deprecating C API for TF2 and fixing test failures (#4823)

SteveMacenski · web-flow · commit 4e5d2dfc66cb · 2025-01-04T15:40:29.000-08:00
* deprecating C API for TF2 and fixing test failures

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;

* Update costmap_2d_ros.cpp

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;

* Update 2d_utils_test.cpp

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;

* fix remaining issue

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;

---------

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -35,10 +35,10 @@
 #include "nav2_util/string_utils.hpp"
 #include "nav2_amcl/sensors/laser/laser.hpp"
 #include "rclcpp/node_options.hpp"
-#include "tf2/convert.h"
-#include "tf2/utils.h"
+#include "tf2/convert.hpp"
+#include "tf2/utils.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tf2/LinearMath/Transform.h"
+#include "tf2/LinearMath/Transform.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/message_filter.h"
 #include "tf2_ros/transform_broadcaster.h"
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp
@@ -23,7 +23,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "nav2_msgs/msg/behavior_tree_log.hpp"
 #include "nav2_msgs/msg/behavior_tree_status_change.h"
-#include "tf2/time.h"
+#include "tf2/time.hpp"
 #include "tf2_ros/buffer_interface.h"
 
 namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.cpp b/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.cpp
@@ -18,7 +18,7 @@
 
 #include "nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.hpp"
 #include "nav2_behavior_tree/bt_utils.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp b/nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp
@@ -24,7 +24,7 @@
 #include "nav2_util/robot_utils.hpp"
 #include "nav_msgs/msg/path.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tf2/LinearMath/Quaternion.h"
+#include "tf2/LinearMath/Quaternion.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/create_timer_ros.h"
 
diff --git a/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp b/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp
@@ -17,7 +17,7 @@
 #include <string>
 
 #include "rclcpp/rclcpp.hpp"
-#include "tf2/time.h"
+#include "tf2/time.hpp"
 #include "tf2_ros/buffer.h"
 
 #include "nav2_behavior_tree/plugins/condition/transform_available_condition.hpp"
diff --git a/nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp
@@ -23,8 +23,8 @@
 #include "nav_msgs/msg/path.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tf2/LinearMath/Matrix3x3.h"
-#include "tf2/LinearMath/Quaternion.h"
+#include "tf2/LinearMath/Matrix3x3.hpp"
+#include "tf2/LinearMath/Quaternion.hpp"
 
 #include "behaviortree_cpp/bt_factory.h"
 
diff --git a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
@@ -35,7 +35,7 @@
 #include "nav2_core/behavior.hpp"
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 #pragma GCC diagnostic pop
 
 
diff --git a/nav2_behaviors/plugins/spin.cpp b/nav2_behaviors/plugins/spin.cpp
@@ -19,7 +19,7 @@
 #include <utility>
 
 #include "nav2_behaviors/plugins/spin.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "nav2_util/node_utils.hpp"
 
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/collision_detector_node.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/collision_detector_node.hpp
@@ -22,7 +22,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "tf2/time.h"
+#include "tf2/time.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
 
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp
@@ -25,7 +25,7 @@
 #include "visualization_msgs/msg/marker_array.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
 
-#include "tf2/time.h"
+#include "tf2/time.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
 
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp
@@ -23,7 +23,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "geometry_msgs/msg/polygon_stamped.hpp"
 
-#include "tf2/time.h"
+#include "tf2/time.hpp"
 #include "tf2_ros/buffer.h"
 
 #include "nav2_util/lifecycle_node.hpp"
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp
@@ -21,7 +21,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "tf2/time.h"
+#include "tf2/time.hpp"
 #include "tf2_ros/buffer.h"
 
 #include "nav2_collision_monitor/types.hpp"
diff --git a/nav2_collision_monitor/src/pointcloud.cpp b/nav2_collision_monitor/src/pointcloud.cpp
@@ -17,7 +17,7 @@
 #include <functional>
 
 #include "sensor_msgs/point_cloud2_iterator.hpp"
-#include "tf2/transform_datatypes.h"
+#include "tf2/transform_datatypes.hpp"
 
