fix(planning_evaluator): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>
autowarefoundation · Apr 21, 2022 · 42ad0ef · 42ad0ef
1 parent 30e6482
commit 42ad0ef
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/planning/planning_evaluator/CMakeLists.txt b/planning/planning_evaluator/CMakeLists.txt
@@ -24,6 +24,13 @@ ament_auto_add_library(${PROJECT_NAME}_node SHARED
   src/metrics/trajectory_metrics.cpp
 )
 
+# workaround to allow deprecated header to build on both galactic and rolling
+if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+  target_compile_definitions(${PROJECT_NAME}_node PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 rclcpp_components_register_node(${PROJECT_NAME}_node
   PLUGIN "planning_diagnostics::PlanningEvaluatorNode"
   EXECUTABLE ${PROJECT_NAME}