From e30b11c2a739bd95904d0641705bfbcb60960e9a Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 26 Jun 2024 20:12:25 -0700
Subject: [PATCH] Fixed cv_bridge.h build error on ros2 jazzy

---
 CMakeLists.txt                           | 4 ++++
 src/ros2/CameraROS.h                     | 4 ++++
 src/ros2/FindObjectROS.h                 | 4 ++++
 src/ros2/print_objects_detected_node.cpp | 4 ++++
 4 files changed, 16 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index aee5023..5611fd8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -453,6 +453,10 @@ ELSE() # COLCON_BUILD
       DEPENDENCIES std_msgs sensor_msgs
    )
    ament_export_dependencies(rosidl_default_runtime)
+   
+   IF("$ENV{ROS_DISTRO}" STRLESS "iron")
+      add_definitions(-DPRE_ROS_IRON)
+   ENDIF()
 
    ###########
    ## Build ##
diff --git a/src/ros2/CameraROS.h b/src/ros2/CameraROS.h
index c9e0f2c..39fae5a 100644
--- a/src/ros2/CameraROS.h
+++ b/src/ros2/CameraROS.h
@@ -29,7 +29,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define CAMERAROS_H_
 
 #include <rclcpp/rclcpp.hpp>
+#ifdef PRE_ROS_IRON
 #include <cv_bridge/cv_bridge.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#endif
 
 #include <message_filters/subscriber.h>
 #include <message_filters/synchronizer.h>
diff --git a/src/ros2/FindObjectROS.h b/src/ros2/FindObjectROS.h
index 73c3fc8..844b28e 100644
--- a/src/ros2/FindObjectROS.h
+++ b/src/ros2/FindObjectROS.h
@@ -29,7 +29,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define FINDOBJECTROS_H_
 
 #include <rclcpp/rclcpp.hpp>
+#ifdef PRE_ROS_IRON
 #include <cv_bridge/cv_bridge.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#endif
 #include <tf2_ros/transform_broadcaster.h>
 #include "find_object/FindObject.h"
 
diff --git a/src/ros2/print_objects_detected_node.cpp b/src/ros2/print_objects_detected_node.cpp
index 7d9cafb..ab805c5 100644
--- a/src/ros2/print_objects_detected_node.cpp
+++ b/src/ros2/print_objects_detected_node.cpp
@@ -31,7 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <message_filters/time_synchronizer.h>
 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>
+#ifdef PRE_ROS_IRON
 #include <cv_bridge/cv_bridge.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#endif
 #include <opencv2/opencv.hpp>
 #include <QTransform>
 #include <QColor>