fix(gnss_poser): modify build error in rolling (autowarefoundation#801)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
KYabuuchi · Apr 25, 2022 · cb47f42 · cb47f42
1 parent b03d565
commit cb47f42
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Showing 3 changed files with 15 additions and 3 deletions.
diff --git a/sensing/gnss_poser/CMakeLists.txt b/sensing/gnss_poser/CMakeLists.txt
@@ -40,6 +40,13 @@ target_link_libraries(gnss_poser_node
   Geographic
 )
 
+# workaround to allow deprecated header to build on both galactic and rolling
+if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+  target_compile_definitions(gnss_poser_node PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 rclcpp_components_register_node(gnss_poser_node
   PLUGIN "gnss_poser::GNSSPoser"
   EXECUTABLE gnss_poser

diff --git a/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp b/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp
@@ -28,7 +28,13 @@
 #include <boost/circular_buffer.hpp>
 
 #include <tf2/transform_datatypes.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
+
 #include <tf2_ros/transform_broadcaster.h>
 #include <tf2_ros/transform_listener.h>
 

diff --git a/sensing/gnss_poser/package.xml b/sensing/gnss_poser/package.xml
@@ -12,16 +12,15 @@
   <depend>geo_pos_conv</depend>
   <depend>geographiclib</depend>
   <depend>geometry_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>ublox_msgs</depend>
 
-  <exec_depend>rclcpp</exec_depend>
-  <exec_depend>rclcpp_components</exec_depend>
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>