From 8079811e98bc46d94b62d0b35c7a20c660531a5d Mon Sep 17 00:00:00 2001
From: Kevin Greene <kgreenek@gmail.com>
Date: Wed, 16 Aug 2023 01:39:47 -0700
Subject: [PATCH] Fix include paths for ROS2 headers (#37)

* Fix include paths for ROS2 headers

* Add conditional include on deprecated header
---
 .../fixposition_driver_ros2/fixposition_driver_node.hpp     | 6 +++---
 fixposition_driver_ros2/src/data_to_ros2.cpp                | 5 +++++
 2 files changed, 8 insertions(+), 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
index a75cb81..20a3875 100644
--- 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
index 36272c0..14f626d 100644
--- 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>