fix: update dependencies and deprecated code for ROS 2 jazzy release

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml

@@ -5,12 +5,13 @@
   <version>0.0.1</version>
   <description>
     RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin
-        (https://github.com/jsk-ros-pkg/jsk_visualization).
+    (https://github.com/jsk-ros-pkg/jsk_visualization).
   </description>
   <maintainer email="khalil@leodrive.ai">Khalil Selyan</maintainer>
 
   <license>BSD-3-Clause</license>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>boost</depend>

common/autoware_test_utils/package.xml

@@ -15,6 +15,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>

common/object_recognition_utils/test/src/test_predicted_path_utils.cpp

@@ -16,6 +16,8 @@
 #include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
 
+#include <boost/optional/optional_io.hpp>
+
 #include <gtest/gtest.h>
 
 using autoware::universe_utils::Point2d;
@@ -75,7 +77,7 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
     for (double t = 0.0; t < 9.0 + 1e-6; t += 1.0) {
       const auto p = calcInterpolatedPose(path, t);
 
-      EXPECT_NE(p, boost::none);
+      EXPECT_TRUE(p);
       EXPECT_NEAR(p->position.x, t * 1.0, epsilon);
       EXPECT_NEAR(p->position.y, 0.0, epsilon);
       EXPECT_NEAR(p->position.z, 0.0, epsilon);
@@ -92,7 +94,7 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
     for (double t = 0.0; t < 9.0; t += 0.3) {
       const auto p = calcInterpolatedPose(path, t);
 
-      EXPECT_NE(p, boost::none);
+      EXPECT_TRUE(p);
       EXPECT_NEAR(p->position.x, t * 1.0, epsilon);
       EXPECT_NEAR(p->position.y, 0.0, epsilon);
       EXPECT_NEAR(p->position.z, 0.0, epsilon);
@@ -108,20 +110,20 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
     // Negative time
     {
       const auto p = calcInterpolatedPose(path, -1.0);
-      EXPECT_EQ(p, boost::none);
+      EXPECT_FALSE(p);
     }
 
     // Over the time horizon
     {
       const auto p = calcInterpolatedPose(path, 11.0);
-      EXPECT_EQ(p, boost::none);
+      EXPECT_FALSE(p);
     }
 
     // Empty Path
     {
       PredictedPath empty_path;
       const auto p = calcInterpolatedPose(empty_path, 5.0);
-      EXPECT_EQ(p, boost::none);
+      EXPECT_FALSE(p);
     }
   }
 }

common/signal_processing/test/src/lowpass_filter_1d_test.cpp

@@ -14,6 +14,8 @@
 
 #include "signal_processing/lowpass_filter_1d.hpp"
 
+#include <boost/optional/optional_io.hpp>
+
 #include <gtest/gtest.h>
 
 constexpr double epsilon = 1e-6;
@@ -23,7 +25,7 @@ TEST(lowpass_filter_1d, filter)
   LowpassFilter1d lowpass_filter_1d(0.1);
 
   // initial state
-  EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none);
+  EXPECT_FALSE(lowpass_filter_1d.getValue());
 
   // random filter
   EXPECT_NEAR(lowpass_filter_1d.filter(0.0), 0.0, epsilon);
@@ -33,7 +35,7 @@ TEST(lowpass_filter_1d, filter)
 
   // reset without value
   lowpass_filter_1d.reset();
-  EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none);
+  EXPECT_FALSE(lowpass_filter_1d.getValue());
 
   // reset with value
   lowpass_filter_1d.reset(-1.1);

common/signal_processing/test/src/lowpass_filter_test.cpp

@@ -14,6 +14,8 @@
 
 #include "signal_processing/lowpass_filter.hpp"
 
+#include <boost/optional/optional_io.hpp>
+
 #include <gtest/gtest.h>
 
 constexpr double epsilon = 1e-6;
@@ -39,7 +41,7 @@ TEST(lowpass_filter_twist, filter)
   LowpassFilterTwist lowpass_filter_(0.1);
 
   {  // initial state
-    EXPECT_EQ(lowpass_filter_.getValue(), boost::none);
+    EXPECT_FALSE(lowpass_filter_.getValue());
   }
 
   {  // random filter
@@ -56,7 +58,7 @@ TEST(lowpass_filter_twist, filter)
 
   {  // reset without value
     lowpass_filter_.reset();
-    EXPECT_EQ(lowpass_filter_.getValue(), boost::none);
+    EXPECT_FALSE(lowpass_filter_.getValue());
   }
 
   {  // reset with value

common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp

@@ -53,7 +53,7 @@
 #include <OgreQuaternion.h>
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
-#include <OgreVector3.h>
+#include <OgreVector.h>
 #include <OgreViewport.h>
 
 namespace tier4_camera_view_rviz_plugin

common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp

@@ -46,7 +46,7 @@
 #include "rviz_common/frame_position_tracking_view_controller.hpp"
 
 #include <OgreQuaternion.h>
-#include <OgreVector3.h>
+#include <OgreVector.h>
 
 namespace rviz_common
 {

common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp

@@ -56,7 +56,7 @@
 #include <OgreQuaternion.h>
 #include <OgreRay.h>
 #include <OgreSceneNode.h>
-#include <OgreVector3.h>
+#include <OgreVector.h>
 #include <OgreViewport.h>
 #include <stdint.h>
 

common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp

@@ -45,7 +45,7 @@
 
 #include "rviz_default_plugins/view_controllers/orbit/orbit_view_controller.hpp"
 
-#include <OgreVector3.h>
+#include <OgreVector.h>
 
 #include <utility>
 

common/tier4_perception_rviz_plugin/src/tools/util.hpp

@@ -17,7 +17,7 @@
 
 #include <rviz_common/viewport_mouse_event.hpp>
 
-#include <OgreVector3.h>
+#include <OgreVector.h>
 
 #include <optional>
 

common/tier4_vehicle_rviz_plugin/package.xml

@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>libqt5-core</depend>

common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp

@@ -26,7 +26,7 @@
 
 #include <OgreColourValue.h>
 #include <OgreManualObject.h>
-#include <OgreVector3.h>
+#include <OgreVector.h>
 
 #include <deque>
 #include <memory>

control/autoware_trajectory_follower_node/package.xml

@@ -19,6 +19,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_motion_utils</depend>

control/autoware_vehicle_cmd_gate/package.xml

@@ -15,6 +15,7 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_motion_utils</depend>

evaluator/autoware_planning_evaluator/package.xml

@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>

evaluator/kinematic_evaluator/package.xml

@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>

evaluator/localization_evaluator/package.xml

@@ -12,6 +12,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>

evaluator/perception_online_evaluator/package.xml

@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>

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/localization_util/package.xml

@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_universe_utils</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>

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>
 

map/map_loader/package.xml

@@ -20,6 +20,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_map_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>

perception/bytetrack/package.xml

@@ -15,6 +15,7 @@
   <buildtool_export_depend>cudnn_cmake_module</buildtool_export_depend>
   <buildtool_export_depend>tensorrt_cmake_module</buildtool_export_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>cuda_utils</depend>
   <depend>cv_bridge</depend>

perception/ground_segmentation/package.xml

@@ -19,6 +19,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>libopencv-dev</depend>
   <depend>pcl_conversions</depend>

perception/radar_object_tracker/package.xml

@@ -14,6 +14,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>

perception/traffic_light_classifier/package.xml

@@ -14,6 +14,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>cuda_utils</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>

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>