fix: modify build error of point cloud filters in rolling (tier4#804)

* fix(pointcloud_preprocessor): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix(ground_segmentation): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix(compare_map_segmentation): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix(occupancy_grid_map_outlier_filter): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix(euclidean_cluster): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix(detection_by_tracker): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

perception/compare_map_segmentation/include/compare_map_segmentation/compare_elevation_map_filter_node.hpp

@@ -53,7 +53,7 @@ class CompareElevationMapFilterComponent : public pointcloud_preprocessor::Filte
   void elevationMapCallback(const grid_map_msgs::msg::GridMap::ConstSharedPtr elevation_map);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit CompareElevationMapFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace compare_map_segmentation

perception/compare_map_segmentation/include/compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp

@@ -45,7 +45,7 @@ class DistanceBasedCompareMapFilterComponent : public pointcloud_preprocessor::F
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit DistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace compare_map_segmentation

perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp

@@ -47,7 +47,7 @@ class VoxelBasedApproximateCompareMapFilterComponent : public pointcloud_preproc
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelBasedApproximateCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace compare_map_segmentation

perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp

@@ -51,7 +51,7 @@ class VoxelBasedCompareMapFilterComponent : public pointcloud_preprocessor::Filt
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace compare_map_segmentation

perception/compare_map_segmentation/include/compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp

@@ -49,7 +49,7 @@ class VoxelDistanceBasedCompareMapFilterComponent : public pointcloud_preprocess
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelDistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace compare_map_segmentation

perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp

@@ -63,7 +63,7 @@ void DistanceBasedCompareMapFilterComponent::input_target_callback(const PointCl
 {
   pcl::PointCloud<pcl::PointXYZ> map_pcl;
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
-  const auto map_pcl_ptr = boost::make_shared<const pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
+  const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
 
   boost::mutex::scoped_lock lock(mutex_);
   map_ptr_ = map_pcl_ptr;

perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp

@@ -72,7 +72,7 @@ void VoxelBasedApproximateCompareMapFilterComponent::input_target_callback(
 {
   pcl::PointCloud<pcl::PointXYZ> map_pcl;
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
-  const auto map_pcl_ptr = boost::make_shared<const pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
+  const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
 
   boost::mutex::scoped_lock lock(mutex_);
   set_map_in_voxel_grid_ = true;

perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp

@@ -239,7 +239,7 @@ void VoxelBasedCompareMapFilterComponent::input_target_callback(const PointCloud
 {
   pcl::PointCloud<pcl::PointXYZ> map_pcl;
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
-  const auto map_pcl_ptr = boost::make_shared<const pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
+  const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
 
   boost::mutex::scoped_lock lock(mutex_);
   set_map_in_voxel_grid_ = true;

perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp

@@ -74,7 +74,7 @@ void VoxelDistanceBasedCompareMapFilterComponent::input_target_callback(
 {
   pcl::PointCloud<pcl::PointXYZ> map_pcl;
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
-  const auto map_pcl_ptr = boost::make_shared<const pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
+  const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
 
   boost::mutex::scoped_lock lock(mutex_);
   tf_input_frame_ = map_pcl_ptr->header.frame_id;

perception/detection_by_tracker/CMakeLists.txt

@@ -20,7 +20,7 @@ endif()
 find_package(ament_cmake_auto REQUIRED)
 
 ### Find PCL Dependencies
-find_package(PCL REQUIRED QUIET COMPONENTS common search filters segmentation)
+find_package(PCL REQUIRED)
 
 ### Find Eigen Dependencies
 find_package(eigen3_cmake_module REQUIRED)

perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp

@@ -31,7 +31,13 @@
 #include <tf2/LinearMath/Transform.h>
 #include <tf2/convert.h>
 #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/buffer.h>
 #include <tf2_ros/transform_listener.h>
 

perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp

@@ -33,7 +33,13 @@
 #include <tf2/LinearMath/Transform.h>
 #include <tf2/convert.h>
 #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/buffer.h>
 #include <tf2_ros/transform_listener.h>
 

perception/euclidean_cluster/CMakeLists.txt

@@ -9,7 +9,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake_auto REQUIRED)
-find_package(PCL REQUIRED QUIET COMPONENTS common search filters segmentation)
+find_package(PCL REQUIRED)
 ament_auto_find_build_dependencies()
 
