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fix(accel_brake_map_calibrator): modify build error in rolling #755

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merged 1 commit into from
Apr 24, 2022
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fix(accel_brake_map_calibrator): modify build error in rolling #755

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7 changes: 7 additions & 0 deletions vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,13 @@ ament_auto_add_executable(accel_brake_map_calibrator
)
ament_target_dependencies(accel_brake_map_calibrator)

# 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(accel_brake_map_calibrator PRIVATE
USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
)
endif()

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
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7 changes: 7 additions & 0 deletions ...ake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
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Expand Up @@ -22,6 +22,13 @@
#include "raw_vehicle_cmd_converter/brake_map.hpp"
#include "rclcpp/rclcpp.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 "tier4_autoware_utils/planning/planning_marker_helper.hpp"
#include "tier4_autoware_utils/ros/transform_listener.hpp"

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1 change: 1 addition & 0 deletions vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml
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Expand Up @@ -16,6 +16,7 @@
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<depend>std_srvs</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
<depend>tier4_debug_msgs</depend>
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4 changes: 2 additions & 2 deletions ...l_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp
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Expand Up @@ -984,7 +984,7 @@ T AccelBrakeMapCalibrator::getNearestTimeDataFromVec(
double nearest_time = std::numeric_limits<double>::max();
const double target_time = rclcpp::Time(base_data->header.stamp).seconds() - back_time;
T nearest_time_data;
for (const auto data : vec) {
for (const auto & data : vec) {
const double data_time = rclcpp::Time(data->header.stamp).seconds();
const auto delta_time = std::abs(target_time - data_time);
if (nearest_time > delta_time) {
Expand All @@ -1001,7 +1001,7 @@ DataStampedPtr AccelBrakeMapCalibrator::getNearestTimeDataFromVec(
double nearest_time = std::numeric_limits<double>::max();
const double target_time = base_data->data_time.seconds() - back_time;
DataStampedPtr nearest_time_data;
for (const auto data : vec) {
for (const auto & data : vec) {
const double data_time = data->data_time.seconds();
const auto delta_time = std::abs(target_time - data_time);
if (nearest_time > delta_time) {
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