From a2932523e903078f41f0b21a9979755eb9689eac Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Fri, 21 May 2021 11:07:28 -0700
Subject: [PATCH 1/5] Replace deprecated geometry2 headers

tf2_geometry_msgs.h was deprecated in https://github.com/ros2/geometry2/pull/418
tf2_eigen.h was deprecated in https://github.com/ros2/geometry2/pull/413

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
---
 depth_image_proc/src/register.cpp                       | 2 +-
 image_rotate/include/image_rotate/image_rotate_node.hpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/depth_image_proc/src/register.cpp b/depth_image_proc/src/register.cpp
index 95105228e..1e69afdb0 100644
--- a/depth_image_proc/src/register.cpp
+++ b/depth_image_proc/src/register.cpp
@@ -40,7 +40,7 @@
 #include <sensor_msgs/image_encodings.hpp>
 #include <image_geometry/pinhole_camera_model.h>
 #include <Eigen/Geometry>
-#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_eigen/tf2_eigen.hpp>
 #include <depth_image_proc/depth_traits.hpp>
 #include <depth_image_proc/visibility.h>
 #include <memory>
diff --git a/image_rotate/include/image_rotate/image_rotate_node.hpp b/image_rotate/include/image_rotate/image_rotate_node.hpp
index 9a91f6443..5d7e17f75 100644
--- a/image_rotate/include/image_rotate/image_rotate_node.hpp
+++ b/image_rotate/include/image_rotate/image_rotate_node.hpp
@@ -39,7 +39,7 @@
 #include <image_transport/image_transport.hpp>
 #include <cv_bridge/cv_bridge.h>
 #include <opencv2/imgproc/imgproc.hpp>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <math.h>
 #include <memory>
 #include <string>

From ca8dd14fa36d83dea196cc0eaf5cdfc14d197213 Mon Sep 17 00:00:00 2001
From: Patrick Musau <pmusau13ster@gmail.com>
Date: Wed, 23 Jun 2021 09:09:21 -0500
Subject: [PATCH 2/5] fix for stereo_image_proc_tests

Signed-off-by: Patrick Musau <pmusau13ster@gmail.com>
---
 stereo_image_proc/test/test_disparity_node.py   | 4 ++++
 stereo_image_proc/test/test_point_cloud_node.py | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/stereo_image_proc/test/test_disparity_node.py b/stereo_image_proc/test/test_disparity_node.py
index 6cd2934e4..6ab507f47 100644
--- a/stereo_image_proc/test/test_disparity_node.py
+++ b/stereo_image_proc/test/test_disparity_node.py
@@ -73,6 +73,10 @@ def generate_test_description():
             package='stereo_image_proc',
             executable='disparity_node',
             name='disparity_node',
+            parameters=[
+                {"approximate_sync": True},
+                {"use_system_default_qos": True}
+            ],
             output='screen'
         ),
         launch_testing.actions.ReadyToTest(),
diff --git a/stereo_image_proc/test/test_point_cloud_node.py b/stereo_image_proc/test/test_point_cloud_node.py
index 3b422d5c8..a4eaaff61 100644
--- a/stereo_image_proc/test/test_point_cloud_node.py
+++ b/stereo_image_proc/test/test_point_cloud_node.py
@@ -73,6 +73,10 @@ def generate_test_description():
             package='stereo_image_proc',
             executable='point_cloud_node',
             name='point_cloud_node',
+            parameters=[
+                {"approximate_sync": True},
+                {"use_system_default_qos": True}
+            ],
             output='screen'
         ),
         launch_testing.actions.ReadyToTest(),

From 7c83c8e11908467a505a4af2522c50dba36979bf Mon Sep 17 00:00:00 2001
From: Patrick Musau <pmusau13ster@gmail.com>
Date: Wed, 23 Jun 2021 09:17:33 -0500
Subject: [PATCH 3/5] fix for stereo_image_proc_tests

Signed-off-by: Patrick Musau <pmusau13ster@gmail.com>
---
 image_publisher/package.xml | 1 +
 image_view/package.xml      | 1 +
 2 files changed, 2 insertions(+)

diff --git a/image_publisher/package.xml b/image_publisher/package.xml
index 84c9248cd..c7556fb6d 100644
--- a/image_publisher/package.xml
+++ b/image_publisher/package.xml
@@ -22,6 +22,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>camera_info_manager</depend>
+  <depend>camera_calibration_parsers</depend>
   <depend>class_loader</depend>
   <depend>cv_bridge</depend>
   <depend>image_geometry</depend>
diff --git a/image_view/package.xml b/image_view/package.xml
index 98c95037d..9b085207d 100644
--- a/image_view/package.xml
+++ b/image_view/package.xml
@@ -18,6 +18,7 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <depend>camera_info_manager</depend>
   <depend>camera_calibration_parsers</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>

