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Update deprecated tf2 imports from .h to .hpp (backport #3197) #3199

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Merged
sea-bass merged 2 commits into from
Jan 6, 2025
Merged

Update deprecated tf2 imports from .h to .hpp (backport #3197) #3199

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385ccb9
Update deprecated tf2 imports from .h to .hpp (#3197)
sea-bass Jan 6, 2025
30c019c
Resolve conflicts
sea-bass Jan 6, 2025
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5 changes: 5 additions & 0 deletions moveit_core/robot_state/test/test_aabb.cpp
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#include <string>
#include <gtest/gtest.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
// TODO: Remove conditional include when released to all active distros.
#if __has_include(<tf2/LinearMath/Vector3.hpp>)
#include <tf2/LinearMath/Vector3.hpp>
#else
#include <tf2/LinearMath/Vector3.h>
#endif
#include <moveit/utils/robot_model_test_utils.h>

// To visualize bbox of the PR2, set this to 1.
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9 changes: 9 additions & 0 deletions ...inematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
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#include <moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_model/robot_model.h>
// TODO: Remove conditional includes when released to all active distros.
#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
#include <tf2/LinearMath/Quaternion.hpp>
#else
#include <tf2/LinearMath/Quaternion.h>
#endif
#if __has_include(<tf2/LinearMath/Vector3.hpp>)
#include <tf2/LinearMath/Vector3.hpp>
#else
#include <tf2/LinearMath/Vector3.h>
#endif
#include <mutex>
#include <unordered_map>
#include <utility>
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5 changes: 5 additions & 0 deletions moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
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Expand Up @@ -38,7 +38,12 @@
#include <moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp>

#include <tf2_kdl/tf2_kdl.hpp>
// TODO: Remove conditional include when released to all active distros.
#if __has_include(<tf2/transform_datatypes.hpp>)
#include <tf2/transform_datatypes.hpp>
#else
#include <tf2/transform_datatypes.h>
#endif

#include <kdl_parser/kdl_parser.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
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5 changes: 5 additions & 0 deletions moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
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#include <chomp_motion_planner/chomp_planner.h>
#include <chomp_motion_planner/chomp_trajectory.h>
#include <moveit/robot_state/conversions.h>
// TODO: Remove conditional include when released to all active distros.
#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
#include <tf2/LinearMath/Quaternion.hpp>
#else
#include <tf2/LinearMath/Quaternion.h>
#endif
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

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5 changes: 5 additions & 0 deletions ...z_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h
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Expand Up @@ -39,7 +39,12 @@
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
// TODO: Remove conditional include when released to all active distros.
#if __has_include(<tf2/transform_datatypes.hpp>)
#include <tf2/transform_datatypes.hpp>
#else
#include <tf2/transform_datatypes.h>
#endif
#include <trajectory_msgs/msg/multi_dof_joint_trajectory.hpp>
#include <moveit/planning_scene/planning_scene.h>

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5 changes: 5 additions & 0 deletions moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
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Expand Up @@ -35,7 +35,12 @@
#include <pilz_industrial_motion_planner/trajectory_functions.h>

#include <moveit/planning_scene/planning_scene.h>
// TODO: Remove conditional include when released to all active distros.
#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
#include <tf2/LinearMath/Quaternion.hpp>
#else
#include <tf2/LinearMath/Quaternion.h>
#endif
#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
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2 changes: 1 addition & 1 deletion moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp
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Expand Up @@ -43,10 +43,10 @@
#include <kdl/utilities/error.h>
#include <kdl/utilities/utility.h>
#include <moveit/robot_state/conversions.h>
#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

namespace pilz_industrial_motion_planner
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7 changes: 6 additions & 1 deletion moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp
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Expand Up @@ -43,11 +43,16 @@
#include <kdl/path_line.hpp>
#include <kdl/trajectory_segment.hpp>
#include <kdl/utilities/error.h>
// TODO: Remove conditional include when released to all active distros.
#if __has_include(<tf2/convert.hpp>)
#include <tf2/convert.hpp>
#else
#include <tf2/convert.h>
#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
#endif
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

namespace pilz_industrial_motion_planner
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9 changes: 9 additions & 0 deletions moveit_planners/pilz_industrial_motion_planner/test/test_utils.h
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Expand Up @@ -56,8 +56,17 @@
#include <moveit_msgs/action/move_group.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
#include <string>
// TODO: Remove conditional include swhen released to all active distros.
#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
#include <tf2/LinearMath/Quaternion.hpp>
#else
#include <tf2/LinearMath/Quaternion.h>
#endif
#if __has_include(<tf2/convert.hpp>)
#include <tf2/convert.hpp>
#else
#include <tf2/convert.h>
#endif
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <utility>

