(laser) small cleanup of tf2 stuff

tue-robotics · Apr 11, 2022 · a1d052b · a1d052b
1 parent 0fbd5cc
commit a1d052b
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Showing 4 changed files with 8 additions and 4 deletions.
diff --git a/ed_sensor_integration/CMakeLists.txt b/ed_sensor_integration/CMakeLists.txt
@@ -8,7 +8,6 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   image_geometry
   sensor_msgs
-  tf2
   tf2_ros
   tue_config
   tue_filesystem

diff --git a/ed_sensor_integration/package.xml b/ed_sensor_integration/package.xml
@@ -19,7 +19,6 @@
   <depend>geometry_msgs</depend>
   <depend>image_geometry</depend>
   <depend>sensor_msgs</depend>
-  <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tue_config</depend>
   <depend>tue_filesystem</depend>

diff --git a/ed_sensor_integration/src/laser/laser_plugin.cpp b/ed_sensor_integration/src/laser/laser_plugin.cpp
@@ -12,12 +12,14 @@
 #include <geolib/ros/msg_conversions.h>
 #include <geolib/Shape.h>
 
+#include <geometry_msgs/TransformStamped.h>
+
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include <ros/console.h>
 #include <ros/node_handle.h>
 
-#include "tf2/transform_datatypes.h"
+#include <tf2_ros/transform_listener.h>
 
 #include <iostream>
 

diff --git a/ed_sensor_integration/src/laser/laser_plugin.h b/ed_sensor_integration/src/laser/laser_plugin.h
@@ -11,13 +11,17 @@
 #include <ros/subscriber.h>
 #include <ros/callback_queue.h>
 #include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
 #include <sensor_msgs/LaserScan.h>
 
 #include <queue>
 #include <map>
 #include <memory>
 
+namespace tf2_ros
+{
+class TransformListener;
+}
+
 class LaserPlugin : public ed::Plugin
 {