -155,7 +155,8 @@
+@@ -155,7 +155,10 @@
  if( NOT $ENV{BOOST_LIBRARYDIR} STREQUAL "" )
    set(Boost_LIBRARY_DIRS $ENV{BOOST_LIBRARYDIR})
  endif()
 -find_package(Boost COMPONENTS python)
-+find_package(Boost REQUIRED COMPONENTS system python38)
++set(Python3_FIND_STRATEGY VERSION)
++find_package(Python3 COMPONENTS Interpreter Development)
++find_package(Boost REQUIRED COMPONENTS system python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR})
 +add_definitions("-Wno-narrowing")
 
  if( Boost_FOUND )
@@ -17,7 +19,7 @@ Index: CMakeLists.txt
  #
  set(BUILD_SIFTFASTPY)
 -if( Boost_PYTHON_FOUND )
-+if( Boost_PYTHON38_FOUND )
++if( Boost_PYTHON${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}_FOUND )
    find_package(PythonLibs)
 
    if( PYTHONLIBS_FOUND OR PYTHON_LIBRARIES )

3rdparty/nlopt/CMakeLists.txt

@@ -8,6 +8,8 @@ add_custom_target(libnlopt_cxx ALL
   DEPENDS ${CATKIN_DEVEL_PREFIX}/lib/libnlopt_cxx.so)
 add_custom_command(OUTPUT
   ${CATKIN_DEVEL_PREFIX}/lib/libnlopt_cxx.so
+  COMMAND mkdir -p ${CMAKE_CURRENT_BINARY_DIR}/build
+  COMMAND cp ${PROJECT_SOURCE_DIR}/build/nlopt-2.3.tar.gz ${CMAKE_CURRENT_BINARY_DIR}/build
   COMMAND cp ${PROJECT_SOURCE_DIR}/nlopt-2.3.tar.gz.md5sum ${CMAKE_CURRENT_BINARY_DIR}
   COMMAND mkdir -p ${CMAKE_CURRENT_BINARY_DIR}/tmp
   COMMAND cmake -E chdir ${CMAKE_CURRENT_BINARY_DIR} make -f ${PROJECT_SOURCE_DIR}/Makefile DSTDIR=${CMAKE_CURRENT_BINARY_DIR}/tmp MK_DIR=${mk_PREFIX}/share/mk

3rdparty/zdepth/CMakeLists.txt

@@ -3,18 +3,18 @@ project(zdepth)
 
 include(ExternalProject)
 
-if("$ENV{ROS_DISTRO}" STRGREATER "kinetic")
+if(("$ENV{ROS_DISTRO}" STREQUAL "indigo") OR ("$ENV{ROS_DISTRO}" STREQUAL "kinetic"))
+  install(CODE "message(WARNING \"Skipping zdepth install because ROS is too old\")")
+else()
   ExternalProject_Add(
     zdepth
     GIT_REPOSITORY  https://github.com/catid/Zdepth.git
     GIT_TAG         ac7c6d8e944d07be2404e5a1eaa04562595f3756
     GIT_SHALLOW     TRUE
-    PATCH_COMMAND cat ${PROJECT_SOURCE_DIR}/fix_cmakelists.patch | patch -p1
+    PATCH_COMMAND   cat ${PROJECT_SOURCE_DIR}/fix_cmakelists.patch | patch -p1 --forward || true # If there is no --forward, the build process hangs because the patch command waits interactively for input on whether a file that has already been patched can be patched again. If there is no || true , the patch command returns non-zero status if you try to use it on the patched file, then catkin build failes
     CMAKE_ARGS      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
     INSTALL_COMMAND echo "install"
    )
 
   install(CODE "execute_process(COMMAND make install WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/zdepth-prefix/src/zdepth-build)")
-else()
-  install(CODE "message(WARNING \"Skipping zdepth install because ROS is too old\")")
 endif()

