small fixes in main.yml and package.xml

.github/workflows/main.yml

@@ -67,17 +67,23 @@ jobs:
       uses: ros-tooling/[email protected]
       with:
         required-ros-distributions: ${{ matrix.ros_distro }}
-
-    - name: Build RealSense SDK 2.0 (development branch) from source
+
+    - name: Checkout librealsense/development
+      uses: actions/checkout@v4
+      with:
+        repository: IntelRealSense/librealsense
+        path: librealsense
+        ref: development
+
+
+    - name: Build RealSense SDK 2.0 (hkr branch) from source
       run: |
 
         # libusb-1.0-0-dev is needed for librealsense build in ubuntu 20.04
         # This apt install command will be ignored in ubuntu 22.04 as libusb-1.0-0-dev already installed there
         sudo apt install -y libusb-1.0-0-dev
         
-        cd ${{github.workspace}}
-        git clone https://github.com/IntelRealSense/librealsense.git -b development
-        cd librealsense
+        cd ${{github.workspace}}/librealsense
         sudo mkdir build
         cd build
         sudo cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false
@@ -112,7 +118,7 @@ jobs:
     #    bag_filename="https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag";
     #    wget $bag_filename -P "records/"
     #    sudo apt install ros-${{ matrix.ros_distro}}-launch-pytest
-       
+
     - name: Install Packages For Foxy Tests
       if: ${{ matrix.ros_distro == 'foxy' }}
       run: |
@@ -138,8 +144,7 @@ jobs:
         # numpy-quaternion needs numpy<2.0.0. Chose 1.26.4 as it is the lowest working version for ubuntu 24.04.
         pip3 install --force-reinstall numpy==1.26.4
         pip3 install numpy-quaternion tqdm pyyaml
-  
-
+
     - name: Run Tests
       run: |
         cd ${{github.workspace}}/ros2

realsense2_camera/package.xml

@@ -21,7 +21,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>realsense2_camera_msgs</depend>
-  <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
   <depend>nav_msgs</depend>