fix(jazzy): cross-distro cv_bridge include; promote Jazzy CI to a blocking gate

.github/workflows/ci.yml

@@ -160,15 +160,14 @@ jobs:
           colcon test-result --verbose || true
 
   # ---------------------------------------------------------------------------
-  # Jazzy build (forward-compat). Jazzy ships GStreamer 1.24 where the Intel
-  # vapostproc GPU path is exercised; allowed to fail until officially
-  # supported, but surfaces API/dependency drift early.
+  # Jazzy build + test (blocking). Jazzy ships GStreamer 1.24 (where the Intel
+  # vapostproc GPU path is available) and cv_bridge's .hpp header; both are
+  # supported, so this is a real gate alongside Humble.
   # ---------------------------------------------------------------------------
   build-jazzy:
     name: build + test (jazzy)
     runs-on: ubuntu-24.04
     container: ros:jazzy
-    continue-on-error: true
     env:
       DEBIAN_FRONTEND: noninteractive
       ROS_DISTRO: jazzy

CHANGELOG.md

@@ -30,6 +30,9 @@ for the full audit, fixes, and remaining roadmap.
 - **GStreamer teardown ordering** (NULL-state before element unref) and a
   `gst_parse_launch` partial-parse pipeline leak.
 - **Stereo `CameraInfo`** — `resize` now scales the projection `Tx`/`Ty` terms.
+- **Cross-distro `cv_bridge` include** — use `cv_bridge.hpp` where present
+  (Jazzy) and fall back to `cv_bridge.h` (Humble), so the package builds on both;
+  ROS 2 Jazzy build + tests are now a blocking CI gate alongside Humble.
 
 ### Added
 

docs/PRODUCTION_READINESS.md

@@ -57,7 +57,7 @@ durable record of the audit findings, what has been fixed, and what remains.
 | `ament_export_targets/libraries/include_directories/dependencies` + `EXPORT` install so downstream packages can link `prism_core` | `missing-ament-export-for-prism-core` | `CMakeLists.txt` |
 | Stereo `CameraInfo` correctness — `resize_camera_info` now scales `P[3]`/`P[7]` (Tx/Ty), fixing silent disparity-to-depth corruption on rectified stereo | `camera-info-stereo-tx-untested` | `src/pipeline_factory.cpp` |
 | Tests — unit suite 11 → **21** (per-backend fragment build strings, `validate_platform`/`factory_exists`, vertical flip, stereo Tx, crop/encoding/flip throw paths) **plus** a `launch_testing` integration test that drives a live `ImageProcNode` in direct mode and asserts output dims/encoding + transformed CameraInfo | `no-integration-test-node-runtime`, `*-untested` | `test/` |
-| CI rebuilt into a real gate: `rosdep`-driven deps, `--return-code-on-test-failure` (the old gate could not fail), least-privilege `permissions`, **+ jobs** for ASan/UBSan, advisory `ament_lint`, a Jazzy build, and a QEMU arm64 cross-build | `ci-test-result-no-exit-code`, `ci-no-sanitizer-run`, `ci-no-rosdep-install`, `ci-no-distro-matrix`, `ci-no-arm64-build` | `.github/workflows/ci.yml` |
+| CI rebuilt into a real gate: `rosdep`-driven deps, `--return-code-on-test-failure` (the old gate could not fail), least-privilege `permissions`, **+ jobs** for ASan/UBSan, advisory `ament_lint`, a **blocking Jazzy build+test** (cross-distro `cv_bridge` include), and a QEMU arm64 cross-build | `ci-test-result-no-exit-code`, `ci-no-sanitizer-run`, `ci-no-rosdep-install`, `ci-no-distro-matrix`, `ci-no-arm64-build` | `.github/workflows/ci.yml` |
 | Docs-vs-code drift — qualified the "drop-in / same parameters" claim (topics, CameraInfo derivation, QoS), corrected the `vaapipostproc`→direct-mode prose, documented the direct-mode action-dropping limitation and the CameraInfo-topic collision footgun | `drop-in-topic-param-mismatch`, `vaapipostproc-arch-claim-misleading`, `direct-mode-chain-silent-drop-undocumented` | `README.md` |
 
 ### Phase 3 — remaining (tracked follow-ups)

src/media_streamer_node.cpp

@@ -1,6 +1,13 @@
 #include "prism_image_proc/media_streamer_node.hpp"
 
+// cv_bridge shipped the C++ API as cv_bridge.h through Humble and renamed it to
+// cv_bridge.hpp in Jazzy (the .h was removed). Include whichever exists so the
+// package builds across distros.
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>
+#else
 #include <cv_bridge/cv_bridge.h>
+#endif
 #include <opencv2/imgproc.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 

src/synthetic_4k_pub_node.cpp

@@ -1,6 +1,12 @@
 #include "prism_image_proc/synthetic_4k_pub_node.hpp"
 
+// cv_bridge.h (Humble) was renamed to cv_bridge.hpp in Jazzy; include whichever
+// the active distro provides.
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>
+#else
 #include <cv_bridge/cv_bridge.h>
+#endif
 #include <opencv2/imgproc.hpp>
 #include <rclcpp_components/register_node_macro.hpp>