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fix(freespace_planning_algorithms): modify build error in rolling #774

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merged 1 commit into from
Apr 24, 2022
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fix(freespace_planning_algorithms): modify build error in rolling #774

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9 changes: 7 additions & 2 deletions ...reespace_planning_algorithms/include/freespace_planning_algorithms/abstract_algorithm.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,12 +19,16 @@
#include <nav_msgs/msg/occupancy_grid.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 <vector>

// TODO(wep21): Remove these apis
// after they are implemented in ros2 geometry2.
#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
namespace tf2
{
inline void fromMsg(const geometry_msgs::msg::Point & in, tf2::Vector3 & out)
Expand All @@ -48,6 +52,7 @@ inline void doTransform(
toMsg(v_out, t_out);
}
} // namespace tf2
#endif

namespace freespace_planning_algorithms
{
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5 changes: 5 additions & 0 deletions planning/freespace_planning_algorithms/src/astar_search.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,12 @@
#include <tier4_autoware_utils/tier4_autoware_utils.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 <vector>

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