fix: tf2 uses hpp headers in rolling (and is backported) (#483)

Timple · web-flow · commit ae436186f1a0 · 2025-05-21T00:17:34.000Z
* tf2 uses hpp headers in rolling (and is backported)

Signed-off-by: Tim Clephas &lt;tim.clephas@nobleo.nl&gt;

* fixup! tf2 uses hpp headers in rolling (and is backported)

Signed-off-by: Tim Clephas &lt;tim.clephas@nobleo.nl&gt;

---------

Signed-off-by: Tim Clephas &lt;tim.clephas@nobleo.nl&gt;
diff --git a/common/autoware_interpolation/include/autoware/interpolation/spherical_linear_interpolation.hpp b/common/autoware_interpolation/include/autoware/interpolation/spherical_linear_interpolation.hpp
@@ -17,9 +17,9 @@
 
 #include "autoware/interpolation/interpolation_utils.hpp"
 
-#include <geometry_msgs/msg/quaternion.hpp>
+#include <tf2/utils.hpp>
 
-#include <tf2/utils.h>
+#include <geometry_msgs/msg/quaternion.hpp>
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
diff --git a/common/autoware_motion_utils/test/src/resample/test_resample.cpp b/common/autoware_motion_utils/test/src/resample/test_resample.cpp
@@ -19,10 +19,10 @@
 #include <autoware_utils_geometry/geometry.hpp>
 #include <autoware_utils_math/constants.hpp>
 #include <autoware_utils_math/unit_conversion.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
 
 #include <gtest/gtest.h>
 #include <gtest/internal/gtest-port.h>
-#include <tf2/LinearMath/Quaternion.h>
 
 #include <limits>
 #include <vector>
diff --git a/common/autoware_motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp b/common/autoware_motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp
@@ -14,9 +14,10 @@
 
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
 
+#include <tf2/LinearMath/Quaternion.hpp>
+
 #include <gtest/gtest.h>
 #include <gtest/internal/gtest-port.h>
-#include <tf2/LinearMath/Quaternion.h>
 
 #include <random>
 
diff --git a/common/autoware_motion_utils/test/src/trajectory/test_interpolation.cpp b/common/autoware_motion_utils/test/src/trajectory/test_interpolation.cpp
@@ -18,10 +18,10 @@
 
 #include <autoware_utils_geometry/boost_geometry.hpp>
 #include <autoware_utils_math/unit_conversion.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
 
 #include <gtest/gtest.h>
 #include <gtest/internal/gtest-port.h>
-#include <tf2/LinearMath/Quaternion.h>
 
 #include <limits>
 #include <vector>
diff --git a/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp b/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp
@@ -17,10 +17,10 @@
 
 #include <autoware_utils_geometry/boost_geometry.hpp>
 #include <autoware_utils_math/unit_conversion.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
 
 #include <gtest/gtest.h>
 #include <gtest/internal/gtest-port.h>
-#include <tf2/LinearMath/Quaternion.h>
 
 #include <algorithm>
 #include <limits>
diff --git a/common/autoware_trajectory/examples/example_pose.cpp b/common/autoware_trajectory/examples/example_pose.cpp
@@ -17,13 +17,13 @@
 
 #include <autoware/pyplot/pyplot.hpp>
 #include <range/v3/all.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
+#include <tf2/LinearMath/Vector3.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
 
 #include <pybind11/embed.h>
 #include <pybind11/stl.h>
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/LinearMath/Vector3.h>
 
 #include <algorithm>
 #include <string>
diff --git a/common/autoware_trajectory/examples/example_readme.cpp b/common/autoware_trajectory/examples/example_readme.cpp
@@ -23,15 +23,15 @@
 
 #include <autoware/pyplot/pyplot.hpp>
 #include <range/v3/all.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
+#include <tf2/LinearMath/Vector3.hpp>
 
 #include <autoware_internal_planning_msgs/msg/path_point_with_lane_id.hpp>
 #include <autoware_planning_msgs/msg/path_point.hpp>
 #include <geometry_msgs/msg/point.hpp>
 
 #include <pybind11/embed.h>
 #include <pybind11/stl.h>
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/LinearMath/Vector3.h>
 
 #include <iostream>
 #include <random>
diff --git a/common/autoware_trajectory/src/pose.cpp b/common/autoware_trajectory/src/pose.cpp
@@ -19,11 +19,11 @@
 #include "autoware/trajectory/interpolator/spherical_linear.hpp"
 #include "autoware/trajectory/threshold.hpp"
 
-#include <tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
+#include <tf2/LinearMath/Vector3.hpp>
+#include <tf2/utils.hpp>
 