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2 changes: 1 addition & 1 deletion ...test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp
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#include <Eigen/Geometry>
#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/parameter_value.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
#include <tf2_kdl/tf2_kdl.hpp>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_state/robot_state.h>
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9 changes: 9 additions & 0 deletions moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
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Expand Up @@ -37,8 +37,17 @@
#include <moveit/depth_image_octomap_updater/depth_image_octomap_updater.h>
#include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
// TODO: Remove conditional includes when released to all active distros.
#if __has_include(<tf2/LinearMath/Vector3.hpp>)
#include <tf2/LinearMath/Vector3.hpp>
#else
#include <tf2/LinearMath/Vector3.h>
#endif
#if __has_include(<tf2/LinearMath/Transform.hpp>)
#include <tf2/LinearMath/Transform.hpp>
#else
#include <tf2/LinearMath/Transform.h>
#endif
#include <geometric_shapes/shape_operations.h>
#include <sensor_msgs/image_encodings.hpp>
#include <stdint.h>
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9 changes: 9 additions & 0 deletions moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
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#include <moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h>
#include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
// TODO: Remove conditional includes when released to all active distros.
#if __has_include(<tf2/LinearMath/Vector3.hpp>)
#include <tf2/LinearMath/Vector3.hpp>
#else
#include <tf2/LinearMath/Vector3.h>
#endif
#if __has_include(<tf2/LinearMath/Transform.hpp>)
#include <tf2/LinearMath/Transform.hpp>
#else
#include <tf2/LinearMath/Transform.h>
#endif
#include <sensor_msgs/point_cloud2_iterator.hpp>
#include <tf2_ros/create_timer_interface.h>
#include <tf2_ros/create_timer_ros.h>
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9 changes: 9 additions & 0 deletions moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
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#include <moveit/exceptions/exceptions.h>
#include <moveit_msgs/srv/get_planning_scene.hpp>

// TODO: Remove conditional includes when released to all active distros.
#if __has_include(<tf2/exceptions.hpp>)
#include <tf2/exceptions.hpp>
#else
#include <tf2/exceptions.h>
#endif
#if __has_include(<tf2/LinearMath/Transform.hpp>)
#include <tf2/LinearMath/Transform.hpp>
#else
#include <tf2/LinearMath/Transform.h>
#endif
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

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5 changes: 5 additions & 0 deletions moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
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Expand Up @@ -60,7 +60,12 @@

#include <std_msgs/msg/string.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
// TODO: Remove conditional include when released to all active distros.
#if __has_include(<tf2/utils.hpp>)
#include <tf2/utils.hpp>
#else
#include <tf2/utils.h>
#endif
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_ros/transform_listener.h>

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5 changes: 5 additions & 0 deletions moveit_ros/planning_interface/test/move_group_ompl_constraints_test.cpp
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Expand Up @@ -41,7 +41,12 @@

// ROS
#include <rclcpp/rclcpp.hpp>
// TODO: Remove conditional include when released to all active distros.
#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
#include <tf2/LinearMath/Quaternion.hpp>
#else
#include <tf2/LinearMath/Quaternion.h>
#endif
#include <tf2_eigen/tf2_eigen.hpp>

// MoveIt
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5 changes: 5 additions & 0 deletions moveit_ros/robot_interaction/src/interaction_handler.cpp
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#include <moveit/transforms/transforms.h>
#include <interactive_markers/interactive_marker_server.hpp>
#include <interactive_markers/menu_handler.hpp>
// TODO: Remove conditional include when released to all active distros.
#if __has_include(<tf2/LinearMath/Transform.hpp>)
#include <tf2/LinearMath/Transform.hpp>
#else
#include <tf2/LinearMath/Transform.h>
#endif
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <algorithm>
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5 changes: 5 additions & 0 deletions moveit_ros/robot_interaction/src/interactive_marker_helpers.cpp
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Expand Up @@ -36,7 +36,12 @@

#include <math.h>
#include <moveit/robot_interaction/interactive_marker_helpers.h>
// TODO: Remove conditional include when released to all active distros.
#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
#include <tf2/LinearMath/Quaternion.hpp>
#else
#include <tf2/LinearMath/Quaternion.h>
#endif
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

namespace robot_interaction
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5 changes: 5 additions & 0 deletions moveit_ros/robot_interaction/src/robot_interaction.cpp
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#include <interactive_markers/menu_handler.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
// TODO: Remove conditional include when released to all active distros.
#if __has_include(<tf2/LinearMath/Transform.hpp>)
#include <tf2/LinearMath/Transform.hpp>
#else
#include <tf2/LinearMath/Transform.h>
#endif

#include <algorithm>
#include <limits>
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