Fix TF2 deprecation

fix compile alfter ros2/geometry2#752
FIX:
fatal error: tf2/LinearMath/Quaternion.h: No such file or directory
   29 | #include "tf2/LinearMath/Quaternion.h"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Author: mosfet80

diff_drive_controller/src/diff_drive_controller.cpp

@@ -26,7 +26,7 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/logging.hpp"
-#include "tf2/LinearMath/Quaternion.h"
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 namespace
 {

mecanum_drive_controller/src/mecanum_drive_controller.cpp

@@ -22,7 +22,6 @@
 #include "controller_interface/helpers.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
-#include "tf2/transform_datatypes.h"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 namespace

mecanum_drive_controller/src/odometry.cpp

@@ -14,7 +14,6 @@
 
 #include "mecanum_drive_controller/odometry.hpp"
 
-#include "tf2/transform_datatypes.h"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 namespace mecanum_drive_controller

tricycle_controller/CMakeLists.txt

@@ -20,7 +20,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   realtime_tools
   std_srvs
   tf2
-  tf2_msgs
+  tf2_geometry_msgs
 )
 
 find_package(ament_cmake REQUIRED)
@@ -69,7 +69,7 @@ if(BUILD_TESTING)
     rclcpp_lifecycle
     realtime_tools
     tf2
-    tf2_msgs
+    tf2_geometry_msgs
   )
 
   add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")

tricycle_controller/package.xml

@@ -37,7 +37,7 @@
   <depend>realtime_tools</depend>
   <depend>std_srvs</depend>
   <depend>tf2</depend>
-  <depend>tf2_msgs</depend>
+  <depend>tf2_geometry_msgs</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>

tricycle_controller/src/tricycle_controller.cpp

@@ -27,8 +27,8 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/logging.hpp"
-#include "tf2/LinearMath/Quaternion.h"
 #include "tricycle_controller/tricycle_controller.hpp"
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 namespace
 {