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

rtabmap_util/src/DbPlayerNode.cpp

@@ -36,7 +36,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rosgraph_msgs/Clock.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <nav_msgs/Odometry.h>
+#ifdef PRE_ROS_IRON
 #include <cv_bridge/cv_bridge.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#endif
 #include <image_transport/image_transport.h>
 #include <tf2_ros/transform_broadcaster.h>
 #include <std_srvs/Empty.h>

rtabmap_util/src/nodelets/disparity_to_depth.cpp

@@ -30,7 +30,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <image_transport/image_transport.hpp>
 
+#ifdef PRE_ROS_IRON
 #include <cv_bridge/cv_bridge.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#endif
 
 namespace rtabmap_util
 {

rtabmap_util/src/nodelets/imu_to_tf.cpp

@@ -27,7 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap_util/imu_to_tf.hpp>
 #include <rtabmap_conversions/MsgConversion.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <tf2/LinearMath/Transform.h>
 
 namespace rtabmap_util

rtabmap_util/src/nodelets/point_cloud_xyz.cpp

@@ -30,10 +30,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap_conversions/MsgConversion.h>
 
 #include <pcl_conversions/pcl_conversions.h>
-
-#include <image_geometry/pinhole_camera_model.h>
-
+#ifdef PRE_ROS_IRON
 #include <cv_bridge/cv_bridge.h>
+#include <image_geometry/pinhole_camera_model.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#include <image_geometry/pinhole_camera_model.hpp>
+#endif
+
 #include <opencv2/highgui/highgui.hpp>
 
 #include "rtabmap/core/util2d.h"

rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp

@@ -31,10 +31,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap_conversions/MsgConversion.h>
 
+#ifdef PRE_ROS_IRON
+#include <cv_bridge/cv_bridge.h>
 #include <image_geometry/pinhole_camera_model.h>
 #include <image_geometry/stereo_camera_model.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#include <image_geometry/pinhole_camera_model.hpp>
+#include <image_geometry/stereo_camera_model.hpp>
+#endif
 
-#include <cv_bridge/cv_bridge.h>
 #include <opencv2/highgui/highgui.hpp>
 
 #include "rtabmap/core/util2d.h"

rtabmap_util/src/nodelets/rgbd_relay.cpp

@@ -32,7 +32,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/image_encodings.hpp>
 
+#ifdef PRE_ROS_IRON
 #include <cv_bridge/cv_bridge.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#endif
 #include <opencv2/highgui/highgui.hpp>
 
 #include "rtabmap_conversions/MsgConversion.h"

rtabmap_util/src/nodelets/rgbd_split.cpp

@@ -27,7 +27,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap_util/rgbd_split.hpp>
 
+#ifdef PRE_ROS_IRON
 #include <cv_bridge/cv_bridge.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#endif
 
 namespace rtabmap_util
 {