feat: support multiple ROS 2 distributions

orbbec_camera/include/orbbec_camera/d2c_viewer.h

@@ -14,12 +14,20 @@
  * limitations under the License.
  *******************************************************************************/
 #pragma once
+#include <sensor_msgs/msg/image.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#if __has_include(<message_filters/subscriber.hpp>)
 #include <message_filters/subscriber.hpp>
 #include <message_filters/sync_policies/approximate_time.hpp>
 #include <message_filters/synchronizer.hpp>
-#include <message_filters/time_synchronizer.hpp>
-#include <sensor_msgs/msg/image.hpp>
-#include <rclcpp/rclcpp.hpp>
+#elif __has_include(<message_filters/subscriber.h>)
+#include <message_filters/subscriber.h>
+#include <message_filters/sync_policies/approximate_time.h>
+#include <message_filters/synchronizer.h>
+#else
+#error "No compatible message_filters headers found"
+#endif
 
 #include "utils.h"
 

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -31,11 +31,6 @@
 #include <opencv2/opencv.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tf2_ros/static_transform_broadcaster.hpp>
-#include <tf2_ros/transform_broadcaster.hpp>
-#include <tf2/LinearMath/Quaternion.hpp>
-#include <tf2/LinearMath/Vector3.hpp>
-#include <tf2/LinearMath/Transform.hpp>
 #include <std_srvs/srv/set_bool.hpp>
 #include <std_srvs/srv/empty.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
@@ -81,6 +76,26 @@
 #include <fcntl.h>
 #include <unistd.h>
 
+#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
+#include <tf2/LinearMath/Quaternion.hpp>
+#include <tf2/LinearMath/Vector3.hpp>
+#elif __has_include(<tf2/LinearMath/Quaternion.h>)
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/LinearMath/Vector3.h>
+#else
+#error "No compatible tf2 LinearMath headers found"
+#endif
+
+#if __has_include(<tf2_ros/static_transform_broadcaster.hpp>)
+#include <tf2_ros/static_transform_broadcaster.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#elif __has_include(<tf2_ros/static_transform_broadcaster.h>)
+#include <tf2_ros/static_transform_broadcaster.h>
+#include <tf2_ros/transform_broadcaster.h>
+#else
+#error "No compatible tf2_ros broadcaster headers found"
+#endif
+
 #if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
 #elif __has_include(<cv_bridge/cv_bridge.h>)

orbbec_camera/include/orbbec_camera/ob_lidar_node.h

@@ -31,11 +31,6 @@
 #include <sensor_msgs/msg/laser_scan.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tf2_ros/static_transform_broadcaster.hpp>
-#include <tf2_ros/transform_broadcaster.hpp>
-#include <tf2/LinearMath/Quaternion.hpp>
-#include <tf2/LinearMath/Vector3.hpp>
-#include <tf2/LinearMath/Transform.hpp>
 #include <std_srvs/srv/set_bool.hpp>
 #include <std_srvs/srv/empty.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
@@ -66,6 +61,26 @@
 #include <fcntl.h>
 #include <unistd.h>
 
+#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
+#include <tf2/LinearMath/Quaternion.hpp>
+#include <tf2/LinearMath/Vector3.hpp>
+#elif __has_include(<tf2/LinearMath/Quaternion.h>)
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/LinearMath/Vector3.h>
+#else
+#error "No compatible tf2 LinearMath headers found"
+#endif
+
+#if __has_include(<tf2_ros/static_transform_broadcaster.hpp>)
+#include <tf2_ros/static_transform_broadcaster.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#elif __has_include(<tf2_ros/static_transform_broadcaster.h>)
+#include <tf2_ros/static_transform_broadcaster.h>
+#include <tf2_ros/transform_broadcaster.h>
+#else
+#error "No compatible tf2_ros broadcaster headers found"
+#endif
+
 #if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
 #elif __has_include(<cv_bridge/cv_bridge.h>)

orbbec_camera/include/orbbec_camera/utils.h

@@ -17,13 +17,19 @@
 #pragma once
 #include <ostream>
 #include <Eigen/Dense>
-#include <tf2/LinearMath/Quaternion.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include "libobsensor/ObSensor.hpp"
 #include "sensor_msgs/distortion_models.hpp"
 #include "sensor_msgs/msg/camera_info.hpp"
 #include "orbbec_camera_msgs/msg/extrinsics.hpp"
+#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
+#include <tf2/LinearMath/Quaternion.hpp>
+#elif __has_include(<tf2/LinearMath/Quaternion.h>)
+#include <tf2/LinearMath/Quaternion.h>
+#else
+#error "No compatible tf2 Quaternion header found"
+#endif
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <opencv2/opencv.hpp>
 #include <openssl/evp.h>