Making nav2_msgs optional (not available yet on jazzy). Fixed compilation errors on jazzy with vision_opencv related h->hpp headers.

rtabmap_conversions/CMakeLists.txt

@@ -46,6 +46,10 @@ if("$ENV{ROS_DISTRO}" STRLESS "humble")
   add_definitions(-DPRE_ROS_HUMBLE)
 endif()
 
+IF("$ENV{ROS_DISTRO}" STRLESS "iron")
+  add_definitions(-DPRE_ROS_IRON)
+ENDIF()
+
 ###########
 ## Build ##
 ###########
@@ -58,6 +62,10 @@ target_include_directories(rtabmap_conversions
 )
 ament_target_dependencies(rtabmap_conversions ${Libraries})
 
+IF("$ENV{ROS_DISTRO}" STRLESS "iron")
+  target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON)
+ENDIF()
+
 #############
 ## Install ##
 #############

rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h

@@ -40,7 +40,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <opencv2/opencv.hpp>
 #include <opencv2/features2d/features2d.hpp>
+#ifdef PRE_ROS_IRON
 #include <cv_bridge/cv_bridge.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#endif
 
 #include <rtabmap/core/Transform.h>
 #include <rtabmap/core/Link.h>

rtabmap_conversions/src/MsgConversion.cpp

@@ -38,8 +38,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <pcl_conversions/pcl_conversions.h>
+#ifdef PRE_ROS_IRON
 #include <image_geometry/pinhole_camera_model.h>
 #include <image_geometry/stereo_camera_model.h>
+#else
+#include <image_geometry/pinhole_camera_model.hpp>
+#include <image_geometry/stereo_camera_model.hpp>
+#endif
 #include <sensor_msgs/image_encodings.hpp>
 #include <sensor_msgs/msg/point_field.hpp>
 #include <geometry_msgs/msg/transform.hpp>
@@ -47,7 +52,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/util3d_surface.h>
 #ifdef PRE_ROS_HUMBLE
 #include <tf2_eigen/tf2_eigen.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #else
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>