fix(behavior_path_planner): modify build error in rolling (#756)

* fix(behavior_path_planner): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Apr 24, 2022 · ca720a3 · ca720a3
1 parent 091031d
commit ca720a3
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Showing 4 changed files with 15 additions and 2 deletions.
diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt
@@ -36,6 +36,10 @@ ament_auto_add_library(behavior_path_planner_node SHARED
   src/scene_module/pull_out/util.cpp
 )
 
+target_include_directories(behavior_path_planner_node SYSTEM PUBLIC
+  ${EIGEN3_INCLUDE_DIR}
+)
+
 target_link_libraries(behavior_path_planner_node
   ${OpenCV_LIBRARIES}
 )

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp
@@ -45,7 +45,12 @@
 #include <lanelet2_routing/RoutingGraph.h>
 #include <lanelet2_routing/RoutingGraphContainer.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>
 #include <memory>
@@ -69,6 +74,7 @@ inline geometry_msgs::msg::Pose getPose(
 }
 }  // namespace tier4_autoware_utils
 
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 namespace tf2
 {
 inline void fromMsg(const geometry_msgs::msg::PoseStamped & msg, tf2::Stamped<tf2::Transform> & out)
@@ -110,6 +116,7 @@ inline void doTransform(
   toMsg(v_out, t_out);
 }
 }  // namespace tf2
+#endif
 
 namespace behavior_path_planner
 {

diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -52,7 +52,9 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
   perception_subscriber_ = create_subscription<PredictedObjects>(
     "~/input/perception", 1, std::bind(&BehaviorPathPlannerNode::onPerception, this, _1));
   scenario_subscriber_ = create_subscription<Scenario>(
-    "~/input/scenario", 1, [this](const Scenario::SharedPtr msg) { current_scenario_ = msg; });
+    "~/input/scenario", 1, [this](const Scenario::ConstSharedPtr msg) {
+      current_scenario_ = std::make_shared<Scenario>(*msg);
+    });
   external_approval_subscriber_ = create_subscription<ApprovalMsg>(
     "~/input/external_approval", 1,
     std::bind(&BehaviorPathPlannerNode::onExternalApproval, this, _1));

diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -2449,7 +2449,7 @@ void AvoidanceModule::updateRegisteredObject(const ObjectDataArray & now_objects
   };
 
   // -- check now_objects, add it if it has new object id --
-  for (const auto now_obj : now_objects) {
+  for (const auto & now_obj : now_objects) {
     if (!isAlreadyRegistered(now_obj.object.object_id)) {
       registered_objects_.push_back(now_obj);
     }