Fix build on ROS Rolling by using non-deprecated tf2 header Quaternion.hpp

[sloretz]

Quaternion.h was deprecated in ros2/geometry2#720 and removed in ros2/geometry2#789 .

This PR updates base_realsense_node.h to use Quaternion.hpp. This fixes the build on Rolling that I saw in the CI of #3374

[sysrsbuild]

Can one of the admins verify this patch?

[Nir-Az]

@sloretz thanks!
Will this work on Humble/Jazzy as well?
We might need some @ifdef ro make sure we do it for rolling(/Kilted?) only?

[sloretz]

Will this work on Humble/Jazzy as well?

Yes. The .hpp header was backported to Jazzy and Humble in ros2/geometry2#723 and ros2/geometry2#722

• Rolling https://github.com/ros2/geometry2/blob/rolling/tf2/include/tf2/LinearMath/Quaternion.hpp
• Kilted https://github.com/ros2/geometry2/blob/kilted/tf2/include/tf2/LinearMath/Quaternion.hpp
• Jazzy https://github.com/ros2/geometry2/blob/jazzy/tf2/include/tf2/LinearMath/Quaternion.hpp
• Humble https://github.com/ros2/geometry2/blob/humble/tf2/include/tf2/LinearMath/Quaternion.hpp

[Nir-Az]

Can you please change the PR to target ros2-development branch?

[sloretz]

Can you please change the PR to target ros2-development branch?

Done!

[remibettan]

Change works, but I had to perform:
sudo apt install --reinstall ros-jazzy-tf2
for the Quaternion.hpp file to be found.

Since a reinstall must be done, we will implement it with some ifdef statement checking the ROS2 distro (only in case of rolling or kilted, we will use the hpp file).
@sloretz do you want to perform this improvement?
Anyway, thanks a lot for your contribution!

[remibettan]

commented - please see "ifdef" request above

[remibettan]

@sloretz please inform if you want to correct acc to latest comment, or should we take it from here?

[sloretz]

Change works, but I had to perform:
sudo apt install --reinstall ros-jazzy-tf2
for the Quaternion.hpp file to be found.

Hi @remibettan, it looks like you had out-of-date ROS Jazzy packages installed on your system. Instead of adding an #ifdef, I've updated the package.xml to require the minimum version of tf2 that has Quaternion.hpp for all active ROS distros.

• 0.40.0 First ROS Kilted and beyond version with Quaternion.hpp: https://github.com/ros2/geometry2/blob/kilted/tf2/CHANGELOG.rst#0400-2024-12-20
• 0.36.7 First ROS Jazzy version with Quaternion.hpp: https://github.com/ros2/geometry2/blob/jazzy/tf2/CHANGELOG.rst#0367-2024-12-27
• 0.25.10 First ROS Humble version with Quaternion.hpp: https://github.com/ros2/geometry2/blob/humble/tf2/CHANGELOG.rst#02510-2024-12-19

If you're building from source with an out-of-date version of tf2, rosdep install should automatically update tf2 to the latest version.

[remibettan]

Change works, but I had to perform:
sudo apt install --reinstall ros-jazzy-tf2
for the Quaternion.hpp file to be found.

Hi @remibettan, it looks like you had out-of-date ROS Jazzy packages installed on your system. Instead of adding an #ifdef, I've updated the package.xml to require the minimum version of tf2 that has Quaternion.hpp for all active ROS distros.

• 0.40.0 First ROS Kilted and beyond version with Quaternion.hpp: https://github.com/ros2/geometry2/blob/kilted/tf2/CHANGELOG.rst#0400-2024-12-20
• 0.36.7 First ROS Jazzy version with Quaternion.hpp: https://github.com/ros2/geometry2/blob/jazzy/tf2/CHANGELOG.rst#0367-2024-12-27
• 0.25.10 First ROS Humble version with Quaternion.hpp: https://github.com/ros2/geometry2/blob/humble/tf2/CHANGELOG.rst#02510-2024-12-19

If you're building from source with an out-of-date version of tf2, rosdep install should automatically update tf2 to the latest version.

Hi @sloretz , thanks for your advice, but rosdep is designed to install missing dependencies, not to upgrade existing packages even if a newer version is available that matches version_gte. So users that already have their system working with previous distros will encounter issues with your solution, even though it is much more elegant than the ifdef pragma.

[Nir-Az]

Thanks for the PR :)
Fix already merged as part of #3374