fix: apply fixes for rolling (tier4#821)

* fix(component_interface_utils): add USE_DEPRECATED_TO_YAML Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix(lidar_apollo_instance_segmentation): add USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add rclcpp_components to package.xml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali · Oct 19, 2022 · 1c0834c · 1c0834c
1 parent 7cadab3
commit 1c0834c
Show file tree

Hide file tree

Showing 8 changed files with 26 additions and 2 deletions.
diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp b/common/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp
@@ -44,7 +44,9 @@ class Service
     auto wrapped = [logger, callback](
                      typename SpecT::Service::Request::SharedPtr request,
                      typename SpecT::Service::Response::SharedPtr response) {
+#ifdef USE_DEPRECATED_TO_YAML
       using rosidl_generator_traits::to_yaml;
+#endif
       RCLCPP_INFO_STREAM(logger, "service call: " << SpecT::name << "\n" << to_yaml(*request));
       callback(request, response);
       RCLCPP_INFO_STREAM(logger, "service exit: " << SpecT::name << "\n" << to_yaml(*response));

diff --git a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt
@@ -137,6 +137,13 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     src/debugger.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(lidar_apollo_instance_segmentation PRIVATE
+      USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+    )
+  endif()
+
   target_link_libraries(lidar_apollo_instance_segmentation
     tensorrt_apollo_cnn_lib
   )

diff --git a/...idar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/detector.hpp b/...idar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/detector.hpp
@@ -21,7 +21,11 @@
 #include <TrtNet.hpp>
 
 #include <pcl/common/transforms.h>
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
 #include <tf2_ros/buffer_interface.h>
 #include <tf2_ros/transform_listener.h>
 

diff --git a/perception/lidar_apollo_instance_segmentation/package.xml b/perception/lidar_apollo_instance_segmentation/package.xml
@@ -16,6 +16,7 @@
   <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>

diff --git a/perception/lidar_apollo_instance_segmentation/src/cluster2d.cpp b/perception/lidar_apollo_instance_segmentation/src/cluster2d.cpp
@@ -50,7 +50,11 @@
 #include <autoware_auto_perception_msgs/msg/object_classification.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
 
 geometry_msgs::msg::Quaternion getQuaternionFromRPY(const double r, const double p, const double y)
 {

diff --git a/simulator/fault_injection/CMakeLists.txt b/simulator/fault_injection/CMakeLists.txt
@@ -21,6 +21,7 @@ ament_auto_add_library(fault_injection_node_component SHARED
   src/fault_injection_node/fault_injection_node.cpp
 )
 
+# workaround to allow deprecated function to build on both galactic and rolling
 if(${rosidl_generator_cpp_VERSION} VERSION_LESS 2.5.0)
   target_compile_definitions(fault_injection_node_component PRIVATE
     USE_DEPRECATED_TO_YAML

diff --git a/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp b/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp
@@ -39,8 +39,6 @@ namespace fault_injection
 {
 #ifdef USE_DEPRECATED_TO_YAML
 using rosidl_generator_traits::to_yaml;
-#else
-using tier4_simulation_msgs::msg::to_yaml;
 #endif
 
 FaultInjectionNode::FaultInjectionNode(rclcpp::NodeOptions node_options)

diff --git a/system/default_ad_api/CMakeLists.txt b/system/default_ad_api/CMakeLists.txt
@@ -18,6 +18,13 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/interface_version.cpp
 )
 
+# workaround to allow deprecated function to build on both galactic and rolling
+if(${rosidl_generator_cpp_VERSION} VERSION_LESS 2.5.0)
+  target_compile_definitions(${PROJECT_NAME} PRIVATE
+    USE_DEPRECATED_TO_YAML
+  )
+endif()
+
 rclcpp_components_register_nodes(${PROJECT_NAME} "default_ad_api::InterfaceVersionNode")
 
 if(BUILD_TESTING)