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chore: add workaround for tf2 update (#5127) #970

Merged
merged 1 commit into from
Oct 22, 2023
Merged

chore: add workaround for tf2 update (#5127) #970

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6 changes: 6 additions & 0 deletions common/autoware_auto_geometry/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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5 changes: 5 additions & 0 deletions common/autoware_auto_tf2/CMakeLists.txt
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Expand Up @@ -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()
3 changes: 2 additions & 1 deletion common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp
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Expand Up @@ -45,7 +45,7 @@ using BoundingBox = autoware_auto_perception_msgs::msg::BoundingBox;

namespace tf2
{

#ifdef DEFINE_LEGACY_FUNCTION
/*************/
/** Point32 **/
/*************/
Expand Down Expand Up @@ -94,6 +94,7 @@ inline void doTransform(
t_out.points[i].z = static_cast<float>(v_out[2]);
}
}
#endif

/******************/
/** Quaternion32 **/
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6 changes: 6 additions & 0 deletions planning/behavior_path_planner/CMakeLists.txt
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Expand Up @@ -39,6 +39,12 @@ ament_auto_add_library(behavior_path_planner_node SHARED
src/scene_module/scene_module_visitor.cpp
)

if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4)
target_compile_definitions(behavior_path_planner_node PRIVATE
DEFINE_LEGACY_FUNCTION
)
endif()

target_include_directories(behavior_path_planner_node SYSTEM PUBLIC
${EIGEN3_INCLUDE_DIR}
)
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6 changes: 6 additions & 0 deletions planning/surround_obstacle_checker/CMakeLists.txt
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Expand Up @@ -18,6 +18,12 @@ ament_auto_add_library(${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}
)
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