fix(ad_service_state_monitor): modify build error in rolling (#716)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
tier4 · Dec 20, 2022 · 05c54e0 · 05c54e0
1 parent 43125ee
commit 05c54e0
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Showing 5 changed files with 17 additions and 9 deletions.
diff --git a/system/ad_service_state_monitor/CMakeLists.txt b/system/ad_service_state_monitor/CMakeLists.txt
@@ -33,6 +33,13 @@ ament_auto_add_executable(ad_service_state_monitor
 
 target_link_libraries(ad_service_state_monitor glog)
 
+# 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
@@ -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/...service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp b/...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
@@ -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
@@ -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
 {