compilation error with pcl 1.13

[samsdolphin]

Hi developers, do you have a plan for supporting pcl 1.13? I'm testing with ubuntu 20.04 and ros noetic, this ros driver couldn't be compiled with following errors:

In file included from /usr/include/pcl-1.13/pcl/point_cloud.h:50,
from /opt/ros/noetic/include/pcl_ros/point_cloud.h:5,
from /home/sam/catkin_ws/src/livox_ros_driver/livox_ros_driver/livox_ros_driver/lddc.h:32,
from /home/sam/catkin_ws/src/livox_ros_driver/livox_ros_driver/livox_ros_driver/lddc.cpp:25:
/usr/include/pcl-1.13/pcl/point_traits.h:41:1: note: #pragma message: This header is deprecated. Use <pcl/type_traits.h> instead. (It will be removed in PCL 1.15)
41 | PCL_DEPRECATED_HEADER(1, 15, "Use <pcl/type_traits.h> instead.")
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.13/pcl/point_traits.h:41:1: note: #pragma message: This header is deprecated. Use <pcl/type_traits.h> instead. (It will be removed in PCL 1.15)
/usr/include/pcl-1.13/pcl/point_traits.h:41:1: note: #pragma message: This header is deprecated. Use <pcl/type_traits.h> instead. (It will be removed in PCL 1.15)
/usr/include/pcl-1.13/pcl/point_traits.h:41:1: note: #pragma message: This header is deprecated. Use <pcl/type_traits.h> instead. (It will be removed in PCL 1.15)
In file included from /opt/ros/noetic/include/ros/serialization.h:37,
from /opt/ros/noetic/include/ros/publisher.h:34,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/sam/catkin_ws/src/livox_ros_driver/livox_ros_driver/livox_ros_driver/lddc.h:30,
from /home/sam/catkin_ws/src/livox_ros_driver/livox_ros_driver/livox_ros_driver/lddc.cpp:25:
/opt/ros/noetic/include/ros/message_traits.h: In instantiation of ‘static const char* ros::message_traits::MD5Sum::value(const M&) [with M = std::shared_ptr<pcl::PointCloudpcl::PointXYZI >]’:
/opt/ros/noetic/include/ros/message_traits.h:254:102: required from ‘const char* ros::message_traits::md5sum(const M&) [with M = std::shared_ptr<pcl::PointCloudpcl::PointXYZI >]’
/opt/ros/noetic/include/ros/publisher.h:117:38: required from ‘void ros::Publisher::publish(const M&) const [with M = std::shared_ptr<pcl::PointCloudpcl::PointXYZI >]’
/home/sam/catkin_ws/src/livox_ros_driver/livox_ros_driver/livox_ros_driver/lddc.cpp:343:31: required from here
/opt/ros/noetic/include/ros/message_traits.h:125:14: error: ‘const class std::shared_ptr<pcl::PointCloudpcl::PointXYZI >’ has no member named ‘__getMD5Sum’
125 | return m.__getMD5Sum().c_str();

[Maltiec]

you should change this string in ldcc.cpp:
p_publisher->publish(cloud);
to:
p_publisher->publish(*cloud);

and
if (bag_ && enable_lidar_bag_) { bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0), cloud); }
to:
if (bag_ && enable_lidar_bag_) { bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0), *cloud); }