From d50aecf9cf098e5562b81f684c3bf75d06977b01 Mon Sep 17 00:00:00 2001
From: Ryohei Sasaki <ryohei.sasaki@map4.jp>
Date: Sun, 21 May 2023 11:44:38 +0900
Subject: [PATCH] fix tf2_geometry header

---
 eagleye_core/coordinate/package.xml                         | 1 +
 .../include/eagleye_navigation/eagleye_navigation.hpp       | 4 ++++
 eagleye_core/navigation/src/rtk_dead_reckoning.cpp          | 2 --
 eagleye_rt/src/position_node.cpp                            | 4 ++++
 eagleye_rt/src/rtk_dead_reckoning_node.cpp                  | 4 ++++
 eagleye_rt/src/tf_converted_imu.cpp                         | 4 ++++
 eagleye_util/fix2pose/src/fix2pose.cpp                      | 6 +++++-
 7 files changed, 22 insertions(+), 3 deletions(-)

diff --git a/eagleye_core/coordinate/package.xml b/eagleye_core/coordinate/package.xml
index 3f09d4c3..264958e1 100644
--- a/eagleye_core/coordinate/package.xml
+++ b/eagleye_core/coordinate/package.xml
@@ -14,6 +14,7 @@
   <build_export_depend>rclcpp</build_export_depend>
   <build_export_depend>geodesy</build_export_depend>
   <depend>geographic_info</depend>
+  <depend>geographic_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/eagleye_core/navigation/include/eagleye_navigation/eagleye_navigation.hpp b/eagleye_core/navigation/include/eagleye_navigation/eagleye_navigation.hpp
index 265f7ef5..9c198e66 100644
--- a/eagleye_core/navigation/include/eagleye_navigation/eagleye_navigation.hpp
+++ b/eagleye_core/navigation/include/eagleye_navigation/eagleye_navigation.hpp
@@ -55,7 +55,11 @@
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/transform_broadcaster.h>
+#ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 #include <math.h>
 #include <numeric>
 
diff --git a/eagleye_core/navigation/src/rtk_dead_reckoning.cpp b/eagleye_core/navigation/src/rtk_dead_reckoning.cpp
index d4747392..05cf1bf9 100755
--- a/eagleye_core/navigation/src/rtk_dead_reckoning.cpp
+++ b/eagleye_core/navigation/src/rtk_dead_reckoning.cpp
@@ -34,8 +34,6 @@
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/transform_broadcaster.h>
-// #include <tf2_sensor_msgs/tf2_sensor_msgs.h>
-// #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
 void rtk_dead_reckoning_estimate_(geometry_msgs::msg::Vector3Stamped enu_vel, nmea_msgs::msg::Gpgga gga,
   eagleye_msgs::msg::Heading heading, RtkDeadreckoningParameter rtk_dead_reckoning_parameter, RtkDeadreckoningStatus* rtk_dead_reckoning_status,
diff --git a/eagleye_rt/src/position_node.cpp b/eagleye_rt/src/position_node.cpp
index 8011f774..c681c1bb 100644
--- a/eagleye_rt/src/position_node.cpp
+++ b/eagleye_rt/src/position_node.cpp
@@ -34,7 +34,11 @@
 
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
+#ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 static rtklib_msgs::msg::RtklibNav rtklib_nav;
 static geometry_msgs::msg::TwistStamped velocity;
diff --git a/eagleye_rt/src/rtk_dead_reckoning_node.cpp b/eagleye_rt/src/rtk_dead_reckoning_node.cpp
index a1a0a5eb..c8b8d18b 100644
--- a/eagleye_rt/src/rtk_dead_reckoning_node.cpp
+++ b/eagleye_rt/src/rtk_dead_reckoning_node.cpp
@@ -34,7 +34,11 @@
 
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
+#ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 static rtklib_msgs::msg::RtklibNav rtklib_nav;
 static nmea_msgs::msg::Gpgga gga;
diff --git a/eagleye_rt/src/tf_converted_imu.cpp b/eagleye_rt/src/tf_converted_imu.cpp
index 7a9da4d2..8d22de35 100644
--- a/eagleye_rt/src/tf_converted_imu.cpp
+++ b/eagleye_rt/src/tf_converted_imu.cpp
@@ -36,7 +36,11 @@
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/transform_broadcaster.h>
+#ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 #include <tf2_sensor_msgs/tf2_sensor_msgs.h>
 #include <tf2/transform_datatypes.h>
 #include <tf2_eigen/tf2_eigen.h>
diff --git a/eagleye_util/fix2pose/src/fix2pose.cpp b/eagleye_util/fix2pose/src/fix2pose.cpp
index 0664a1a7..8ed4fe7f 100644
--- a/eagleye_util/fix2pose/src/fix2pose.cpp
+++ b/eagleye_util/fix2pose/src/fix2pose.cpp
@@ -40,7 +40,11 @@
 #include "tf2_ros/transform_broadcaster.h"
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#ifdef ROS_DISTRO_GALACTIC
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 #include "eagleye_coordinate/eagleye_coordinate.hpp"
 #include <std_srvs/srv/set_bool.hpp>
 #include <ament_index_cpp/get_package_share_directory.hpp>