microRTPS: use package.version to compare FastRTPS lib versions

msg/tools/generate_microRTPS_bridge.py

@@ -227,13 +227,9 @@ if fastrtpsgen_include is not None and fastrtpsgen_include != '':
         os.path.abspath(
             args.fastrtpsgen_include) + " "
 
-# get FastRTPS version (major.minor, since patch is not relevant at this stage)
-fastrtps_version = ""
-try:
-    fastrtps_version = float(subprocess.check_output(
-        "ldconfig -v | grep libfastrtps | tail -c 6", shell=True).decode("utf-8").strip()[-5:-2])
-except ValueError:
-    print("No valid version found to FasRTPS. Make sure it is installed.")
+# get FastRTPS version
+fastrtps_version = subprocess.check_output(
+    "ldconfig -v | grep libfastrtps", shell=True).decode("utf-8").strip().split('so.')[-1]
 
 # get ROS 2 version, if exists
 ros2_distro = ""

msg/tools/px_generate_uorb_topic_files.py

@@ -43,6 +43,7 @@ import shutil
 import filecmp
 import argparse
 import sys
+from packaging import version
 
 try:
     import em
@@ -187,7 +188,7 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
         os.makedirs(outputdir)
 
     template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
-    if 1.5 <= fastrtps_version <= 1.7:
+    if version.parse(fastrtps_version) <= version.parse('1.7'):
         output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
             "msg.idl.em", str(spec_short_name + "_.idl")))
     else: