fix(behavior_velocity_planner): modify build error in rolling (tier4#799

)

* fix(behavior_velocity_planner): modify build error in rolling

Signed-off-by: wep21 <[email protected]>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

planning/behavior_velocity_planner/CMakeLists.txt

@@ -67,11 +67,16 @@ target_include_directories(scene_module_lib
     $<INSTALL_INTERFACE:include>
 )
 
+target_include_directories(scene_module_lib
+  SYSTEM PUBLIC
+    ${PCL_INCLUDE_DIRS}
+)
+
 ament_target_dependencies(scene_module_lib ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
 
 # 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(scene_module_lib PUBLIC
+  target_compile_definitions(scene_module_lib PRIVATE
     USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
   )
 endif()
@@ -93,6 +98,13 @@ ament_target_dependencies(scene_module_stop_line ${BEHAVIOR_VELOCITY_PLANNER_DEP
 
 target_link_libraries(scene_module_stop_line scene_module_lib)
 
+# 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(scene_module_stop_line PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 
 # Scene Module: Crosswalk
 ament_auto_add_library(scene_module_crosswalk SHARED
@@ -113,6 +125,12 @@ ament_target_dependencies(scene_module_crosswalk ${BEHAVIOR_VELOCITY_PLANNER_DEP
 
 target_link_libraries(scene_module_crosswalk scene_module_lib)
 
+# 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(scene_module_crosswalk PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
 
 # Scene Module: Intersection
 ament_auto_add_library(scene_module_intersection SHARED
@@ -133,6 +151,13 @@ ament_target_dependencies(scene_module_intersection ${BEHAVIOR_VELOCITY_PLANNER_
 
 target_link_libraries(scene_module_intersection scene_module_lib)
 
+# 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(scene_module_intersection PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 
 # Scene Module: Traffic Light
 ament_auto_add_library(scene_module_traffic_light SHARED
@@ -151,6 +176,13 @@ ament_target_dependencies(scene_module_traffic_light ${BEHAVIOR_VELOCITY_PLANNER
 
 target_link_libraries(scene_module_traffic_light scene_module_lib)
 
+# 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(scene_module_traffic_light PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 
 # Scene Module: Blind Spot
 ament_auto_add_library(scene_module_blind_spot SHARED
@@ -169,6 +201,13 @@ ament_target_dependencies(scene_module_blind_spot ${BEHAVIOR_VELOCITY_PLANNER_DE
 
 target_link_libraries(scene_module_blind_spot scene_module_lib)
 
+# 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(scene_module_blind_spot PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 
 # Scene Module: Detection Area
 ament_auto_add_library(scene_module_detection_area SHARED
@@ -187,6 +226,13 @@ ament_target_dependencies(scene_module_detection_area ${BEHAVIOR_VELOCITY_PLANNE
 
 target_link_libraries(scene_module_detection_area scene_module_lib)
 
+# 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(scene_module_detection_area PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 # Scene Module: No Stopping Area
 ament_auto_add_library(scene_module_no_stopping_area SHARED
   src/scene_module/no_stopping_area/manager.cpp
@@ -204,6 +250,13 @@ ament_target_dependencies(scene_module_no_stopping_area ${BEHAVIOR_VELOCITY_PLAN
 
 target_link_libraries(scene_module_no_stopping_area scene_module_lib)
 
+# 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(scene_module_no_stopping_area PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 
 # Scene Module: Virtual Traffic Light
 ament_auto_add_library(scene_module_virtual_traffic_light SHARED
@@ -222,6 +275,13 @@ ament_target_dependencies(scene_module_virtual_traffic_light ${BEHAVIOR_VELOCITY
 
 target_link_libraries(scene_module_virtual_traffic_light scene_module_lib)
 
+# 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(scene_module_virtual_traffic_light PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 
 # SceneModule OcclusionSpot
 # Util
@@ -245,6 +305,13 @@ target_include_directories(occlusion_spot_lib
 
 ament_target_dependencies(occlusion_spot_lib ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
 
+# 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(occlusion_spot_lib PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 ament_auto_add_library(scene_module_occlusion_spot SHARED
   src/scene_module/occlusion_spot/manager.cpp
   src/scene_module/occlusion_spot/debug.cpp
@@ -261,6 +328,13 @@ ament_target_dependencies(scene_module_occlusion_spot ${BEHAVIOR_VELOCITY_PLANNE
 
 target_link_libraries(scene_module_occlusion_spot scene_module_lib occlusion_spot_lib)
 
+# 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(scene_module_occlusion_spot PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 # Scene Module Manager
 ament_auto_add_library(scene_module_manager SHARED
   src/planner_manager.cpp
@@ -276,6 +350,12 @@ ament_target_dependencies(scene_module_manager ${BEHAVIOR_VELOCITY_PLANNER_DEPEN
 
 target_link_libraries(scene_module_manager scene_module_lib)
 
+# 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(scene_module_manager PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
 
 # Node
 ament_auto_add_library(behavior_velocity_planner SHARED
@@ -306,6 +386,13 @@ target_link_libraries(behavior_velocity_planner
 
 ament_export_dependencies(${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
 
