Use hpp headers from geometry2 (#1467)

* Use hpp headers from geometry2

geometry2 recently changed their headers to use a .hpp instead of .h
file ending. This commit adapts includes from geometry2 to that.

* Add semi-binary-testing workflows for kilted and rolling

It happened too often recently, that things outside our upstream
workspaces got changed and all pipelines were red until the breaking
change was merged to main. This should help verifying these situations.

Author: urfeex

.github/workflows/kilted-semi-binary-testing.yml

@@ -0,0 +1,21 @@
+name: Kilted Semi Binary Build Testing
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '13 4 * * *'
+
+jobs:
+  kilted_semi_testing:
+    uses: ./.github/workflows/reusable_ici.yml
+    with:
+      ros_distro: kilted
+      ros_repo: testing
+      upstream_workspace: Universal_Robots_ROS2_Driver.kilted.repos
+      ref_for_scheduled_build: main

.github/workflows/rolling-semi-binary-testing.yml

@@ -0,0 +1,21 @@
+name: Rolling Semi Binary Build Testing
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '13 4 * * *'
+
+jobs:
+  rolling_semi_testing:
+    uses: ./.github/workflows/reusable_ici.yml
+    with:
+      ros_distro: rolling
+      ros_repo: testing
+      upstream_workspace: Universal_Robots_ROS2_Driver.rolling.repos
+      ref_for_scheduled_build: main

ur_calibration/src/calibration_correction.cpp

@@ -47,7 +47,6 @@
 #include <memory>
 #include <string>
 
-#include "ur_client_library/comm/parser.h"
 #include "ur_client_library/comm/pipeline.h"
 #include "ur_client_library/comm/producer.h"
 #include "ur_client_library/comm/stream.h"
@@ -57,8 +56,6 @@
 #include "ur_robot_driver/urcl_log_handler.hpp"
 
 #include "rclcpp/exceptions/exceptions.hpp"
-#include "sensor_msgs/msg/joint_state.hpp"
-#include "tf2_ros/transform_listener.h"
 
 namespace fs = std::filesystem;
 

ur_controllers/include/ur_controllers/force_mode_controller.hpp

@@ -35,16 +35,21 @@
 //----------------------------------------------------------------------
 
 #pragma once
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
 #include <array>
 #include <memory>
 
 #include <controller_interface/controller_interface.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
-#include <realtime_tools/realtime_buffer.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <realtime_tools/realtime_buffer.hpp>
 #include <std_srvs/srv/trigger.hpp>
+#if __has_include(<tf2_ros/buffer.hpp>)
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/transform_listener.hpp>
+#else
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+#endif
 #include <ur_msgs/srv/set_force_mode.hpp>
 
 #include "ur_controllers/force_mode_controller_parameters.hpp"