From 648e00f2722ad645a6880794f62f269b67a257dc Mon Sep 17 00:00:00 2001
From: Facundo Garcia <facundo.garcia@fixposition.com>
Date: Mon, 28 Oct 2024 14:31:34 +0100
Subject: [PATCH] Changed geometry_msgs calls

---
 .../include/fixposition_driver_ros2/data_to_ros2.hpp        | 2 +-
 fixposition_driver_ros2/src/data_to_ros2.cpp                | 6 +++---
 fixposition_driver_ros2/src/fixposition_driver_node.cpp     | 4 ++--
 3 files changed, 6 insertions(+), 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
index 60ac5d9..31959e8 100644
--- 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
index 3786e99..f49dcb7 100644
--- 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";
@@ -657,7 +657,7 @@ 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";
@@ -665,7 +665,7 @@ void PublishNav2Tf(const std::map<std::string, std::shared_ptr<geometry_msgs::Tr
         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
index ac878ce..ece6d8b 100644
--- a/fixposition_driver_ros2/src/fixposition_driver_node.cpp
+++ b/fixposition_driver_ros2/src/fixposition_driver_node.cpp
@@ -224,7 +224,7 @@ 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);
@@ -232,7 +232,7 @@ void FixpositionDriverNode::RegisterObservers() {
                         // 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);