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/LinearMath/Vector3.h>
-#include <tf2/utils.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <cmath>
 #include <memory>
diff --git a/control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.cpp b/control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.cpp
@@ -15,8 +15,7 @@
 #include "simple_pure_pursuit.hpp"
 
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
-
-#include <tf2/utils.h>
+#include <tf2/utils.hpp>
 
 #include <algorithm>
 
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp
@@ -23,6 +23,8 @@
 #include <autoware_utils_logging/logger_level_configure.hpp>
 #include <autoware_utils_system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
+#include <tf2/utils.hpp>
 
 #include <autoware_internal_debug_msgs/msg/float64_multi_array_stamped.hpp>
 #include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
@@ -36,8 +38,6 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <std_srvs/srv/set_bool.hpp>
 
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/utils.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_broadcaster.h>
 #include <tf2_ros/transform_listener.h>
diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp
@@ -22,15 +22,14 @@
 #include <autoware/kalman_filter/kalman_filter.hpp>
 #include <autoware/kalman_filter/time_delay_kalman_filter.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tf2/utils.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
 
-#include <tf2/utils.h>
-
 #include <memory>
 #include <vector>
 
diff --git a/localization/autoware_ekf_localizer/src/ekf_module.cpp b/localization/autoware_ekf_localizer/src/ekf_module.cpp
@@ -24,10 +24,10 @@
 
 #include <autoware_utils_geometry/geometry.hpp>
 #include <autoware_utils_geometry/msg/covariance.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
+#include <tf2/utils.hpp>
 
 #include <fmt/core.h>
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/utils.h>
 
 #include <algorithm>
 #include <utility>
diff --git a/localization/autoware_gyro_odometer/src/gyro_odometer_core.hpp b/localization/autoware_gyro_odometer/src/gyro_odometer_core.hpp
@@ -20,14 +20,13 @@
 #include <autoware_utils_logging/logger_level_configure.hpp>
 #include <autoware_utils_tf/transform_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tf2/transform_datatypes.hpp>
 
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
-#include <tf2/transform_datatypes.h>
-
 #include <deque>
 #include <memory>
 #include <string>
diff --git a/localization/autoware_localization_util/src/covariance_ellipse.cpp b/localization/autoware_localization_util/src/covariance_ellipse.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/localization_util/covariance_ellipse.hpp"
 
-#include <tf2/utils.h>
+#include <tf2/utils.hpp>
 
 #include <algorithm>
 #ifdef ROS_DISTRO_GALACTIC
diff --git a/localization/autoware_localization_util/test/test_util_func.cpp b/localization/autoware_localization_util/test/test_util_func.cpp
@@ -16,9 +16,9 @@
 #include "autoware/localization_util/util_func.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
 
 #include <gtest/gtest.h>
-#include <tf2/LinearMath/Quaternion.h>
 
 #include <cmath>
 #include <iostream>
diff --git a/localization/autoware_stop_filter/src/stop_filter.hpp b/localization/autoware_stop_filter/src/stop_filter.hpp
@@ -16,15 +16,14 @@
 #define STOP_FILTER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
+#include <tf2/utils.hpp>
 
 #include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/utils.h>
-
 #include <chrono>
 #include <fstream>
 #include <iostream>
diff --git a/localization/autoware_twist2accel/src/twist2accel.hpp b/localization/autoware_twist2accel/src/twist2accel.hpp
@@ -18,15 +18,14 @@
 #include "autoware/signal_processing/lowpass_filter_1d.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
+#include <tf2/utils.hpp>
 
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/utils.h>
-
 #include <chrono>
 #include <fstream>
 #include <iostream>
diff --git a/perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp b/perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp
@@ -26,6 +26,8 @@
 #include <boost/thread/mutex.hpp>
 
 // PCL includes
+#include <tf2/transform_datatypes.hpp>
+
 #include <pcl_msgs/msg/point_indices.hpp>
 
 #include <pcl/filters/extract_indices.h>
@@ -34,7 +36,6 @@
 #include <pcl/pcl_base.h>
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
-#include <tf2/transform_datatypes.h>
 
 // PCL includes
 #if __has_include(<message_filters/subscriber.hpp>)
diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp
@@ -27,6 +27,7 @@
 #include <autoware_utils_math/unit_conversion.hpp>
 #include <autoware_utils_visualization/marker_helper.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
+#include <tf2/utils.hpp>
 
