vectornav_msgs ROS2 node does not build without linking tf2_geometry_msgs

[jfinken]

Sensor details:

• Model: VN-200T-CR
• Firmware Version: 2.0.0.1
• Hardware Version : 3

ROS2 version:

• ros2-foxy built from source

Symptom:

• colcon build results in the below header file not found error

Example:

$ colcon build --symlink-install
...
vectornav/vectornav/src/vn_sensor_msgs.cc:24:10: fatal error: tf2_geometry_msgs/tf2_geometry_msgs.h: No such file or directory
 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

This can be resolved with this change to CMakeLists.txt (effectively adding tf2_geometry_msgs):

diff --git a/vectornav/CMakeLists.txt b/vectornav/CMakeLists.txt
index 0cf42c8..2af957a 100644
--- a/vectornav/CMakeLists.txt
+++ b/vectornav/CMakeLists.txt
@@ -35,7 +35,7 @@ target_link_libraries(${PROJECT_NAME} vncxx )

 # vn_sensor_msgs
 add_executable(vn_sensor_msgs src/vn_sensor_msgs.cc)
-ament_target_dependencies(vn_sensor_msgs rclcpp sensor_msgs vectornav_msgs)
+ament_target_dependencies(vn_sensor_msgs rclcpp sensor_msgs vectornav_msgs tf2_geometry_msgs)

I'd be happy to submit a PR to the ros2 branch if interested. Thanks!

[dawonn]

PR's always appreciated!

…

On Fri, Apr 9, 2021, 16:25 Josh Finken ***@***.***> wrote: Sensor details: - Model: VN-200T-CR - Firmware Version: 2.0.0.1 - Hardware Version : 3 ROS2 version: - ros2-foxy built from source Symptom: - colcon build results in the below header file not found error Example: $ colcon build --symlink-install ... vectornav/vectornav/src/vn_sensor_msgs.cc:24:10: fatal error: tf2_geometry_msgs/tf2_geometry_msgs.h: No such file or directory #include "tf2_geometry_msgs/tf2_geometry_msgs.h" ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This can be resolved with this change to CMakeLists.txt (effectively adding tf2_geometry_msgs): diff --git a/vectornav/CMakeLists.txt b/vectornav/CMakeLists.txt index 0cf42c8..2af957a 100644 --- a/vectornav/CMakeLists.txt +++ b/vectornav/CMakeLists.txt @@ -35,7 +35,7 @@ target_link_libraries(${PROJECT_NAME} vncxx ) # vn_sensor_msgs add_executable(vn_sensor_msgs src/vn_sensor_msgs.cc) -ament_target_dependencies(vn_sensor_msgs rclcpp sensor_msgs vectornav_msgs) +ament_target_dependencies(vn_sensor_msgs rclcpp sensor_msgs vectornav_msgs tf2_geometry_msgs) I'd be happy to submit a PR to the ros2 branch if interested. Thanks! — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#58>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAXHVF3E4HAFJEU6XVJDRJLTH5PCBANCNFSM42VT3EXQ> .

[jjbrl]

I will note that an almost identical build error has surfaced due to the include change made in #114 . Older ROS2 distros (ex. Foxy) only provide tf2_geometry_msgs.h and not a .hpp. The solution involves either changing the .hpp include back to a .h on line 24 of vn_sensor_msgs.cc, or manually adding the newer .hpp header to the tf2_geometry_msgs package.

[mehradmrt]

Thank you, I had the same issue and this helped!

[lorenzohess]

I will note that an almost identical build error has surfaced due to the include change made in #114 . Older ROS2 distros (ex. Foxy) only provide tf2_geometry_msgs.h and not a .hpp. The solution involves either changing the .hpp include back to a .h on line 24 of vn_sensor_msgs.cc, or manually adding the newer .hpp header to the tf2_geometry_msgs package.

On commit 2859fe1, I had to make the following two changes:

---
 vectornav/src/vn_sensor_msgs.cc  | 2 +-
 vectornav/src/vn_sensor_msgs.hpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/vectornav/src/vn_sensor_msgs.cc b/vectornav/src/vn_sensor_msgs.cc
index bcfd1e3..0f42b7f 100644
--- a/vectornav/src/vn_sensor_msgs.cc
+++ b/vectornav/src/vn_sensor_msgs.cc
@@ -16,7 +16,7 @@
 #include <rclcpp_components/register_node_macro.hpp>
 #include <string>
 
-#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
 
 using namespace std::chrono_literals;
 
diff --git a/vectornav/src/vn_sensor_msgs.hpp b/vectornav/src/vn_sensor_msgs.hpp
index 2c32a5d..ab278fa 100644
--- a/vectornav/src/vn_sensor_msgs.hpp
+++ b/vectornav/src/vn_sensor_msgs.hpp
@@ -22,7 +22,7 @@
 #include <sensor_msgs/msg/temperature.hpp>
 #include <sensor_msgs/msg/time_reference.hpp>
 #include <string>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <vectornav_msgs/msg/attitude_group.hpp>
 #include <vectornav_msgs/msg/common_group.hpp>
 #include <vectornav_msgs/msg/gps_group.hpp>
--