fix(freespace_planning_algorithms): modify build error in rolling (ti…

…er4#774) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
boyali · Oct 19, 2022 · a488937 · a488937
1 parent 521eca9
commit a488937
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Showing 2 changed files with 12 additions and 2 deletions.
diff --git a/...reespace_planning_algorithms/include/freespace_planning_algorithms/abstract_algorithm.hpp b/...reespace_planning_algorithms/include/freespace_planning_algorithms/abstract_algorithm.hpp
@@ -19,12 +19,16 @@
 #include <nav_msgs/msg/occupancy_grid.hpp>
 
 #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
 
 #include <vector>
 
-// TODO(wep21): Remove these apis
-//              after they are implemented in ros2 geometry2.
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 namespace tf2
 {
 inline void fromMsg(const geometry_msgs::msg::Point & in, tf2::Vector3 & out)
@@ -48,6 +52,7 @@ inline void doTransform(
   toMsg(v_out, t_out);
 }
 }  // namespace tf2
+#endif
 
 namespace freespace_planning_algorithms
 {

diff --git a/planning/freespace_planning_algorithms/src/astar_search.cpp b/planning/freespace_planning_algorithms/src/astar_search.cpp
@@ -17,7 +17,12 @@
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #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
 
 #include <vector>