 #include "nav2_util/node_utils.hpp"
 #include "nav2_util/robot_utils.hpp"
diff --git a/nav2_collision_monitor/src/polygon.cpp b/nav2_collision_monitor/src/polygon.cpp
@@ -19,7 +19,7 @@
 
 #include "geometry_msgs/msg/point.hpp"
 #include "geometry_msgs/msg/point32.hpp"
-#include "tf2/transform_datatypes.h"
+#include "tf2/transform_datatypes.hpp"
 
 #include "nav2_util/node_utils.hpp"
 #include "nav2_util/robot_utils.hpp"
diff --git a/nav2_collision_monitor/src/polygon_source.cpp b/nav2_collision_monitor/src/polygon_source.cpp
@@ -18,7 +18,7 @@
 #include <functional>
 
 #include "geometry_msgs/msg/polygon_stamped.hpp"
-#include "tf2/transform_datatypes.h"
+#include "tf2/transform_datatypes.hpp"
 
 #include "nav2_util/node_utils.hpp"
 #include "nav2_util/robot_utils.hpp"
diff --git a/nav2_collision_monitor/src/range.cpp b/nav2_collision_monitor/src/range.cpp
@@ -18,7 +18,7 @@
 #include <cmath>
 #include <functional>
 
-#include "tf2/transform_datatypes.h"
+#include "tf2/transform_datatypes.hpp"
 
 #include "nav2_util/node_utils.hpp"
 #include "nav2_util/robot_utils.hpp"
diff --git a/nav2_collision_monitor/src/scan.cpp b/nav2_collision_monitor/src/scan.cpp
@@ -17,7 +17,7 @@
 #include <cmath>
 #include <functional>
 
-#include "tf2/transform_datatypes.h"
+#include "tf2/transform_datatypes.hpp"
 
 #include "nav2_util/robot_utils.hpp"
 
diff --git a/nav2_constrained_smoother/src/constrained_smoother.cpp b/nav2_constrained_smoother/src/constrained_smoother.cpp
@@ -30,7 +30,7 @@
 #include "pluginlib/class_loader.hpp"
 #include "pluginlib/class_list_macros.hpp"
 
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 
 using nav2_util::declare_parameter_if_not_declared;
 using nav2_util::geometry_utils::euclidean_distance;
diff --git a/nav2_controller/plugins/simple_goal_checker.cpp b/nav2_controller/plugins/simple_goal_checker.cpp
@@ -43,7 +43,7 @@
 #include "nav2_util/geometry_utils.hpp"
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 #pragma GCC diagnostic pop
 
 using rcl_interfaces::msg::ParameterType;
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp
@@ -50,9 +50,9 @@
 #include "nav2_msgs/msg/costmap.hpp"
 #include "nav2_msgs/msg/costmap_update.hpp"
 #include "nav2_msgs/srv/get_costmap.hpp"
-#include "tf2/transform_datatypes.h"
+#include "tf2/transform_datatypes.hpp"
 #include "nav2_util/lifecycle_node.hpp"
-#include "tf2/LinearMath/Quaternion.h"
+#include "tf2/LinearMath/Quaternion.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 namespace nav2_costmap_2d
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -54,16 +54,16 @@
 #include "nav2_util/lifecycle_node.hpp"
 #include "nav2_msgs/srv/get_costs.hpp"
 #include "pluginlib/class_loader.hpp"
-#include "tf2/convert.h"
-#include "tf2/LinearMath/Transform.h"
+#include "tf2/convert.hpp"
+#include "tf2/LinearMath/Transform.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
-#include "tf2/time.h"
-#include "tf2/transform_datatypes.h"
+#include "tf2/time.hpp"
+#include "tf2/transform_datatypes.hpp"
 
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 #pragma GCC diagnostic pop
 
 namespace nav2_costmap_2d
diff --git a/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
@@ -38,7 +38,7 @@
 #include <string>
 #include <memory>
 #include <algorithm>
-#include "tf2/convert.h"
+#include "tf2/convert.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 #include "nav2_costmap_2d/costmap_filters/keepout_filter.hpp"
diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -43,7 +43,7 @@
 #include <string>
 
 #include "pluginlib/class_list_macros.hpp"
-#include "tf2/convert.h"
+#include "tf2/convert.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "nav2_util/validate_messages.hpp"
 
diff --git a/nav2_costmap_2d/src/footprint_subscriber.cpp b/nav2_costmap_2d/src/footprint_subscriber.cpp
@@ -19,7 +19,7 @@
 #include "nav2_costmap_2d/footprint_subscriber.hpp"
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 #pragma GCC diagnostic pop
 
 namespace nav2_costmap_2d
diff --git a/nav2_costmap_2d/src/observation_buffer.cpp b/nav2_costmap_2d/src/observation_buffer.cpp
@@ -42,7 +42,7 @@
 #include <vector>
 #include <chrono>
 
-#include "tf2/convert.h"
+#include "tf2/convert.hpp"
 #include "sensor_msgs/point_cloud2_iterator.hpp"
 using namespace std::chrono_literals;
 
diff --git a/nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp b/nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp
@@ -35,7 +35,7 @@
 #include "tf2_ros/transform_broadcaster.h"
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 #pragma GCC diagnostic pop
 #include "nav2_util/geometry_utils.hpp"
 
diff --git a/nav2_docking/opennav_docking/include/opennav_docking/simple_charging_dock.hpp b/nav2_docking/opennav_docking/include/opennav_docking/simple_charging_dock.hpp
@@ -23,7 +23,7 @@
 #include "sensor_msgs/msg/battery_state.hpp"
 #include "sensor_msgs/msg/joint_state.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 
 #include "opennav_docking_core/charging_dock.hpp"
 #include "opennav_docking/pose_filter.hpp"
diff --git a/nav2_docking/opennav_docking/include/opennav_docking/simple_non_charging_dock.hpp b/nav2_docking/opennav_docking/include/opennav_docking/simple_non_charging_dock.hpp
@@ -23,7 +23,7 @@
 #include "sensor_msgs/msg/battery_state.hpp"
 #include "sensor_msgs/msg/joint_state.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 
 #include "opennav_docking_core/non_charging_dock.hpp"
 #include "opennav_docking/pose_filter.hpp"
diff --git a/nav2_docking/opennav_docking/include/opennav_docking/utils.hpp b/nav2_docking/opennav_docking/include/opennav_docking/utils.hpp
@@ -24,7 +24,7 @@
 #include "nav2_util/geometry_utils.hpp"
 #include "angles/angles.h"
 #include "opennav_docking/types.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 
 namespace utils
 {
diff --git a/nav2_docking/opennav_docking/src/controller.cpp b/nav2_docking/opennav_docking/src/controller.cpp
@@ -20,7 +20,7 @@
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "nav_2d_utils/conversions.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 
 namespace opennav_docking
 {
diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -15,7 +15,7 @@
 #include "angles/angles.h"
 #include "opennav_docking/docking_server.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 
 using namespace std::chrono_literals;
 using rcl_interfaces::msg::ParameterType;
diff --git a/nav2_docking/opennav_docking/test/test_pose_filter.cpp b/nav2_docking/opennav_docking/test/test_pose_filter.cpp
@@ -18,7 +18,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "opennav_docking/pose_filter.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 
 // Testing the pose filter
 
diff --git a/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp b/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
@@ -20,7 +20,7 @@
 #include "opennav_docking/simple_charging_dock.hpp"
 #include "ament_index_cpp/get_package_share_directory.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 
 // Testing the simple charging dock plugin
 
diff --git a/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp b/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
@@ -20,7 +20,7 @@
 #include "opennav_docking/simple_non_charging_dock.hpp"
 #include "ament_index_cpp/get_package_share_directory.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 
 // Testing the simple non-charging dock plugin
 
