fix: suppress compiler warnings

common/goal_distance_calculator/src/goal_distance_calculator_node.cpp

@@ -29,7 +29,7 @@
 namespace goal_distance_calculator
 {
 GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions & options)
-: Node("goal_distance_calculator"),
+: Node("goal_distance_calculator", options),
   self_pose_listener_(this),
   debug_publisher_(this, "goal_distance_calculator")
 {

common/tier4_planning_rviz_plugin/CMakeLists.txt

@@ -45,6 +45,13 @@ target_link_libraries(tier4_planning_rviz_plugin
   ${QT_LIBRARIES}
 )
 
+# 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(tier4_planning_rviz_plugin PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 # Export the plugin to be imported by rviz2
 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
 

common/tier4_planning_rviz_plugin/src/mission_checkpoint/mission_checkpoint.cpp

@@ -47,7 +47,11 @@
 
 #include <mission_checkpoint/mission_checkpoint.hpp>
 
+#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 <tf2_ros/transform_listener.h>
 
 #include <string>

common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp

@@ -130,7 +130,7 @@ void SteeringAngleDisplay::update(float wall_dt, float ros_dt)
   // ((property_handle_angle_scale_->getFloat() * (msg_ptr->data / M_PI) * -180.0));
   int handle_image_width = handle_image_.width(), handle_image_height = handle_image_.height();
   QPixmap rotate_handle_image;
-  rotate_handle_image = handle_image_.transformed(rotation_matrix);
+  rotate_handle_image = handle_image_.transformed(QTransform(rotation_matrix));
   rotate_handle_image = rotate_handle_image.copy(
     (rotate_handle_image.width() - handle_image_width) / 2,
     (rotate_handle_image.height() - handle_image_height) / 2, handle_image_width,

localization/gyro_odometer/CMakeLists.txt

@@ -25,6 +25,13 @@ ament_auto_add_executable(${PROJECT_NAME}
   ${GYRO_ODOMETER_HEADERS}
 )
 
+# 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)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp

@@ -22,7 +22,11 @@
 #include <sensor_msgs/msg/imu.hpp>
 
 #include <tf2/transform_datatypes.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 <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 

localization/gyro_odometer/src/gyro_odometer_core.cpp

@@ -14,7 +14,11 @@
 
 #include "gyro_odometer/gyro_odometer_core.hpp"
 
+#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 <cmath>
 #include <memory>

localization/localization_error_monitor/CMakeLists.txt

@@ -23,6 +23,13 @@ ament_auto_add_executable(localization_error_monitor
   src/node.cpp
 )
 
+# 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(localization_error_monitor PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

localization/localization_error_monitor/src/node.cpp

@@ -17,7 +17,11 @@
 #include <Eigen/Dense>
 
 #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>

localization/pose2twist/CMakeLists.txt

@@ -15,6 +15,13 @@ ament_auto_add_executable(pose2twist
   src/pose2twist_core.cpp
 )
 
+# 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(pose2twist PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

localization/pose2twist/src/pose2twist_core.cpp

@@ -14,7 +14,11 @@
 
 #include "pose2twist/pose2twist_core.hpp"
 
+#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 <cmath>
 #include <cstddef>

localization/pose_initializer/CMakeLists.txt

@@ -22,6 +22,13 @@ ament_auto_add_executable(pose_initializer
 )
 target_link_libraries(pose_initializer ${PCL_LIBRARIES})
 
+# 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(pose_initializer PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

localization/pose_initializer/src/pose_initializer_core.cpp

@@ -15,7 +15,11 @@
 #include "pose_initializer/pose_initializer_core.hpp"
 
 #include <pcl_conversions/pcl_conversions.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 <chrono>
@@ -188,7 +192,7 @@ bool PoseInitializer::getHeight(
     input_pose_msg.pose.pose.position.z);
 
   if (map_ptr_) {
-    tf2::Transform transform;
+    tf2::Transform transform{tf2::Quaternion{}, tf2::Vector3{}};
     try {
       const auto stamped = tf2_buffer_.lookupTransform(map_frame_, fixed_frame, tf2::TimePointZero);
       tf2::fromMsg(stamped.transform, transform);

perception/image_projection_based_fusion/CMakeLists.txt

@@ -35,6 +35,13 @@ target_link_libraries(${PROJECT_NAME}
   ${EIGEN3_LIBRARIES}
 )
 
+# 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()
+
 rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN "image_projection_based_fusion::RoiClusterFusionNode"
   EXECUTABLE roi_cluster_fusion_node

perception/image_projection_based_fusion/include/image_projection_based_fusion/utils/utils.hpp

@@ -21,9 +21,16 @@
 #include <Eigen/Geometry>
 #include <rclcpp/rclcpp.hpp>
 
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <tf2_sensor_msgs/tf2_sensor_msgs.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#include <tf2_sensor_msgs/tf2_sensor_msgs.hpp>
+#endif
 
