Add tf2_sensor_msgs to transform PointCloud with TF (SteveMacenski#249)

Author: Tacha-S

CMakeLists.txt

@@ -23,6 +23,7 @@ find_package(pcl_conversions REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_sensor_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
@@ -63,6 +64,7 @@ set(dependencies
   rclcpp
   tf2_ros
   tf2_geometry_msgs
+  tf2_sensor_msgs
   visualization_msgs
   builtin_interfaces
 )

package.xml

@@ -28,6 +28,7 @@
   <depend>message_filters</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_sensor_msgs</depend>
   <depend>visualization_msgs</depend>
   <depend>libopenvdb-dev</depend>
   <depend>libopenvdb</depend>

src/measurement_buffer.cpp

@@ -40,6 +40,7 @@
 #include <vector>
 #include "spatio_temporal_voxel_layer/measurement_buffer.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "tf2_sensor_msgs/tf2_sensor_msgs.hpp"
 
 namespace buffer
 {