fix(lidar_centerpoint): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>
autowarefoundation · Apr 21, 2022 · 4132e97 · 4132e97
1 parent 42ad0ef
commit 4132e97
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt
@@ -156,6 +156,13 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     centerpoint
   )
 
+  # workaround to allow deprecated header to build on both galactic and rolling
+  if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+    target_compile_definitions(lidar_centerpoint_component PUBLIC
+      USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+    )
+  endif()
+
   rclcpp_components_register_node(lidar_centerpoint_component
     PLUGIN "centerpoint::LidarCenterPointNode"
     EXECUTABLE lidar_centerpoint_node