From b9b3f5aee87a8ede4d45cbfacf4203d8f525b91b Mon Sep 17 00:00:00 2001
From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Date: Mon, 25 Apr 2022 10:50:46 +0900
Subject: [PATCH] fix(obstacle_stop_planner): modify build error in rolling
 (#787)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
---
 .../obstacle_stop_planner/src/adaptive_cruise_control.cpp    | 2 +-
 planning/obstacle_stop_planner/src/debug_marker.cpp          | 4 ++++
 planning/obstacle_stop_planner/src/node.cpp                  | 5 +++++
 3 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/planning/obstacle_stop_planner/src/adaptive_cruise_control.cpp b/planning/obstacle_stop_planner/src/adaptive_cruise_control.cpp
index df4209c6d1c99..04f8cf161335f 100644
--- a/planning/obstacle_stop_planner/src/adaptive_cruise_control.cpp
+++ b/planning/obstacle_stop_planner/src/adaptive_cruise_control.cpp
@@ -665,7 +665,7 @@ double AdaptiveCruiseController::getMedianVel(const std::vector<nav_msgs::msg::O
   }
 
   std::vector<double> raw_vel_que;
-  for (const auto vel : vel_que) {
+  for (const auto & vel : vel_que) {
     raw_vel_que.emplace_back(vel.twist.twist.linear.x);
   }
 
diff --git a/planning/obstacle_stop_planner/src/debug_marker.cpp b/planning/obstacle_stop_planner/src/debug_marker.cpp
index 491d2b3dfd904..af8bef694b9be 100644
--- a/planning/obstacle_stop_planner/src/debug_marker.cpp
+++ b/planning/obstacle_stop_planner/src/debug_marker.cpp
@@ -16,7 +16,11 @@
 
 #include <tier4_autoware_utils/tier4_autoware_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 <vector>
diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp
index 64b7ad3479451..82dd734ad4c6f 100644
--- a/planning/obstacle_stop_planner/src/node.cpp
+++ b/planning/obstacle_stop_planner/src/node.cpp
@@ -30,7 +30,12 @@
 
 #include <pcl/filters/voxel_grid.h>
 #include <tf2/utils.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
 
 namespace motion_planning
 {