zed-ros2-wrapper build errors for Jetson Orin with ROS Foxy

Description

I have a Jetson Orin that has CUDA 11 and Foxy running. Since its CUDA 11, i installed the SDK version as below

ZED SDK for JetPack 5.1.1 (L4T 35.3) 5.0 (Jetson Xavier, Orin AGX/NX/Nano, CUDA 11.4)

I have the master branch checked out for the zed2-ros-wrapper. When i build the package as per the steps mentioned here https://github.com/stereolabs/zed-ros2-wrapper/ , the C++ code throws errors as below

zed_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_one_component.cpp: In member function ‘void stereolabs::ZedCameraOne::init()’:
zed_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_one_component.cpp:680:33: error: ‘using element_type = class rclcpp::contexts::DefaultContext’ {aka ‘class rclcpp::contexts::DefaultContext’} has no member named ‘add_pre_shutdown_callback’; did you mean ‘get_on_shutdown_callbacks’?
  680 |   get_global_default_context()->add_pre_shutdown_callback(
      |                                 ^~~~~~~~~~~~~~~~~~~~~~~~~
      |                                 get_on_shutdown_callbacks

zed_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_main.cpp: In member function ‘void stereolabs::ZedCamera::initPublishers()’:
zed_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_main.cpp:1995:32: error: ‘ClockQoS’ is not a member of ‘rclcpp’; did you mean ‘Clock’?
 1995 |       auto clock_qos = rclcpp::ClockQoS();
ed_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_main.cpp:1996:37: error: ‘rclcpp::ReliabilityPolicy’ has not been declared
 1996 |       clock_qos.reliability(rclcpp::ReliabilityPolicy::Reliable); // REQUIRED

Any suggestions on an alternate SDK version or how to get the package installed for Foxy?

Steps to Reproduce

  1. Install ZED SDK for JetPack 5.1.1 (L4T 35.3) 5.0 (Jetson Xavier, Orin AGX/NX/Nano, CUDA 11.4)
    2.Checkout zed-ros2-wrapper and zed-ros2-interfaces

  2. Follow build steps as mentioned in https://github.com/stereolabs/zed-ros2-wrapper/

Expected Result

Package is installed successfully

Actual Result

Failed <<< zed_components [35.6s, exited with code 2]

Summary: 1 package finished [1min 17s]
1 package failed: zed_components
1 package had stderr output: zed_components

Environment

OS: Ubuntu 22
GPU : Nvidia Jetson Orin
SDK version : [ZED SDK for JetPack 5.1.1 (L4T 35.3)](https://download.stereolabs.com/zedsdk/5.0/l4t35.3/jetsons) 5.0 (Jetson Xavier, Orin AGX/NX/Nano, CUDA 11.4)
ROS: Foxy

Hi @SaanviM,

This looks like a Foxy compatibility issue, this should not happen, I will log this internally so we can look into this.

If possible, you can compile the wrapper for Humble or Jazzy in the meantime