fix build issues on rolling

Author: berndpfrommer

CMakeLists.txt

@@ -27,16 +27,21 @@ set(ament_dependencies
   "ffmpeg_image_transport_msgs"
   "rclcpp"
   "rosbag2_cpp"
+  "rosbag2_storage"
   "sensor_msgs")
 
 foreach(pkg ${ament_dependencies})
   find_package(${pkg} REQUIRED)
 endforeach()
 
-if(${cv_bridge_VERSION} GREATER "3.3.0")
+if(${cv_bridge_VERSION} VERSION_GREATER "3.3.0")
   add_definitions(-DUSE_CV_BRIDGE_HPP)
 endif()
 
+if(${rosbag2_storage_VERSION} VERSION_GREATER_EQUAL "0.26.1")
+  add_definitions(-DUSE_ROSBAG2_STORAGE_RECV_TIME)
+endif()
+
 
 #
 # -------- bag_to_file

include/ffmpeg_image_transport_tools/bag_processor.hpp

@@ -74,7 +74,11 @@ class BagProcessor
       rclcpp::SerializedMessage serialized_msg(*msg->serialized_data);
       typename T::SharedPtr m(new T());
       serialization_.deserialize_message(&serialized_msg, m.get());
+#ifdef USE_ROSBAG2_STORAGE_RECV_TIME
+      const auto t = Time(msg->recv_timestamp).nanoseconds();
+#else
       const auto t = Time(msg->time_stamp).nanoseconds();
+#endif
       if (t > end_time_) {
         break;
       }

package.xml

@@ -20,6 +20,7 @@
   <depend>ffmpeg_image_transport</depend>
   <depend>ffmpeg_image_transport_msgs</depend>
   <depend>rosbag2_cpp</depend>
+  <depend>rosbag2_storage</depend>
   <depend>sensor_msgs</depend>