+# workaround to allow deprecated header to build on both galactic and rolling
+if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+  target_compile_definitions(behavior_velocity_planner PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 rclcpp_components_register_node(behavior_velocity_planner
   PLUGIN "behavior_velocity_planner::BehaviorVelocityPlannerNode"
   EXECUTABLE behavior_velocity_planner_node
@@ -320,6 +407,13 @@ if(BUILD_TESTING)
   ament_auto_add_library(utilization SHARED
     src/utilization/util.cpp
   )
+  # workaround to allow deprecated header to build on both galactic and rolling
+  if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+    target_compile_definitions(utilization PRIVATE
+      USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+    )
+  endif()
+
   # Gtest for utilization
   ament_add_gtest(utilization-test
     test/src/test_state_machine.cpp
@@ -330,6 +424,12 @@ if(BUILD_TESTING)
     gtest_main
     utilization
   )
+  # 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(utilization-test PRIVATE
+      USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+    )
+  endif()
 
   # Gtest for occlusion spot
   ament_add_gtest(occlusion_spot-test
@@ -341,6 +441,12 @@ if(BUILD_TESTING)
     gtest_main
     scene_module_occlusion_spot
   )
+  # 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(occlusion_spot-test PRIVATE
+      USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+    )
+  endif()
 
 endif()
 

planning/behavior_velocity_planner/include/scene_module/intersection/util.hpp

@@ -20,7 +20,11 @@
 
 #include <geometry_msgs/msg/point.hpp>
 
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 #include <memory>
 #include <string>

planning/behavior_velocity_planner/include/scene_module/occlusion_spot/grid_utils.hpp

@@ -40,7 +40,12 @@
 #include <lanelet2_core/geometry/Lanelet.h>
 #include <lanelet2_core/primitives/Lanelet.h>
 #include <tf2/utils.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 #include <vector>
 
@@ -54,7 +59,7 @@ inline void fromMsg(const geometry_msgs::msg::PoseStamped & msg, tf2::Stamped<tf
   fromMsg(msg.pose, tmp);
   out.setData(tmp);
 }
-
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 // Remove after this commit is released
 // https://github.com/ros2/geometry2/commit/e9da371d81e388a589540357c050e262442f1b4a
 inline geometry_msgs::msg::Point & toMsg(const tf2::Vector3 & in, geometry_msgs::msg::Point & out)
@@ -84,6 +89,7 @@ inline void doTransform(
   tf2::Vector3 v_out = t * v_in;
   toMsg(v_out, t_out);
 }
+#endif
 }  // namespace tf2
 
 namespace behavior_velocity_planner

planning/behavior_velocity_planner/include/scene_module/occlusion_spot/occlusion_spot_utils.hpp

@@ -34,7 +34,12 @@
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_core/geometry/LaneletMap.h>
 #include <tf2/utils.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 #include <algorithm>
 #include <chrono>

planning/behavior_velocity_planner/include/utilization/arc_lane_util.hpp

@@ -23,8 +23,14 @@
 
 #include <boost/optional.hpp>
 
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 #include <algorithm>
 #include <memory>

planning/behavior_velocity_planner/src/node.cpp

@@ -23,7 +23,12 @@
 
 #include <lanelet2_routing/Route.h>
 #include <pcl/common/transforms.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
 
 #include <functional>
 #include <memory>

planning/behavior_velocity_planner/src/scene_module/detection_area/debug.cpp

@@ -16,7 +16,11 @@
 #include <utilization/marker_helper.hpp>
 #include <utilization/util.hpp>
 
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 #include <vector>
 

planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp

@@ -16,7 +16,11 @@
 #include <tier4_autoware_utils/trajectory/trajectory.hpp>
 #include <utilization/util.hpp>
 
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
 
 #include <algorithm>
 #include <memory>

planning/behavior_velocity_planner/src/scene_module/no_stopping_area/debug.cpp

@@ -18,7 +18,11 @@
 
 #include <tier4_autoware_utils/planning/planning_marker_helper.hpp>
 
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 #include <string>
 #include <vector>

planning/behavior_velocity_planner/src/scene_module/no_stopping_area/scene_no_stopping_area.cpp

@@ -22,7 +22,12 @@
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <lanelet2_core/utility/Optional.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
 
 #include <algorithm>
 #include <limits>

planning/behavior_velocity_planner/src/scene_module/stop_line/debug.cpp

@@ -16,7 +16,11 @@
 #include <utilization/marker_helper.hpp>
 #include <utilization/util.hpp>
 
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 namespace behavior_velocity_planner
 {

planning/behavior_velocity_planner/src/scene_module/traffic_light/debug.cpp

@@ -16,7 +16,11 @@
 #include <utilization/marker_helper.hpp>
 #include <utilization/util.hpp>
 
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 namespace behavior_velocity_planner
 {

planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp

@@ -19,7 +19,12 @@
 #include <boost/optional.hpp>  // To be replaced by std::optional in C++17
 
 #include <tf2/utils.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
 
 #include <algorithm>
 #include <map>