 #include <optional>
 #include <string>

perception/image_projection_based_fusion/src/fusion_node.cpp

@@ -23,8 +23,14 @@
 
 #include <boost/optional.hpp>
 
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 namespace image_projection_based_fusion
 {

perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp

@@ -20,8 +20,13 @@
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <tf2_sensor_msgs/tf2_sensor_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#include <tf2_sensor_msgs/tf2_sensor_msgs.hpp>
+#endif
 
 namespace image_projection_based_fusion
 {

perception/lidar_apollo_instance_segmentation/CMakeLists.txt

@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 3.5)
 project(lidar_apollo_instance_segmentation)
 
+# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850)
+add_compile_options(-Wno-deprecated-declarations)
+
 option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF)
 
 # set flags for CUDA availability

perception/lidar_centerpoint/CMakeLists.txt

@@ -10,7 +10,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(CUDA_VERBOSE OFF)
+# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850)
+add_compile_options(-Wno-deprecated-declarations -Wno-unknown-pragmas)
+
+option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF)
 
 # set flags for CUDA availability
 option(CUDA_AVAIL "CUDA available" OFF)
@@ -147,6 +150,13 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     centerpoint_cuda_libraries
   )
 
+  # 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(centerpoint PRIVATE
+      USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+    )
+  endif()
+
   ## node ##
   ament_auto_add_library(lidar_centerpoint_component SHARED
     src/node.cpp

perception/lidar_centerpoint/lib/include/pointcloud_densification.hpp

@@ -17,7 +17,11 @@
 
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_sensor_msgs/tf2_sensor_msgs.h>
+#else
+#include <tf2_sensor_msgs/tf2_sensor_msgs.hpp>
+#endif
 
 #include <list>
 #include <string>

perception/lidar_centerpoint/lib/src/pointcloud_densification.cpp

@@ -18,7 +18,11 @@
 #include <boost/optional.hpp>
 
 #include <pcl_conversions/pcl_conversions.h>
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
 
 #include <string>
 #include <utility>

perception/lidar_centerpoint/src/node.cpp

@@ -21,7 +21,11 @@
 #include <tier4_autoware_utils/math/constants.hpp>
 #include <utils.hpp>
 
+#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>
 #include <string>

perception/tensorrt_yolo/CMakeLists.txt

@@ -10,6 +10,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wno-deprecated-declarations -Werror)
 endif()
 
+# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850)
+add_compile_options(-Wno-deprecated-declarations)
+
 option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF)
 
 find_package(ament_cmake_auto REQUIRED)

perception/traffic_light_classifier/CMakeLists.txt

@@ -8,6 +8,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wno-deprecated-declarations -Werror)
 endif()
 
+# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850)
+add_compile_options(-Wno-deprecated-declarations)
+
 option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF)
 # set flags for CUDA availability
 option(CUDA_AVAIL "CUDA available" OFF)

perception/traffic_light_ssd_fine_detector/CMakeLists.txt

@@ -11,6 +11,9 @@ endif()
 
 project(traffic_light_ssd_fine_detector)
 
+# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850)
+add_compile_options(-Wno-deprecated-declarations)
+
 option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF)
 
 find_package(ament_cmake_auto REQUIRED)

planning/costmap_generator/CMakeLists.txt

@@ -18,6 +18,7 @@ ament_auto_find_build_dependencies()
 
 include_directories(
   include
+  SYSTEM
   ${GRID_MAP_INCLUDE_DIR}
   ${PCL_COMMON_INCLUDE_DIRS}
   ${PCL_INCLUDE_DIRS}
@@ -40,6 +41,13 @@ if(${PCL_VERSION} GREATER_EQUAL 1.12.1)
   )
 endif()
 
+# 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(costmap_generator_lib PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 ament_auto_add_library(costmap_generator_node SHARED
   nodes/costmap_generator/costmap_generator_node.cpp
 )
@@ -48,6 +56,13 @@ target_link_libraries(costmap_generator_node
   costmap_generator_lib
 )
 
+# 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(costmap_generator_node PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 rclcpp_components_register_node(costmap_generator_node
   PLUGIN "CostmapGenerator"
   EXECUTABLE costmap_generator

planning/costmap_generator/include/costmap_generator/costmap_generator.hpp

@@ -60,7 +60,11 @@
 #include <grid_map_msgs/msg/grid_map.h>
 #include <message_filters/subscriber.h>
 #include <message_filters/time_synchronizer.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 <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 

planning/costmap_generator/include/costmap_generator/object_map_utils.hpp

@@ -39,7 +39,11 @@
 
 #include <grid_map_msgs/msg/grid_map.hpp>
 
+#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 <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>