 #include <boost/geometry/algorithms/correct.hpp>
 #include <boost/geometry/algorithms/difference.hpp>
@@ -36,7 +37,6 @@
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_core/geometry/BoundingBox.h>
 #include <lanelet2_core/geometry/Lanelet.h>
-#include <tf2/utils.h>
 
 #include <limits>
 #include <vector>
diff --git a/planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp b/planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp
@@ -17,8 +17,7 @@
 #include <autoware_utils_geometry/geometry.hpp>
 #include <autoware_utils_math/normalization.hpp>
 #include <autoware_utils_math/unit_conversion.hpp>
-
-#include <tf2/utils.h>
+#include <tf2/utils.hpp>
 
 namespace autoware::mission_planner
 {
diff --git a/planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp b/planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp
@@ -18,6 +18,7 @@
 #include <autoware_test_utils/autoware_test_utils.hpp>
 #include <autoware_utils_geometry/boost_geometry.hpp>
 #include <autoware_utils_geometry/geometry.hpp>
+#include <tf2/utils.hpp>
 
 #include <boost/geometry/io/wkt/write.hpp>
 
@@ -28,7 +29,6 @@
 #include <lanelet2_core/primitives/Lanelet.h>
 #include <lanelet2_core/primitives/LineString.h>
 #include <lanelet2_core/primitives/Point.h>
-#include <tf2/utils.h>
 
 #include <memory>
 #include <string>
diff --git a/planning/autoware_route_handler/src/route_handler.cpp b/planning/autoware_route_handler/src/route_handler.cpp
@@ -22,6 +22,7 @@
 #include <autoware_utils/geometry/geometry.hpp>
 #include <autoware_utils/math/normalization.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tf2/utils.hpp>
 
 #include <autoware_internal_planning_msgs/msg/path_point_with_lane_id.hpp>
 #include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
@@ -32,7 +33,6 @@
 #include <lanelet2_routing/Route.h>
 #include <lanelet2_routing/RoutingGraph.h>
 #include <lanelet2_routing/RoutingGraphContainer.h>
-#include <tf2/utils.h>
 
 #include <algorithm>
 #include <functional>
diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp
@@ -26,7 +26,7 @@
 #include "autoware/velocity_smoother/smoother/smoother_base.hpp"
 #include "autoware/velocity_smoother/trajectory_utils.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 #include "tf2_ros/transform_listener.h"
 
 #include <autoware_utils_debug/published_time_publisher.hpp>
diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp
@@ -19,7 +19,7 @@
 #include "autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.hpp"
 #include "autoware/velocity_smoother/smoother/smoother_base.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 
 #include <autoware_utils_debug/time_keeper.hpp>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp
@@ -19,12 +19,11 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/velocity_smoother/trajectory_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tf2/utils.hpp>
 
 #include <autoware_internal_planning_msgs/msg/path_point_with_lane_id.hpp>
 #include <geometry_msgs/msg/quaternion.hpp>
 
-#include <tf2/utils.h>
-
 #include <iostream>
 #include <utility>
 #include <vector>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp
@@ -20,6 +20,7 @@
 #include <autoware/lanelet2_utils/topology.hpp>
 #include <autoware_lanelet2_extension/utility/query.hpp>
 #include <autoware_utils/geometry/geometry.hpp>
+#include <tf2/utils.hpp>
 
 #include <autoware_planning_msgs/msg/path_point.hpp>
 
@@ -28,7 +29,6 @@
 #include <lanelet2_core/Forward.h>
 #include <lanelet2_core/geometry/Polygon.h>
 #include <lanelet2_routing/RoutingGraph.h>
-#include <tf2/utils.h>
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/utils.hpp
@@ -15,12 +15,12 @@
 #ifndef UTILS_HPP_
 #define UTILS_HPP_
 
+#include <tf2/utils.hpp>
+
 #include <autoware_internal_planning_msgs/msg/path_point_with_lane_id.hpp>
 #include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
-#include <tf2/utils.h>
-
 namespace test
 {
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner/src/node.cpp
@@ -22,14 +22,14 @@
 #include <autoware_utils_pcl/transforms.hpp>
 #include <autoware_utils_rclcpp/parameter.hpp>
 #include <autoware_utils_system/stop_watch.hpp>
+#include <tf2/time.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 
 #include <autoware_planning_msgs/msg/trajectory_point.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <pcl/common/transforms.h>
 #include <pcl_conversions/pcl_conversions.h>
-#include <tf2/time.h>
 
 #include <chrono>
 #include <functional>
diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp
diff --git a/testing/autoware_test_utils/src/autoware_test_utils.cpp b/testing/autoware_test_utils/src/autoware_test_utils.cpp