 

perception/ground_segmentation/CMakeLists.txt

@@ -32,11 +32,12 @@ ament_auto_find_build_dependencies()
 
 include_directories(
   include
-  ${Boost_INCLUDE_DIRS}
-  ${PCL_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
-  ${OpenCV_INCLUDE_DIRS}
-  ${GRID_MAP_INCLUDE_DIR}
+  SYSTEM
+    ${Boost_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+    ${GRID_MAP_INCLUDE_DIR}
 )
 
 ament_auto_add_library(ground_segmentation SHARED

perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp

@@ -25,7 +25,13 @@
 #include <pcl/segmentation/sac_segmentation.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <tf2/transform_datatypes.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
+
 #include <tf2_ros/transform_listener.h>
 
 #include <chrono>

perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp

@@ -51,7 +51,13 @@
 #include <pcl/filters/voxel_grid.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <tf2/transform_datatypes.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
+
 #include <tf2_ros/transform_listener.h>
 
 #include <chrono>

perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp

@@ -25,7 +25,13 @@
 #include <pcl/filters/voxel_grid.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <tf2/transform_datatypes.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
+
 #include <tf2_ros/transform_listener.h>
 
 #include <string>

perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp

@@ -17,7 +17,6 @@
 #include <pcl_ros/transforms.hpp>
 
 #include <pcl/common/centroid.h>
-#include <tf2_eigen/tf2_eigen.h>
 
 #include <limits>
 #include <random>
@@ -187,7 +186,7 @@ void RANSACGroundFilterComponent::extractPointsIndices(
 {
   pcl::ExtractIndices<PointType> extract_ground;
   extract_ground.setInputCloud(in_cloud_ptr);
-  extract_ground.setIndices(boost::make_shared<pcl::PointIndices>(in_indices));
+  extract_ground.setIndices(pcl::make_shared<pcl::PointIndices>(in_indices));
 
   extract_ground.setNegative(false);  // true removes the indices, false leaves only the indices
   extract_ground.filter(*out_only_indices_cloud_ptr);

perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp

@@ -297,7 +297,7 @@ void RayGroundFilterComponent::ExtractPointsIndices(
 {
   pcl::ExtractIndices<PointType_> extract_ground;
   extract_ground.setInputCloud(in_cloud_ptr);
-  extract_ground.setIndices(boost::make_shared<pcl::PointIndices>(in_indices));
+  extract_ground.setIndices(pcl::make_shared<pcl::PointIndices>(in_indices));
 
   extract_ground.setNegative(false);  // true removes the indices, false leaves only the indices
   extract_ground.filter(*out_only_indices_cloud_ptr);

perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp

@@ -31,6 +31,7 @@
 #include <message_filters/synchronizer.h>
 #include <pcl/filters/extract_indices.h>
 #include <pcl/filters/radius_outlier_removal.h>
+#include <pcl/search/kdtree.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/message_filter.h>
 #include <tf2_ros/transform_listener.h>

perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp

@@ -21,7 +21,12 @@
 
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
 
 #include <algorithm>
 #include <memory>
@@ -103,7 +108,7 @@ RadiusSearch2dfilter::RadiusSearch2dfilter(rclcpp::Node & node)
     node.declare_parameter("radius_search_2d_filter.min_points_and_distance_ratio", 400.0f);
   min_points_ = node.declare_parameter("radius_search_2d_filter.min_points", 4);
   max_points_ = node.declare_parameter("radius_search_2d_filter.max_points", 70);
-  kd_tree_ = boost::make_shared<pcl::search::KdTree<pcl::PointXY>>(false);
+  kd_tree_ = pcl::make_shared<pcl::search::KdTree<pcl::PointXY>>(false);
 }
 
 void RadiusSearch2dfilter::filter(

sensing/pointcloud_preprocessor/CMakeLists.txt

@@ -73,6 +73,13 @@ if(OPENMP_FOUND)
   )
 endif()
 
