fix(shape_estimaion): modify build error in rolling (tier4#802)

* fix(shape_estimaion): 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>
boyali · Oct 3, 2022 · f764e74 · f764e74
1 parent 5c5f773
commit f764e74
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diff --git a/perception/shape_estimation/CMakeLists.txt b/perception/shape_estimation/CMakeLists.txt
@@ -45,6 +45,11 @@ ament_auto_add_library(shape_estimation_lib SHARED
 
 ament_target_dependencies(shape_estimation_lib ${SHAPE_ESTIMATION_DEPENDENCIES})
 
+target_include_directories(shape_estimation_lib
+  SYSTEM PUBLIC
+    "${PCL_INCLUDE_DIRS}"
+)
+
 # workaround to allow deprecated header to build on both galactic and rolling
 if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
   target_compile_definitions(shape_estimation_lib PUBLIC

diff --git a/perception/shape_estimation/lib/corrector/utils.cpp b/perception/shape_estimation/lib/corrector/utils.cpp
@@ -17,8 +17,15 @@
 #include <tf2/LinearMath/Matrix3x3.h>
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/utils.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 #include <algorithm>
 #include <vector>

diff --git a/perception/shape_estimation/lib/model/bounding_box.cpp b/perception/shape_estimation/lib/model/bounding_box.cpp
@@ -24,7 +24,12 @@
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <tf2/LinearMath/Quaternion.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 <algorithm>
 #include <cmath>

diff --git a/perception/shape_estimation/src/node.cpp b/perception/shape_estimation/src/node.cpp
@@ -22,7 +22,12 @@
 #include <tf2/LinearMath/Matrix3x3.h>
 #include <tf2/LinearMath/Quaternion.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
 
 #include <memory>