From e85660618c86c13e898da4e48b86b73bbcfae435 Mon Sep 17 00:00:00 2001
From: Zhi Wang <zhi.wang@tier4.jp>
Date: Thu, 28 Sep 2023 17:29:33 +0900
Subject: [PATCH] fix(autoware_auto_tf2): remove duplicated function in
 tf2_geometry_msg (#886)

chore: add workaround for tf2 update (#5127)

Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
# Conflicts:
#	planning/behavior_path_planner/CMakeLists.txt
---
 common/autoware_auto_geometry/CMakeLists.txt  |  6 +++++
 common/autoware_auto_tf2/CMakeLists.txt       |  5 ++++
 .../tf2_autoware_auto_msgs.hpp                |  3 ++-
 planning/behavior_path_planner/CMakeLists.txt | 27 +++----------------
 .../surround_obstacle_checker/CMakeLists.txt  |  6 +++++
 5 files changed, 22 insertions(+), 25 deletions(-)

diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt
index 454e0e7ef044f..bf48e8fcaca3f 100644
--- a/common/autoware_auto_geometry/CMakeLists.txt
+++ b/common/autoware_auto_geometry/CMakeLists.txt
@@ -12,6 +12,12 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/bounding_box.cpp
 )
 
+if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4)
+  target_compile_definitions(${PROJECT_NAME} PRIVATE
+    DEFINE_LEGACY_FUNCTION
+  )
+endif()
+
 if(BUILD_TESTING)
   set(GEOMETRY_GTEST geometry_gtest)
   set(GEOMETRY_SRC test/src/test_geometry.cpp
diff --git a/common/autoware_auto_tf2/CMakeLists.txt b/common/autoware_auto_tf2/CMakeLists.txt
index a8ae9ec2d962e..fe4cec1c0fc89 100755
--- a/common/autoware_auto_tf2/CMakeLists.txt
+++ b/common/autoware_auto_tf2/CMakeLists.txt
@@ -17,6 +17,11 @@ if(BUILD_TESTING)
     "tf2_geometry_msgs"
     "tf2_ros"
   )
+  if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4)
+    target_compile_definitions(test_tf2_autoware_auto_msgs PRIVATE
+      DEFINE_LEGACY_FUNCTION
+    )
+  endif()
 endif()
 
 ament_auto_package()
diff --git a/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp b/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp
index 9b20953a7b3c5..ee8d52fa402c0 100644
--- a/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp
+++ b/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp
@@ -45,7 +45,7 @@ using BoundingBox = autoware_auto_perception_msgs::msg::BoundingBox;
 
 namespace tf2
 {
-
+#ifdef DEFINE_LEGACY_FUNCTION
 /*************/
 /** Point32 **/
 /*************/
@@ -94,6 +94,7 @@ inline void doTransform(
     t_out.points[i].z = static_cast<float>(v_out[2]);
   }
 }
+#endif
 
 /******************/
 /** Quaternion32 **/
diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt
index 4463620dcc4a9..0ddb411961c0a 100644
--- a/planning/behavior_path_planner/CMakeLists.txt
+++ b/planning/behavior_path_planner/CMakeLists.txt
@@ -50,31 +50,10 @@ set(common_src
   src/marker_util/lane_change/debug.cpp
 )
 
-if(COMPILE_WITH_OLD_ARCHITECTURE)
-  ament_auto_add_library(behavior_path_planner_node SHARED
-    src/behavior_tree_manager.cpp
-    src/scene_module/scene_module_bt_node_interface.cpp
-    src/scene_module/lane_following/lane_following_module.cpp
-    ${common_src}
+if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4)
+  target_compile_definitions(behavior_path_planner_node PRIVATE
+    DEFINE_LEGACY_FUNCTION
   )
-
-  target_compile_definitions(behavior_path_planner_node PRIVATE USE_OLD_ARCHITECTURE)
-
-  message(WARNING "Build behavior_path_planner with OLD framework...")
-
-else()
-  ament_auto_add_library(behavior_path_planner_node SHARED
-    src/planner_manager.cpp
-    src/scene_module/avoidance/manager.cpp
-    src/scene_module/dynamic_avoidance/manager.cpp
-    src/scene_module/start_planner/manager.cpp
-    src/scene_module/goal_planner/manager.cpp
-    src/scene_module/side_shift/manager.cpp
-    src/scene_module/lane_change/manager.cpp
-    ${common_src}
-  )
-
-  message(WARNING "Build behavior_path_planner with NEW framework...")
 endif()
 
 target_include_directories(behavior_path_planner_node SYSTEM PUBLIC
diff --git a/planning/surround_obstacle_checker/CMakeLists.txt b/planning/surround_obstacle_checker/CMakeLists.txt
index 0d7b636646783..694bddf421486 100644
--- a/planning/surround_obstacle_checker/CMakeLists.txt
+++ b/planning/surround_obstacle_checker/CMakeLists.txt
@@ -18,6 +18,12 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/node.cpp
 )
 
+if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4)
+  target_compile_definitions(${PROJECT_NAME} PRIVATE
+    DEFINE_LEGACY_FUNCTION
+  )
+endif()
+
 target_link_libraries(${PROJECT_NAME}
   ${PCL_LIBRARIES}
 )