From e692b0cb99f1d9f302c9cbc03db090530acd4b66 Mon Sep 17 00:00:00 2001
From: Patrick Musau <pmusau13ster@gmail.com>
Date: Wed, 23 Jun 2021 15:08:06 -0500
Subject: [PATCH 4/5] changes per comments

Signed-off-by: Patrick Musau <pmusau13ster@gmail.com>
---
 image_publisher/package.xml                     | 1 -
 image_view/package.xml                          | 1 -
 stereo_image_proc/test/test_disparity_node.py   | 1 -
 stereo_image_proc/test/test_point_cloud_node.py | 1 -
 4 files changed, 4 deletions(-)

diff --git a/image_publisher/package.xml b/image_publisher/package.xml
index c7556fb6d..84c9248cd 100644
--- a/image_publisher/package.xml
+++ b/image_publisher/package.xml
@@ -22,7 +22,6 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>camera_info_manager</depend>
-  <depend>camera_calibration_parsers</depend>
   <depend>class_loader</depend>
   <depend>cv_bridge</depend>
   <depend>image_geometry</depend>
diff --git a/image_view/package.xml b/image_view/package.xml
index 9b085207d..98c95037d 100644
--- a/image_view/package.xml
+++ b/image_view/package.xml
@@ -18,7 +18,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>camera_info_manager</depend>
   <depend>camera_calibration_parsers</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
diff --git a/stereo_image_proc/test/test_disparity_node.py b/stereo_image_proc/test/test_disparity_node.py
index 6ab507f47..a0064457c 100644
--- a/stereo_image_proc/test/test_disparity_node.py
+++ b/stereo_image_proc/test/test_disparity_node.py
@@ -74,7 +74,6 @@ def generate_test_description():
             executable='disparity_node',
             name='disparity_node',
             parameters=[
-                {"approximate_sync": True},
                 {"use_system_default_qos": True}
             ],
             output='screen'
diff --git a/stereo_image_proc/test/test_point_cloud_node.py b/stereo_image_proc/test/test_point_cloud_node.py
index a4eaaff61..fd90b7bf4 100644
--- a/stereo_image_proc/test/test_point_cloud_node.py
+++ b/stereo_image_proc/test/test_point_cloud_node.py
@@ -74,7 +74,6 @@ def generate_test_description():
             executable='point_cloud_node',
             name='point_cloud_node',
             parameters=[
-                {"approximate_sync": True},
                 {"use_system_default_qos": True}
             ],
             output='screen'

From 7e03ec83ef748b3bb06378a20e42e13a0948a927 Mon Sep 17 00:00:00 2001
From: Patrick Musau <pmusau13ster@gmail.com>
Date: Thu, 24 Jun 2021 06:15:13 -0500
Subject: [PATCH 5/5] revert a293252

---
 depth_image_proc/src/register.cpp                       | 2 +-
 image_rotate/include/image_rotate/image_rotate_node.hpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/depth_image_proc/src/register.cpp b/depth_image_proc/src/register.cpp
index 1e69afdb0..95105228e 100644
--- a/depth_image_proc/src/register.cpp
+++ b/depth_image_proc/src/register.cpp
@@ -40,7 +40,7 @@
 #include <sensor_msgs/image_encodings.hpp>
 #include <image_geometry/pinhole_camera_model.h>
 #include <Eigen/Geometry>
-#include <tf2_eigen/tf2_eigen.hpp>
+#include <tf2_eigen/tf2_eigen.h>
 #include <depth_image_proc/depth_traits.hpp>
 #include <depth_image_proc/visibility.h>
 #include <memory>
diff --git a/image_rotate/include/image_rotate/image_rotate_node.hpp b/image_rotate/include/image_rotate/image_rotate_node.hpp
index 5d7e17f75..9a91f6443 100644
--- a/image_rotate/include/image_rotate/image_rotate_node.hpp
+++ b/image_rotate/include/image_rotate/image_rotate_node.hpp
@@ -39,7 +39,7 @@
 #include <image_transport/image_transport.hpp>
 #include <cv_bridge/cv_bridge.h>
 #include <opencv2/imgproc/imgproc.hpp>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <math.h>
 #include <memory>
 #include <string>