From 585681f4a13b1c5cd4d8c3cf5e0f92330b227009 Mon Sep 17 00:00:00 2001
From: Walter Lucetti <walter.lucetti@stereolabs.com>
Date: Wed, 21 Sep 2022 12:11:48 +0200
Subject: [PATCH 1/2] Add ROS2 distro check

---
 CMakeLists.txt | 38 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 38 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6aaafa4..0920415 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,44 @@
 cmake_minimum_required(VERSION 3.5)
 project(zed_interfaces)
 
+################################################
+# Check the ROS2 version
+
+set(ROS2_FOUND FALSE)
+if(DEFINED ENV{ROS_DISTRO})
+    set(FOUND_ROS2_DISTRO $ENV{ROS_DISTRO})
+    set(ROS2_FOUND TRUE)
+    message("* Found ROS2 ${FOUND_ROS2_DISTRO}")
+else()
+    message("* ROS2 distro variable not set. Trying to figure it out...")
+    set(ROS2_DISTROS "ardent;crystal;dashing;eloquent;foxy;galactic;humble;rolling")
+    set(ROS2_FOUND FALSE)
+    foreach(distro ${ROS2_DISTROS})
+        if(NOT ROS2_FOUND)
+            find_path(RCLCPP_H rclcpp.hpp PATHS /opt/ros/${distro}/include/rclcpp)
+            if(RCLCPP_H)
+                message("* Found ROS2 ${distro}")
+                set(FOUND_ROS2_DISTRO ${distro})
+                set(ROS2_FOUND TRUE)
+            endif()
+        endif()        
+    endforeach()    
+endif(DEFINED ENV{ROS_DISTRO})
+
+if(ROS2_FOUND)
+    add_compile_definitions(FOUND_ROS2_DISTRO=${FOUND_ROS2_DISTRO})
+    if(${FOUND_ROS2_DISTRO} STREQUAL "foxy")
+        message("* ROS2 ${FOUND_ROS2_DISTRO} is officially supported by this package.")
+    elseif(${FOUND_ROS2_DISTRO} STREQUAL "humble")
+        message("* ROS2 ${FOUND_ROS2_DISTRO} is officially supported by this package.")
+    else()
+        message("*** WARNING *** ROS2 ${FOUND_ROS2_DISTRO} is not officially supported by this package. Correct working is not guarantee.")
+    endif()
+else()
+    message("*** WARNING *** ROS2 distro is unknown. This package could not work correctly.")
+endif()
+################################################
+
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)

From 83fa2d5ee6bc7efcf4bbefa65c8df062a9ea5455 Mon Sep 17 00:00:00 2001
From: Walter Lucetti <walter.lucetti@stereolabs.com>
Date: Fri, 21 Oct 2022 16:43:06 +0200
Subject: [PATCH 2/2] Add `setRoi` service

---
 CMakeLists.txt | 1 +
 srv/SetROI.srv | 8 ++++++++
 2 files changed, 9 insertions(+)
 create mode 100644 srv/SetROI.srv

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0920415..941499d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -79,6 +79,7 @@ set(MSG_FILES
 set(SRV_FILES
     "srv/SetPose.srv"
     "srv/StartSvoRec.srv"
+    "srv/SetROI.srv"
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}    
diff --git a/srv/SetROI.srv b/srv/SetROI.srv
new file mode 100644
index 0000000..8a12e24
--- /dev/null
+++ b/srv/SetROI.srv
@@ -0,0 +1,8 @@
+# Set the Region of Interest for ZED SDK computing
+
+# Region of interest polygon as an array of normalized vertices. e.g. "[[0.5,0.25],[0.75,0.5],[0.5,0.75],[0.25,0.5]]"
+# You can use
+string roi
+---
+bool success   # indicate successful run of service
+string message # informational, e.g. for error messages