Fix include paths for ROS2 headers (#37)

* Fix include paths for ROS2 headers * Add conditional include on deprecated header
fixposition · Aug 16, 2023 · 8079811 · 8079811
1 parent 5eda2c6
commit 8079811
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/fixposition_driver_ros2/include/fixposition_driver_ros2/fixposition_driver_node.hpp b/fixposition_driver_ros2/include/fixposition_driver_ros2/fixposition_driver_node.hpp
@@ -21,10 +21,10 @@
 #include <unordered_map>
 
 /* ROS2 */
-#include <nav_msgs/msg/odometry.h>
+#include <nav_msgs/msg/odometry.hpp>
 #include <rcl/rcl.h>
-#include <sensor_msgs/msg/imu.h>
-#include <sensor_msgs/msg/nav_sat_fix.h>
+#include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/nav_sat_fix.hpp>
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_ros/transform_broadcaster.h>
 #include <tf2_ros/transform_listener.h>

diff --git a/fixposition_driver_ros2/src/data_to_ros2.cpp b/fixposition_driver_ros2/src/data_to_ros2.cpp
@@ -13,7 +13,12 @@
  */
 
 /* ROS */
+#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
+#include <tf2_eigen/tf2_eigen.hpp>
+#else
+// This header was deprecated as of ROS2 Humble, but is still required in order to support Foxy.
 #include <tf2_eigen/tf2_eigen.h>
+#endif
 
 /* PACKAGE */
 #include <fixposition_driver_ros2/data_to_ros2.hpp>