+# 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(pointcloud_preprocessor_filter PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 # ========== Concatenate data ==========
 rclcpp_components_register_node(pointcloud_preprocessor_filter
   PLUGIN "pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent"

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp

@@ -71,7 +71,7 @@ class BlockageDiagComponent : public pointcloud_preprocessor::Filter
   std::string lidar_model_;
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit BlockageDiagComponent(const rclcpp::NodeOptions & options);
 };
 

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_data_nodelet.hpp

@@ -159,7 +159,8 @@ class PointCloudConcatenateDataSynchronizerComponent : public rclcpp::Node
     sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr);
   void setPeriod(const int64_t new_period);
   void cloud_callback(
-    const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, const std::string & topic_name);
+    const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_ptr,
+    const std::string & topic_name);
   void twist_callback(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr input);
   void timer_callback();
 

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp

@@ -92,7 +92,7 @@ class CropBoxFilterComponent : public pointcloud_preprocessor::Filter
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit CropBoxFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp

@@ -23,7 +23,13 @@
 
 #include <tf2/convert.h>
 #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/buffer.h>
 #include <tf2_ros/transform_listener.h>
 

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp

@@ -77,7 +77,7 @@ class ApproximateDownsampleFilterComponent : public pointcloud_preprocessor::Fil
   double voxel_size_z_;
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit ApproximateDownsampleFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp

@@ -75,7 +75,7 @@ class RandomDownsampleFilterComponent : public pointcloud_preprocessor::Filter
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit RandomDownsampleFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp

@@ -78,7 +78,7 @@ class VoxelGridDownsampleFilterComponent : public pointcloud_preprocessor::Filte
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelGridDownsampleFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp

@@ -124,6 +124,7 @@ class Filter : public rclcpp::Node
   using ApproximateTimeSyncPolicy =
     message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices>>;
 
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit Filter(
     const std::string & filter_name = "pointcloud_preprocessor_filter",
     const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
@@ -264,9 +265,6 @@ class Filter : public rclcpp::Node
   void input_indices_callback(const PointCloud2ConstPtr cloud, const PointIndicesConstPtr indices);
 
   void setupTF();
-
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 }  // namespace pointcloud_preprocessor
 

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp

@@ -84,7 +84,7 @@ class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter
   float max_distance_;
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit DualReturnOutlierFilterComponent(const rclcpp::NodeOptions & options);
 };
 

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp

@@ -49,7 +49,7 @@ class RadiusSearch2DOutlierFilterComponent : public pointcloud_preprocessor::Fil
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit RadiusSearch2DOutlierFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp

@@ -61,6 +61,7 @@ class RingOutlierFilterComponent : public pointcloud_preprocessor::Filter
   }
 
 public:
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit RingOutlierFilterComponent(const rclcpp::NodeOptions & options);
 };
 

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp

@@ -45,7 +45,7 @@ class VoxelGridOutlierFilterComponent : public pointcloud_preprocessor::Filter
   pcl::VoxelGrid<pcl::PointXYZ> voxel_filter;
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelGridOutlierFilterComponent(const rclcpp::NodeOptions & option);
 };
 }  // namespace pointcloud_preprocessor

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp

@@ -72,7 +72,7 @@ class PassThroughFilterComponent : public pointcloud_preprocessor::Filter
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit PassThroughFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp

@@ -40,7 +40,7 @@ class PassThroughFilterUInt16Component : public pointcloud_preprocessor::Filter
   pcl::PassThroughUInt16<pcl::PCLPointCloud2> impl_;
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit PassThroughFilterUInt16Component(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor