fix: replace deprecated header in Jazzy (#7603)

* Use cv_bridge.hpp if available

Signed-off-by: f0reachARR <f0reach@f0reach.me>

* Fix image_geometry deprecated header

Signed-off-by: f0reachARR <f0reach@f0reach.me>

* Add comment for __has_include

Signed-off-by: f0reachARR <f0reach@f0reach.me>

---------

Signed-off-by: f0reachARR <f0reach@f0reach.me>
Co-authored-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

Author: f0reachARR

localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp

@@ -51,7 +51,11 @@
 #include <opencv4/opencv2/calib3d.hpp>
 #include <opencv4/opencv2/core/quaternion.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 #include <tf2/LinearMath/Transform.h>
 
 #include <algorithm>

localization/yabloc/yabloc_common/src/cv_decompress.cpp

@@ -17,7 +17,11 @@
 #include <opencv4/opencv2/imgcodecs.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 
 #include <iostream>
 

localization/yabloc/yabloc_common/src/pub_sub.cpp

@@ -14,7 +14,11 @@
 
 #include "yabloc_common/pub_sub.hpp"
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 #include <pcl_conversions/pcl_conversions.h>
 
 namespace yabloc::common

localization/yabloc/yabloc_image_processing/src/line_segments_overlay/line_segments_overlay_core.cpp

@@ -18,7 +18,11 @@
 #include <yabloc_common/cv_decompress.hpp>
 #include <yabloc_common/pub_sub.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 #include <pcl_conversions/pcl_conversions.h>
 
 namespace yabloc::line_segments_overlay

localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp

@@ -24,7 +24,11 @@
 #include <sensor_msgs/msg/compressed_image.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 
 #include <optional>
 

localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp

@@ -20,7 +20,11 @@
 #include <opencv2/highgui.hpp>
 #include <opencv2/imgproc.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 
 #include <filesystem>
 

perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp

@@ -25,7 +25,12 @@
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#if __has_include(<image_geometry/pinhole_camera_model.hpp>)
+#include <image_geometry/pinhole_camera_model.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <image_geometry/pinhole_camera_model.h>  // for ROS 2 Humble or older
+#endif
+
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_routing/RoutingGraph.h>
 #include <lanelet2_traffic_rules/TrafficRulesFactory.h>

perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp

@@ -27,7 +27,12 @@
 #include <tier4_perception_msgs/msg/traffic_light_array.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#if __has_include(<image_geometry/pinhole_camera_model.hpp>)
+#include <image_geometry/pinhole_camera_model.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <image_geometry/pinhole_camera_model.h>  // for ROS 2 Humble or older
+#endif
+
 #include <message_filters/subscriber.h>
 #include <message_filters/synchronizer.h>
 #include <message_filters/time_synchronizer.h>

perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp

@@ -24,7 +24,12 @@
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#if __has_include(<image_geometry/pinhole_camera_model.hpp>)
+#include <image_geometry/pinhole_camera_model.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <image_geometry/pinhole_camera_model.h>  // for ROS 2 Humble or older
+#endif
+
 #include <lanelet2_core/Forward.h>
 #include <pcl/common/transforms.h>
 #include <pcl/point_cloud.h>

perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp

@@ -23,7 +23,11 @@
 #include <tier4_perception_msgs/msg/traffic_light_array.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 #include <message_filters/subscriber.h>
 #include <message_filters/sync_policies/approximate_time.h>
 #include <message_filters/synchronizer.h>