From 12c64922addf52fe21663048aaefec19e3245adf Mon Sep 17 00:00:00 2001
From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Date: Sun, 24 Apr 2022 23:41:02 +0900
Subject: [PATCH] fix(ad_service_state_monitor): modify build error in rolling
 (#716)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
---
 system/ad_service_state_monitor/CMakeLists.txt      |  7 +++++++
 .../ad_service_state_monitor/state_machine.hpp      |  2 --
 .../ad_service_state_monitor_node.cpp               |  2 --
 .../ad_service_state_monitor_node/diagnostics.cpp   |  2 --
 .../ad_service_state_monitor_node/state_machine.cpp | 13 ++++++++++---
 5 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/system/ad_service_state_monitor/CMakeLists.txt b/system/ad_service_state_monitor/CMakeLists.txt
index efc7238c2ccac..c68afa92fdf26 100644
--- a/system/ad_service_state_monitor/CMakeLists.txt
+++ b/system/ad_service_state_monitor/CMakeLists.txt
@@ -29,6 +29,13 @@ ament_auto_add_executable(ad_service_state_monitor
   ${AD_SERVICE_STATE_MONITOR_SRC}
 )
 
+# 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(ad_service_state_monitor PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
diff --git a/system/ad_service_state_monitor/include/ad_service_state_monitor/state_machine.hpp b/system/ad_service_state_monitor/include/ad_service_state_monitor/state_machine.hpp
index 764441cf84db4..dbf4420b116e6 100644
--- a/system/ad_service_state_monitor/include/ad_service_state_monitor/state_machine.hpp
+++ b/system/ad_service_state_monitor/include/ad_service_state_monitor/state_machine.hpp
@@ -31,8 +31,6 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
-#include <tf2/utils.h>
-
 #include <deque>
 #include <string>
 #include <vector>
diff --git a/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp b/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp
index cbfb469a72fa2..e5a59692983ca 100644
--- a/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp
+++ b/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp
@@ -14,8 +14,6 @@
 
 #include "ad_service_state_monitor/ad_service_state_monitor_node.hpp"
 
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-
 #include <deque>
 #include <memory>
 #include <string>
diff --git a/system/ad_service_state_monitor/src/ad_service_state_monitor_node/diagnostics.cpp b/system/ad_service_state_monitor/src/ad_service_state_monitor_node/diagnostics.cpp
index 4d5fe4a77742b..e20841fd48890 100644
--- a/system/ad_service_state_monitor/src/ad_service_state_monitor_node/diagnostics.cpp
+++ b/system/ad_service_state_monitor/src/ad_service_state_monitor_node/diagnostics.cpp
@@ -14,8 +14,6 @@
 
 #include "ad_service_state_monitor/ad_service_state_monitor_node.hpp"
 
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-
 #include <string>
 #include <vector>
 
diff --git a/system/ad_service_state_monitor/src/ad_service_state_monitor_node/state_machine.cpp b/system/ad_service_state_monitor/src/ad_service_state_monitor_node/state_machine.cpp
index 062f8b92e1cf8..a0b4511cce13f 100644
--- a/system/ad_service_state_monitor/src/ad_service_state_monitor_node/state_machine.cpp
+++ b/system/ad_service_state_monitor/src/ad_service_state_monitor_node/state_machine.cpp
@@ -12,13 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "ad_service_state_monitor/state_machine.hpp"
+
 #include <deque>
 #include <vector>
 
-#define FMT_HEADER_ONLY
-#include "ad_service_state_monitor/state_machine.hpp"
-
+#define FMT_HEADER_ONLY  // NOLINT
 #include <fmt/format.h>
+#include <tf2/utils.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
 
 namespace
 {