Port to Humble.

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 416f08d..0f47f82 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(rclcpp REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)

+find_package(tf2_geometry_msgs REQUIRED)

 find_package(Eigen3 REQUIRED)
 
 add_library(arc_odometry src/diff_odometry.cpp)
 find_package(Eigen3 REQUIRED)
 
 add_library(arc_odometry src/diff_odometry.cpp)


@@ -26,6 +27,7 @@ ament_target_dependencies(
   "nav_msgs"
   "sensor_msgs"
   "tf2_ros"
   "nav_msgs"
   "sensor_msgs"
   "tf2_ros"

+  "tf2_geometry_msgs"

   "Eigen3"
 )
 
   "Eigen3"
 )
 

diff --git a/package.xml b/package.xml
index e2ee8e5..bf0b3c5 100644 (file)
--- a/package.xml
+++ b/package.xml
@@ -13,6 +13,7 @@
   <depend>nav_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>nav_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2_ros</depend>

+  <depend>tf2_geometry_msgs</depend>

   <depend>Eigen3</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <depend>Eigen3</depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/src/odometry_publisher.cpp b/src/odometry_publisher.cpp
index c93a38a..3ed5a2d 100644 (file)
--- a/src/odometry_publisher.cpp
+++ b/src/odometry_publisher.cpp
@@ -23,7 +23,7 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
 #include <tf2/LinearMath/Quaternion.h>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
 #include <tf2/LinearMath/Quaternion.h>

-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

 #include <tf2_ros/transform_broadcaster.h>
 
 #include <arc_odometry/diff_odometry.hpp>
 #include <tf2_ros/transform_broadcaster.h>
 
 #include <arc_odometry/diff_odometry.hpp>