dialogflow_task_executive/CMakeLists.txt

@@ -55,16 +55,19 @@ elseif("$ENV{ROS_DISTRO}" STREQUAL "indigo")
     COMMAND cp ${CMAKE_CURRENT_BINARY_DIR}/requirements.txt.indigo ${CMAKE_CURRENT_SOURCE_DIR}/requirements.txt
     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
   )
-  catkin_generate_virtualenv(PYTHON_INTERPRETER python2)
-elseif("$ENV{ROS_DISTRO}" STRGREATER "melodic")
+  file(DOWNLOAD http://curl.haxx.se/ca/cacert.pem ${CMAKE_BINARY_DIR}/cacert.pem)
+  catkin_generate_virtualenv(PYTHON_INTERPRETER python2
+    # https://stackoverflow.com/questions/25981703/pip-install-fails-with-connection-error-ssl-certificate-verify-failed
+    EXTRA_PIP_ARGS -vvv --cert=${CMAKE_BINARY_DIR}/cacert.pem)
+elseif("$ENV{ROS_DISTRO}" STREQUAL "kinetic" OR "$ENV{ROS_DISTRO}" STREQUAL "melodic")
   catkin_generate_virtualenv(
-    INPUT_REQUIREMENTS requirements.in.noetic
-    PYTHON_INTERPRETER python3
+    INPUT_REQUIREMENTS requirements.in
+    PYTHON_INTERPRETER python2
     )
 else()
   catkin_generate_virtualenv(
-    INPUT_REQUIREMENTS requirements.in
-    PYTHON_INTERPRETER python2
+    INPUT_REQUIREMENTS requirements.in.noetic
+    PYTHON_INTERPRETER python3
     )
 endif()
 
@@ -73,7 +76,7 @@ catkin_install_python(
   PROGRAMS ${PYTHON_SCRIPT_FILES}
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(DIRECTORY launch
+install(DIRECTORY launch apps samples config
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
 )

dialogflow_task_executive/requirements.in.noetic

@@ -3,3 +3,4 @@ google-api-core[grpc]==1.33.0
 grpcio-status==1.48.1
 googleapis-common-protos[grpc]==1.56.2
 protobuf==3.20.1  # fix Could not find a version that matches protobuf<4.0.0dev,<5.0.0dev,>=3.15.0,>=3.20.1,>=4.21.3 (from google-api-core[grpc]==1.33.1->dialogflow==1.1.1->-r requirements.in (line 1))
+grpcio==1.54.0            # via google-api-core, googleapis-common-protos, grpcio-status

dialogflow_task_executive/test/test_rospy_node.py

@@ -27,11 +27,15 @@ def test_rosnode(self):
             full_scripts_dir = os.path.join(pkg_dir, scripts_dir)
             if not os.path.exists(full_scripts_dir):
                 continue
-            for filename in [f for f in map(lambda x: os.path.join(full_scripts_dir, x), os.listdir(full_scripts_dir)) if os.path.isfile(f) and f.endswith('.py')]:
+            for filename in [f for f in map(lambda x: x, os.listdir(full_scripts_dir)) if os.path.isfile(f) and f.endswith('.py')]:
                 print("Check if {} is loadable".format(filename))
-                # https://stackoverflow.com/questions/4484872/why-doesnt-exec-work-in-a-function-with-a-subfunction
-                exec(open(filename, encoding='utf-8').read()) in globals(), locals()
-                self.assertTrue(True)
+                import subprocess
+                try:
+                    ret = subprocess.check_output(['rosrun', pkg_name, filename], stderr=subprocess.STDOUT)
+                except subprocess.CalledProcessError as e:
+                    print("Catch runtime error ({}), check if this is expect".format(e.output))
+                    self.assertTrue('Check the device is connected and recognized' in e.output)
+
 
 if __name__ == '__main__':
     rostest.rosrun('test_rospy_node', pkg_name, TestRospyNode, sys.argv)

dialogflow_task_executive/test/test_rospy_node.test

@@ -1,3 +1,3 @@
 <launch>
-  <test pkg="dialogflow_task_executive" type="test_rospy_node.py" test-name="ros_rospy_node" />
+  <test pkg="dialogflow_task_executive" type="test_rospy_node.py" test-name="ros_rospy_node" time-limit="120" retry="3" />
 </launch>

gdrive_ros/CMakeLists.txt

@@ -23,10 +23,20 @@ catkin_package(
   message_runtime
 )
 
