FIX: rosbridge build with latest tf2

Author: jlblancoc

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.14.8-{branch}-build{build}
+version: 2.14.9-{branch}-build{build}
 
 os: Visual Studio 2019
 
@@ -18,13 +18,13 @@ build_script:
   - copy cmakemodules\registerExtension.nsh "C:\Program Files (x86)\NSIS\Include\"
   - cd c:\projects\mrpt\build\
   # Build debug libraries
-#  - cmake --build . --config Debug --target all_mrpt_libs
+  #  - cmake --build . --config Debug --target all_mrpt_libs
   # re-call CMake to detect the debug libs and all them to the install package:
-#  - cmake .
+  #  - cmake .
   # Do unit tests:
   - cmake --build . --config Release --target test_legacy
   # All seem OK. Build all.
-#  - cmake --build . --config Release
+  #  - cmake --build . --config Release
   # Build package:
   - cmake --build . --config Release --target PACKAGE
   # Rename package:
@@ -91,22 +91,22 @@ on_failure:
 #      artifacts configuration    #
 #---------------------------------#
 artifacts:
-  - path: 'mrpt*.exe'
+  - path: "mrpt*.exe"
 
 #---------------------------------#
 #     deployment configuration    #
 #---------------------------------#
 deploy:
   - provider: GitHub
     release: "Release of v$(APPVEYOR_REPO_TAG_NAME) [Windows binaries]"
-    description: 'Windows binary releases (nightly builds) from AppVeyor.'
+    description: "Windows binary releases (nightly builds) from AppVeyor."
     auth_token:
       secure: vUzG+a7umHCzqv0eUNXZS/dczNSMiJ37Ivuv50aIPXhYQenlxUiua+Merj/pjCmy
     artifact: /.*\.exe/
     draft: false
     prerelease: false
     on:
-      APPVEYOR_REPO_TAG: true        # deploy on tag push only
+      APPVEYOR_REPO_TAG: true # deploy on tag push only
   - provider: GitHub
     release: "Windows nightly builds"
     description: '**Build timestamp: %APPVEYOR_REPO_COMMIT_TIMESTAMP%**\nWindows binary releases (develop) from AppVeyor CI.\nAPPVEYOR_BUILD_VERSION=%APPVEYOR_BUILD_VERSION%\nGit commit: %APPVEYOR_REPO_COMMIT% %APPVEYOR_REPO_COMMIT_MESSAGE%'

cmakemodules/script_ros.cmake

@@ -146,6 +146,7 @@ if (NOT DISABLE_ROS)
 	# Convert package versions to hex so they can be used in preprocessor for wider
 	# versions compatibility of "one-source for all":
 	mrpt_version_to_hex(cv_bridge_VERSION  cv_bridge_VERSION_HEX)
+	mrpt_version_to_hex(tf2_VERSION  tf2_VERSION_HEX)
 
 
 	# Kinda hack to prevent build farm to time out for "dev" jobs:

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,9 @@
 \page changelog Change Log
 
+# Version 2.14.9: Released May 17th, 2025
+- BUG FIXES:
+  - Fix build with latest tf2 version.
+
 # Version 2.14.8: Released Apr 25th, 2025
 - Build system:
   - Fix build w/o OpenCV.

libs/ros2bridge/CMakeLists.txt

@@ -67,4 +67,5 @@ if(BUILD_mrpt-ros2bridge)
 	target_compile_definitions(ros2bridge PRIVATE ${ROS_DEFINITIONS})
 	target_compile_definitions(ros2bridge PRIVATE IS_MRPT_ROS2BRIDGE)
 	target_compile_definitions(ros2bridge PRIVATE CV_BRIDGE_VERSION=${cv_bridge_VERSION_HEX})
+	target_compile_definitions(ros2bridge PRIVATE TF2_VERSION=${tf2_VERSION_HEX})
 endif()

libs/ros2bridge/include/mrpt/ros2bridge/pose.h

@@ -14,8 +14,14 @@
 #include <mrpt/math/TPose2D.h>
 #include <mrpt/math/TPose3D.h>
 #include <mrpt/poses/poses_frwds.h>
+
+#if TF2_VERSION >= 0x004201
+#include <tf2/LinearMath/Matrix3x3.hpp>
+#include <tf2/LinearMath/Transform.hpp>
+#else
 #include <tf2/LinearMath/Matrix3x3.h>
 #include <tf2/LinearMath/Transform.h>
+#endif
 
 #include <cstring>  // size_t
 #include <geometry_msgs/msg/pose_with_covariance.hpp>

libs/ros2bridge/src/pose.cpp

@@ -42,7 +42,12 @@
 #include <mrpt/poses/CPosePDFGaussian.h>
 #include <mrpt/poses/CPosePDFGaussianInf.h>
 #include <mrpt/ros2bridge/pose.h>
+
+#if TF2_VERSION >= 0x004201
+#include <tf2/LinearMath/Matrix3x3.hpp>
+#else
 #include <tf2/LinearMath/Matrix3x3.h>
+#endif
 
 // MRPT -> ROS functions:
 tf2::Matrix3x3 mrpt::ros2bridge::toROS(const mrpt::math::CMatrixDouble33& src)

version_prefix.txt

@@ -1,4 +1,4 @@
-2.14.8
+2.14.9
 # IMPORTANT: This file is parsed by CMake, don't add any comment to
 # the first line.
 # This file is used in both Windows and Linux scripts to automatically