Fix humble build issue with PCL library

Signed-off-by: Maxime CLEMENT <[email protected]>
autowarefoundation · Aug 25, 2022 · 09e9ec4 · 09e9ec4
1 parent 07f0b5b
commit 09e9ec4
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Showing 7 changed files with 31 additions and 6 deletions.
diff --git a/planning/apparent_safe_velocity_limiter/CMakeLists.txt b/planning/apparent_safe_velocity_limiter/CMakeLists.txt
@@ -4,12 +4,19 @@ project(apparent_safe_velocity_limiter)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-find_package(Boost REQUIRED)
+find_package(PCL REQUIRED COMPONENTS common)
+find_package(pcl_conversions REQUIRED)
 
 ament_auto_add_library(apparent_safe_velocity_limiter_node SHARED
   DIRECTORY src
 )
 
+ament_target_dependencies(apparent_safe_velocity_limiter_node PCL)
+target_include_directories(apparent_safe_velocity_limiter_node
+  SYSTEM PUBLIC
+    "${PCL_INCLUDE_DIRS}"
+)
+
 # Disable warnings due to external dependencies
 get_target_property(lanelet2_core_INCLUDE_DIR
   lanelet2_core::lanelet2_core INTERFACE_INCLUDE_DIRECTORIES
@@ -23,8 +30,7 @@ rclcpp_components_register_node(apparent_safe_velocity_limiter_node
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
-
-  ament_add_gtest(test_${PROJECT_NAME}
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
     test/test_forward_projection.cpp
     test/test_obstacles.cpp
     test/test_collision_distance.cpp

diff --git a/planning/apparent_safe_velocity_limiter/package.xml b/planning/apparent_safe_velocity_limiter/package.xml
@@ -26,12 +26,14 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
+  <depend>tf2_eigen</depend>
+  <depend>tf2_geometry_msgs</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>vehicle_info_util</depend>
   <depend>visualization_msgs</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/planning/apparent_safe_velocity_limiter/src/apparent_safe_velocity_limiter.cpp b/planning/apparent_safe_velocity_limiter/src/apparent_safe_velocity_limiter.cpp
@@ -23,8 +23,6 @@
 #include <boost/geometry.hpp>
 #include <boost/geometry/algorithms/correct.hpp>
 
-#include <pcl_conversions/pcl_conversions.h>
-
 namespace apparent_safe_velocity_limiter
 {
 

diff --git a/planning/apparent_safe_velocity_limiter/src/forward_projection.cpp b/planning/apparent_safe_velocity_limiter/src/forward_projection.cpp
@@ -26,6 +26,11 @@
 #include <boost/geometry/strategies/cartesian/buffer_point_circle.hpp>
 #include <boost/geometry/strategies/cartesian/buffer_side_straight.hpp>
 
+#ifdef ROS_DISTRO_GALACTIC
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 #include <tf2/utils.h>
 
 namespace apparent_safe_velocity_limiter

diff --git a/planning/apparent_safe_velocity_limiter/src/obstacles.cpp b/planning/apparent_safe_velocity_limiter/src/obstacles.cpp
@@ -20,6 +20,11 @@
 #include <boost/assign.hpp>
 #include <boost/geometry.hpp>
 
+#ifdef ROS_DISTRO_GALACTIC
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 #include <tf2/utils.h>
 
 namespace apparent_safe_velocity_limiter

diff --git a/planning/apparent_safe_velocity_limiter/src/pointcloud_utils.cpp b/planning/apparent_safe_velocity_limiter/src/pointcloud_utils.cpp
@@ -21,7 +21,11 @@
 #include <pcl/Vertices.h>
 #include <pcl/filters/crop_hull.h>
 #include <pcl_conversions/pcl_conversions.h>
+#ifdef ROS_DISTRO_GALACTIC
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
 
 #include <vector>
 

diff --git a/planning/apparent_safe_velocity_limiter/src/trajectory_preprocessing.cpp b/planning/apparent_safe_velocity_limiter/src/trajectory_preprocessing.cpp
@@ -17,6 +17,11 @@
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <tf2/utils.h>
+#ifdef ROS_DISTRO_GALACTIC
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 namespace apparent_safe_velocity_limiter
 {