+if("$ENV{ROS_DISTRO}" STREQUAL "indigo")
+file(DOWNLOAD http://curl.haxx.se/ca/cacert.pem ${CMAKE_BINARY_DIR}/cacert.pem)
 catkin_generate_virtualenv(
   PYTHON_INTERPRETER python3
   CHECK_VENV FALSE
+  # https://stackoverflow.com/questions/25981703/pip-install-fails-with-connection-error-ssl-certificate-verify-failed
+  EXTRA_PIP_ARGS -vvv --cert=${CMAKE_BINARY_DIR}/cacert.pem
   )
+else()
+catkin_generate_virtualenv(
+  PYTHON_INTERPRETER python3
+  CHECK_VENV FALSE
+  )
+endif()
 
 
 catkin_install_python(PROGRAMS node_scripts/gdrive_server_node.py node_scripts/sample_gdrive_rospy_client.py

google_chat_ros/scripts/google_chat_ros_node.py

@@ -222,13 +222,11 @@ def event_cb(self, event, publish_topic=True):
                 action = event.get('action')
                 msg.action.action_method_name = action.get('actionMethodName')
                 if action.get('parameters'):
-                    parameters = []
                     for param in action.get('parameters'):
                         action_parameter = ActionParameter()
-                        action_parameter.key = param.get('key')
-                        action_parameter.value = param.get('value')
-                        parameters.append(action_parameter)
-                msg.action.parameters = parameters
+                        action_parameter.key = param.get("key") if param.get("key") else ""
+                        action_parameter.value = param.get("value") if param.get("value") else ""
+                        msg.action.parameters.append(action_parameter)
             if publish_topic:
                 self._card_activity_pub.publish(msg)
             return msg

google_chat_ros/src/google_chat_ros/google_chat.py

@@ -125,7 +125,7 @@ def _pubsub_cb(self, message):
         except Exception as e:
             rospy.logerr("Failed to handle the request from Cloud PubSub.")
             rospy.logerr("It might be caused because of invalid type message from GCP")
-            rospy.logerr("{}".str(e))
+            rospy.logerr(e)
         finally:
             message.ack()
 

jsk_3rdparty/package.xml

@@ -55,7 +55,7 @@
   <run_depend>zdepth</run_depend>
 
   <!-- jsk_ros_patch/ dir -->
-  <run_depend>collada_urdf_jsk_patch</run_depend>
+  <!-- <run_depend>collada_urdf_jsk_patch</run_depend> -->
   <!-- <run_depend>depth_image_proc_jsk_patch</run_depend> -->
   <!-- <run_depend>eecart_imped_jsk_patch</run_depend> -->
   <run_depend>laser_filters_jsk_patch</run_depend>

jsk_ros_patch/collada_urdf_jsk_patch/CMakeLists.txt

@@ -5,12 +5,19 @@ project(collada_urdf_jsk_patch)
 if(("$ENV{ROS_DISTRO}" STREQUAL "groovy") OR ("$ENV{ROS_DISTRO}" STREQUAL "hydro"))
   set(SOURCE_DISTRO hydro-devel)
   set(GIT_REPO robot_model)
-elseif ("$ENV{ROS_DISTRO}" STRLESS "melodic")
+elseif (("$ENV{ROS_DISTRO}" STREQUAL "indigo") OR ("$ENV{ROS_DISTRO}" STREQUAL "jade") OR ("$ENV{ROS_DISTRO}" STREQUAL "kinetic"))
   set(SOURCE_DISTRO bd4fc369d56eaa0c31d8cb17677e00b9d9685de6) # 1.11.13, before strip indigo
   set(GIT_REPO robot_model)
-elseif ("$ENV{ROS_DISTRO}" STREQUAL "melodic" OR "$ENV{ROS_DISTRO}" STRGREATER "melodic")
+elseif (("$ENV{ROS_DISTRO}" STREQUAL "melodic") OR ("$ENV{ROS_DISTRO}" STREQUAL "noetic"))
   set(SOURCE_DISTRO 923c5d33bd245e82134e8ae02e4c9d379e80eb27) # 1.12.12
   set(GIT_REPO collada_urdf)
+else()
+  find_package(catkin REQUIRED)
+  catkin_package(CATKIN_DEPENDS)
+  file(TOUCH ${CMAKE_CURRENT_BINARY_DIR}/CATKIN_IGNORE)
+  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/CATKIN_IGNORE  #catkin_lint: ignore_once missing_file
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+  return()
 endif()
 if ("$ENV{ROS_DISTRO}" STREQUAL "kinetic" OR "$ENV{ROS_DISTRO}" STRGREATER "kinetic")
     set(CXXFLAGS CXXFLAGS=-std=gnu++11)