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions.hpp b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions.hpp
@@ -44,7 +44,7 @@
 #include "nav_2d_msgs/msg/pose2_d_stamped.hpp"
 #include "nav_msgs/msg/path.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tf2/convert.h"
+#include "tf2/convert.hpp"
 
 namespace nav_2d_utils
 {
diff --git a/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp b/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp
@@ -48,7 +48,7 @@
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 #pragma GCC diagnostic pop
 
 #include "nav2_util/geometry_utils.hpp"
diff --git a/nav2_dwb_controller/nav_2d_utils/test/2d_utils_test.cpp b/nav2_dwb_controller/nav_2d_utils/test/2d_utils_test.cpp
@@ -33,8 +33,8 @@
  */
 
 #include <math.h>
-#include <tf2/LinearMath/Quaternion.h>
 #include <vector>
+#include <tf2/LinearMath/Quaternion.hpp>
 
 #include "gtest/gtest.h"
 #include "nav_2d_utils/conversions.hpp"
diff --git a/nav2_graceful_controller/include/nav2_graceful_controller/ego_polar_coords.hpp b/nav2_graceful_controller/include/nav2_graceful_controller/ego_polar_coords.hpp
@@ -19,7 +19,7 @@
 
 #include "angles/angles.h"
 #include "geometry_msgs/msg/pose.hpp"
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 
 namespace nav2_graceful_controller
 {
diff --git a/nav2_map_server/src/map_io.cpp b/nav2_map_server/src/map_io.cpp
@@ -46,8 +46,8 @@
 
 #include "yaml-cpp/yaml.h"
 
-#include "tf2/LinearMath/Matrix3x3.h"
-#include "tf2/LinearMath/Quaternion.h"
+#include "tf2/LinearMath/Matrix3x3.hpp"
+#include "tf2/LinearMath/Quaternion.hpp"
 #include "nav2_util/occ_grid_values.hpp"
 
 #ifdef _WIN32
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
@@ -36,7 +36,7 @@
 
 #include "angles/angles.h"
 
-#include "tf2/utils.h"
+#include "tf2/utils.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 #include "geometry_msgs/msg/twist_stamped.hpp"
diff --git a/nav2_rotation_shim_controller/test/test_shim_controller.cpp b/nav2_rotation_shim_controller/test/test_shim_controller.cpp
diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp
diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp
diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp
diff --git a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp
diff --git a/nav2_smac_planner/src/smoother.cpp b/nav2_smac_planner/src/smoother.cpp
diff --git a/nav2_smoother/include/nav2_smoother/savitzky_golay_smoother.hpp b/nav2_smoother/include/nav2_smoother/savitzky_golay_smoother.hpp
diff --git a/nav2_smoother/include/nav2_smoother/simple_smoother.hpp b/nav2_smoother/include/nav2_smoother/simple_smoother.hpp
diff --git a/nav2_smoother/include/nav2_smoother/smoother_utils.hpp b/nav2_smoother/include/nav2_smoother/smoother_utils.hpp
diff --git a/nav2_system_tests/src/behaviors/assisted_teleop/assisted_teleop_behavior_tester.hpp b/nav2_system_tests/src/behaviors/assisted_teleop/assisted_teleop_behavior_tester.hpp
diff --git a/nav2_system_tests/src/behaviors/wait/wait_behavior_tester.hpp b/nav2_system_tests/src/behaviors/wait/wait_behavior_tester.hpp
diff --git a/nav2_util/include/nav2_util/robot_utils.hpp b/nav2_util/include/nav2_util/robot_utils.hpp
diff --git a/nav2_util/src/base_footprint_publisher.hpp b/nav2_util/src/base_footprint_publisher.hpp
diff --git a/nav2_util/src/costmap.cpp b/nav2_util/src/costmap.cpp
diff --git a/nav2_util/src/robot_utils.cpp b/nav2_util/src/robot_utils.cpp
diff --git a/nav2_util/test/test_base_footprint_publisher.cpp b/nav2_util/test/test_base_footprint_publisher.cpp
