fix(autoware_auto_tf2): modify build error in rolling

common/autoware_auto_common/CMakeLists.txt

@@ -48,20 +48,25 @@ if(BUILD_TESTING)
   # Unit tests
   set(TEST_COMMON test_common_gtest)
   ament_add_gtest(${TEST_COMMON}
-          test/gtest_main.cpp
-          test/test_bool_comparisons.cpp
-          test/test_byte_reader.cpp
-          test/test_float_comparisons.cpp
-          test/test_mahalanobis_distance.cpp
-          test/test_message_field_adapters.cpp
-          test/test_template_utils.cpp
-          test/test_angle_utils.cpp
-          test/test_type_name.cpp
-          test/test_type_traits.cpp)
+    test/gtest_main.cpp
+    test/test_bool_comparisons.cpp
+    test/test_byte_reader.cpp
+    test/test_float_comparisons.cpp
+    test/test_mahalanobis_distance.cpp
+    test/test_message_field_adapters.cpp
+    test/test_template_utils.cpp
+    test/test_angle_utils.cpp
+    test/test_type_name.cpp
+    test/test_type_traits.cpp
+  )
   autoware_set_compile_options(${TEST_COMMON})
   target_compile_options(${TEST_COMMON} PRIVATE -Wno-sign-conversion)
   target_include_directories(${TEST_COMMON} PRIVATE include)
-  ament_target_dependencies(${TEST_COMMON} builtin_interfaces Eigen3)
+  ament_target_dependencies(${TEST_COMMON}
+    builtin_interfaces
+    Eigen3
+    geometry_msgs
+  )
 endif()
 
 # Ament Exporting

common/autoware_auto_common/package.xml

@@ -10,12 +10,13 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_auto_cmake</buildtool_depend>
 
-  <build_depend>builtin_interfaces</build_depend>
-  <build_depend>eigen</build_depend>
+  <depend>builtin_interfaces</depend>
+  <depend>eigen</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
+  <test_depend>geometry_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

common/autoware_auto_geometry/CMakeLists.txt

@@ -31,6 +31,13 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/bounding_box.cpp)
 autoware_set_compile_options(${PROJECT_NAME})
 
+# workaround to allow deprecated header to build on both galactic and rolling
+if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+  target_compile_definitions(${PROJECT_NAME} PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 if(BUILD_TESTING)
   # run linters
   find_package(ament_lint_auto REQUIRED)

common/autoware_auto_tf2/CMakeLists.txt

@@ -30,6 +30,12 @@ if(BUILD_TESTING)
   # Unit test
   ament_add_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp)
   autoware_set_compile_options(test_tf2_autoware_auto_msgs)
+  # 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(test_tf2_autoware_auto_msgs PRIVATE
+      USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+    )
+  endif()
   target_include_directories(test_tf2_autoware_auto_msgs PRIVATE "include")
   ament_target_dependencies(test_tf2_autoware_auto_msgs
     "autoware_auto_common"
@@ -39,8 +45,9 @@ if(BUILD_TESTING)
     "geometry_msgs"
     "orocos_kdl"
     "tf2"
+    "tf2_geometry_msgs"
     "tf2_ros"
-)
+  )
 endif()
 
 ament_auto_package()

common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp

@@ -29,7 +29,12 @@
 
 #include <tf2/convert.h>
 #include <tf2/time.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 <string>
 

common/autoware_auto_tf2/package.xml

@@ -17,6 +17,7 @@
   <depend>geometry_msgs</depend>
   <depend>orocos_kdl</depend>
   <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>

common/autoware_auto_tf2/test/test_tf2_autoware_auto_msgs.cpp

@@ -18,7 +18,6 @@
 #include <rclcpp/clock.hpp>
 
 #include <gtest/gtest.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 

common/motion_common/CMakeLists.txt

@@ -15,6 +15,13 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 autoware_set_compile_options(${PROJECT_NAME})
 
+# workaround to allow deprecated header to build on both galactic and rolling
+if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+  target_compile_definitions(${PROJECT_NAME} PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 ### Test
 if(BUILD_TESTING)
   # Linters

common/motion_common/include/motion_common/motion_common.hpp

@@ -26,7 +26,12 @@
 
 #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 <algorithm>
 #include <cmath>

common/motion_common/src/motion_common/motion_common.cpp

@@ -17,8 +17,6 @@
 #include "helper_functions/angle_utils.hpp"
 #include "tf2/utils.h"
 
-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
-
 #include <algorithm>
 #include <cmath>
 #include <limits>

common/motion_testing/CMakeLists.txt

@@ -10,6 +10,13 @@ ament_auto_find_build_dependencies()
 ament_auto_add_library(${PROJECT_NAME} SHARED src/motion_testing/motion_testing.cpp)
 autoware_set_compile_options(${PROJECT_NAME})
 
+# workaround to allow deprecated header to build on both galactic and rolling
+if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+  target_compile_definitions(${PROJECT_NAME} PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 ### Test
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

common/motion_testing/src/motion_testing/motion_testing.cpp

@@ -18,7 +18,12 @@
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/convert.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 <limits>
 

simulator/simple_planning_simulator/CMakeLists.txt

@@ -25,6 +25,12 @@ autoware_set_compile_options(${PROJECT_NAME})
 
 target_compile_options(${PROJECT_NAME} PRIVATE -Wno-old-style-cast) # RCLCPP_ERROR_THROTTLE() has built-in old-style casts.
 
+# workaround to allow deprecated header to build on both galactic and rolling
+if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+  target_compile_definitions(${PROJECT_NAME} PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
 
 # Node executable
 rclcpp_components_register_node(${PROJECT_NAME}
@@ -46,6 +52,13 @@ if(BUILD_TESTING)
   target_link_libraries(test_simple_planning_simulator
     ${PROJECT_NAME}
   )
+
+  # workaround to allow deprecated header to build on both galactic and rolling
+  if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+    target_compile_definitions(test_simple_planning_simulator PRIVATE
+      USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+    )
+  endif()
 endif()
 
 

simulator/simple_planning_simulator/package.xml

@@ -19,7 +19,9 @@
   <depend>motion_common</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_api_utils</depend>
   <depend>tier4_autoware_utils</depend>

simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp

@@ -16,6 +16,12 @@
 #include "simple_planning_simulator/simple_planning_simulator_core.hpp"
 #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>
 
 using autoware_auto_control_msgs::msg::AckermannControlCommand;