From b9f8dde44e45510f2d0dd19a3026362d59be2fc7 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Mon, 6 Jun 2022 16:01:48 +0900
Subject: [PATCH] fix humble CI

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 planning/obstacle_cruise_planner/src/node.cpp              | 2 +-
 .../optimization_based_planner.cpp                         | 7 ++++++-
 .../src/optimization_based_planner/resample.cpp            | 2 +-
 3 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/obstacle_cruise_planner/src/node.cpp
index 47fc34c6be8ba..45bab678c98b7 100644
--- a/planning/obstacle_cruise_planner/src/node.cpp
+++ b/planning/obstacle_cruise_planner/src/node.cpp
@@ -200,7 +200,7 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions &
   debug_cruise_wall_marker_pub_ =
     create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/cruise_wall_marker", 1);
   debug_stop_wall_marker_pub_ =
-    create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/stop_wall_marker", 1);
+    create_publisher<visualization_msgs::msg::MarkerArray>("~/virtual_wall", 1);
   debug_marker_pub_ = create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/marker", 1);
 
   // longitudinal_info
diff --git a/planning/obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp b/planning/obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
index 4f5e273f6e230..08806fd0dc43a 100644
--- a/planning/obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
+++ b/planning/obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
@@ -20,8 +20,13 @@
 #include "obstacle_cruise_planner/utils.hpp"
 #include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
-#include <tf2/utils.h>
+#ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
+
+#include <tf2/utils.h>
 
 constexpr double ZERO_VEL_THRESHOLD = 0.01;
 constexpr double CLOSE_S_DIST_THRESHOLD = 1e-3;
diff --git a/planning/obstacle_cruise_planner/src/optimization_based_planner/resample.cpp b/planning/obstacle_cruise_planner/src/optimization_based_planner/resample.cpp
index 4c695c7961f72..a629abca7f0dd 100644
--- a/planning/obstacle_cruise_planner/src/optimization_based_planner/resample.cpp
+++ b/planning/obstacle_cruise_planner/src/optimization_based_planner/resample.cpp
@@ -108,7 +108,7 @@ geometry_msgs::msg::Pose lerpByPose(
     tf2::slerp(tf_transform1.getRotation(), tf_transform2.getRotation(), t);
 
   geometry_msgs::msg::Pose pose;
-  pose.position = toMsg(tf_point);
+  pose.position = ::toMsg(tf_point);
   pose.orientation = tf2::toMsg(tf_quaternion);
   return pose;
 }