From 936f76084750d19c5966963651870718a7e18e40 Mon Sep 17 00:00:00 2001
From: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
Date: Sat, 2 Mar 2024 12:44:23 +0900
Subject: [PATCH] Drop PointCloud(1) support from ROS 2 plugin

---
 src/plugin/BodyROS2Item.cpp | 5 -----
 src/plugin/CMakeLists.txt   | 4 +++-
 2 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/src/plugin/BodyROS2Item.cpp b/src/plugin/BodyROS2Item.cpp
index 258c4bc..c2e2cf5 100644
--- a/src/plugin/BodyROS2Item.cpp
+++ b/src/plugin/BodyROS2Item.cpp
@@ -13,12 +13,7 @@
 #include <sensor_msgs/msg/laser_scan.hpp>
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#ifdef CNOID_ROS_PLUGIN_USE_POINTCLOUD1
-#include <sensor_msgs/msg/point_cloud.hpp>
-typedef sensor_msgs::msg::PointCloud PointCloudTypeForRangeSensor;
-#else
 typedef sensor_msgs::msg::PointCloud2 PointCloudTypeForRangeSensor;
-#endif
 
 #include "gettext.h"
 #include <fmt/format.h>
diff --git a/src/plugin/CMakeLists.txt b/src/plugin/CMakeLists.txt
index 3a84222..32f569c 100644
--- a/src/plugin/CMakeLists.txt
+++ b/src/plugin/CMakeLists.txt
@@ -23,7 +23,9 @@ if(DEFINED ENV{ROS_VERSION})
       ${catkin_LIBRARIES}
       Choreonoid::CnoidBodyPlugin
     )
-    option(USE_POINTCLOUD1_IN_BODY_ROS_ITEM "Use the PointCloud type instead of PointCoud2 for publishing range sensor data" OFF)
+
+    # PointCloud(1) is deprecated in ROS 2, but it is still used in ROS 1
+    option(USE_POINTCLOUD1_IN_BODY_ROS_ITEM "Use the PointCloud type instead of PointCloud2 for publishing range sensor data with ROS 1" OFF)
     mark_as_advanced(USE_POINTCLOUD1_IN_BODY_ROS_ITEM)
 
     if(USE_POINTCLOUD1_IN_BODY_ROS_ITEM)