Changed geometry_msgs calls

fixposition · Oct 28, 2024 · 648e00f · 648e00f
1 parent 332a368
commit 648e00f
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/fixposition_driver_ros2/include/fixposition_driver_ros2/data_to_ros2.hpp b/fixposition_driver_ros2/include/fixposition_driver_ros2/data_to_ros2.hpp
@@ -130,7 +130,7 @@ void OdomToTf(const OdometryData& data, geometry_msgs::msg::TransformStamped& tf
  * @param[out] static_br_
  * @param[out] br_
  */
-void PublishNav2Tf(const std::map<std::string, std::shared_ptr<geometry_msgs::TransformStamped>>& tf_map, std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_br_, std::shared_ptr<tf2_ros::TransformBroadcaster> br_);
+void PublishNav2Tf(const std::map<std::string, std::shared_ptr<geometry_msgs::msg::TransformStamped>>& tf_map, std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_br_, std::shared_ptr<tf2_ros::TransformBroadcaster> br_);
 
 /**
  * @brief

diff --git a/fixposition_driver_ros2/src/data_to_ros2.cpp b/fixposition_driver_ros2/src/data_to_ros2.cpp
@@ -619,7 +619,7 @@ void OdomToTf(const OdometryData& data, geometry_msgs::msg::TransformStamped& tf
     tf2::toMsg(data.pose.position, tf.transform.translation);
 }
 
-void PublishNav2Tf(const std::map<std::string, std::shared_ptr<geometry_msgs::TransformStamped>>& tf_map, std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_br_, std::shared_ptr<tf2_ros::TransformBroadcaster> br_) {
+void PublishNav2Tf(const std::map<std::string, std::shared_ptr<geometry_msgs::msg::TransformStamped>>& tf_map, std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_br_, std::shared_ptr<tf2_ros::TransformBroadcaster> br_) {
     if (tf_map.at("ECEFENU0") && tf_map.at("POIPOISH") && tf_map.at("ECEFPOISH") && tf_map.at("ENU0POI")) {
         // Publish FP_ECEF -> map
         tf_map.at("ECEFENU0")->child_frame_id = "map";
@@ -657,15 +657,15 @@ void PublishNav2Tf(const std::map<std::string, std::shared_ptr<geometry_msgs::Tr
         tf2::Transform tf_combined = tf_ENU0POI * tf_ENU0POISH.inverse();
 
         // Create a new TransformStamped message
-        geometry_msgs::TransformStamped tf_map_odom;
+        geometry_msgs::msg::TransformStamped tf_map_odom;
         tf_map_odom.header.stamp = ros::Time::now();
         tf_map_odom.header.frame_id = "map";
         tf_map_odom.child_frame_id = "odom";
         tf_map_odom.transform = tf2::toMsg(tf_combined);
         br_->sendTransform(tf_map_odom);
 
         // Publish odom -> base_link
-        geometry_msgs::TransformStamped tf_odom_base;
+        geometry_msgs::msg::TransformStamped tf_odom_base;
         tf_odom_base.header.stamp = ros::Time::now();
         tf_odom_base.header.frame_id = "odom";
         tf_odom_base.child_frame_id = "base_link";

diff --git a/fixposition_driver_ros2/src/fixposition_driver_node.cpp b/fixposition_driver_ros2/src/fixposition_driver_node.cpp
@@ -224,15 +224,15 @@ void FixpositionDriverNode::RegisterObservers() {
                         // Append TF if Nav2 mode is selected
                         if (params_.fp_output.nav2_mode) {
                             // Get FP_POI -> FP_POISH
-                            tf_map["POIPOISH"] = std::make_shared<geometry_msgs::TransformStamped>(tf);
+                            tf_map["POIPOISH"] = std::make_shared<geometry_msgs::msg::TransformStamped>(tf);
                         }
                     } else if (tf.child_frame_id == "FP_ENU0" && tf.header.frame_id == "FP_ECEF") {
                         static_br_->sendTransform(tf);
 
                         // Append TF if Nav2 mode is selected
                         if (params_.fp_output.nav2_mode) {
                             // Get FP_ECEF -> FP_ENU0
-                            tf_map["ECEFENU0"] = std::make_shared<geometry_msgs::TransformStamped>(tf);
+                            tf_map["ECEFENU0"] = std::make_shared<geometry_msgs::msg::TransformStamped>(tf);
                         }
                     } else {
                         static_br_->sendTransform(tf);