adjust to latest changes to build on rolling

CMakeLists.txt

@@ -71,6 +71,10 @@ if(${cv_bridge_VERSION} GREATER "3.3.0")
   add_definitions(-DUSE_CV_BRIDGE_HPP)
 endif()
 
+if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.3.0")
+  add_definitions(-DIMAGE_TRANSPORT_USE_QOS)
+endif()
+
 #
 # --------- library
 #

include/gtsam_distortion/Cal3DS3.h

@@ -150,8 +150,8 @@ class Cal3DS3
    * @return point in (distorted) image coordinates
    */
   gtsam::Point2 uncalibrate(
-    const gtsam::Point2 & p, gtsam::OptionalJacobian<2, 12> Dcal = boost::none,
-    gtsam::OptionalJacobian<2, 2> Dp = boost::none) const;
+    const gtsam::Point2 & p, gtsam::OptionalJacobian<2, 12> Dcal = {},
+    gtsam::OptionalJacobian<2, 2> Dp = {}) const;
 
   /// Convert (distorted) image coordinates uv to intrinsic coordinates xy
   gtsam::Point2 calibrate(
@@ -180,6 +180,7 @@ class Cal3DS3
   /// @name Advanced Interface
   /// @{
 
+#if 0
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>
@@ -198,7 +199,7 @@ class Cal3DS3
     ar & BOOST_SERIALIZATION_NVP(k_[4]);
     ar & BOOST_SERIALIZATION_NVP(k_[5]);
   }
-
+#endif
   /// @}
 };
 // This is really ugly, injecting stuff into gtsam's namespace!

include/gtsam_distortion/Cal3FS2.h

@@ -144,8 +144,8 @@ class Cal3FS2
    * @return point in (distorted) image coordinates
    */
   gtsam::Point2 uncalibrate(
-    const gtsam::Point2 & p, gtsam::OptionalJacobian<2, 8> Dcal = boost::none,
-    gtsam::OptionalJacobian<2, 2> Dp = boost::none) const;
+    const gtsam::Point2 & p, gtsam::OptionalJacobian<2, 8> Dcal = {},
+    gtsam::OptionalJacobian<2, 2> Dp = {}) const;
 
   /// Convert (distorted) image coordinates uv to intrinsic coordinates xy
   gtsam::Point2 calibrate(
@@ -175,6 +175,7 @@ class Cal3FS2
   /// @{
 
   /** Serialization function */
+#if 0
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive & ar, const unsigned int /*version*/)
@@ -188,7 +189,7 @@ class Cal3FS2
     ar & BOOST_SERIALIZATION_NVP(k3_);
     ar & BOOST_SERIALIZATION_NVP(k4_);
   }
-
+#endif
   /// @}
 };
 // This is really ugly, injecting stuff into gtsam's namespace!

include/tagslam/cal3ds2u.hpp

@@ -30,8 +30,8 @@ class Cal3DS2U : public gtsam::Cal3DS2
   explicit Cal3DS2U(const gtsam::Cal3DS2 & cal) : Cal3DS2(cal) {}
 
   gtsam::Point2 uncalibrate(
-    const gtsam::Point2 & p, gtsam::OptionalJacobian<2, 9> Dcal = boost::none,
-    gtsam::OptionalJacobian<2, 2> Dp = boost::none) const
+    const gtsam::Point2 & p, gtsam::OptionalJacobian<2, 9> Dcal = {},
+    gtsam::OptionalJacobian<2, 2> Dp = {}) const
   {
     return (gtsam::Cal3DS2_Base::uncalibrate(p, Dcal, Dp));
   }

include/tagslam/sync_and_detect.hpp

@@ -55,7 +55,12 @@ class Subscriber<SyncT, Image>
         std::bind(
           &Subscriber<SyncT, Image>::callback, this, std::placeholders::_1),
         node->get_parameter_or<std::string>(param_name, "raw"),
-        qos.get_rmw_qos_profile()));
+#ifdef IMAGE_TRANSPORT_USE_QOS
+        qos
+#else
+        qos.get_rmw_qos_profile()
+#endif
+        ));
   }
   void callback(const TConstSharedPtr & msg) { sync_->process(topic_, msg); }
 

include/tagslam/tagslam.hpp

@@ -16,8 +16,11 @@
 #ifndef TAGSLAM__TAGSLAM_HPP_
 #define TAGSLAM__TAGSLAM_HPP_
 
+#if __has_include(<tf2_ros/transform_broadcaster.hpp>)
+#include <tf2_ros/transform_broadcaster.hpp>
+#else
 #include <tf2_ros/transform_broadcaster.h>
-
+#endif
 #include <apriltag_msgs/msg/april_tag_detection.hpp>
 #include <apriltag_msgs/msg/april_tag_detection_array.hpp>
 #include <flex_sync/approximate_sync.hpp>

src/gtsam_optimizer.cpp

@@ -138,8 +138,7 @@ std::shared_ptr<Cal3FS2> GTSAMOptimizer::getEquiModel(
 
 static double distance(
   const gtsam::Point3 & p1, const gtsam::Point3 & p2,
-  gtsam::OptionalJacobian<1, 3> H1 = boost::none,
-  gtsam::OptionalJacobian<1, 3> H2 = boost::none)
+  gtsam::OptionalJacobian<1, 3> H1 = {}, gtsam::OptionalJacobian<1, 3> H2 = {})
 {
   const gtsam::Point3 d = p1 - p2;
   double r = sqrt(d.x() * d.x() + d.y() * d.y() + d.z() * d.z());
@@ -150,8 +149,7 @@ static double distance(
 
 static double proj(
   const gtsam::Point3 & p, const gtsam::Point3 & n,
-  gtsam::OptionalJacobian<1, 3> Hp = boost::none,
-  gtsam::OptionalJacobian<1, 3> Hn = boost::none)
+  gtsam::OptionalJacobian<1, 3> Hp = {}, gtsam::OptionalJacobian<1, 3> Hn = {})
 {
   double r = p.x() * n.x() + p.y() * n.y() + p.z() * n.z();
   if (Hp) *Hp << n.x(), n.y(), n.z();  // jacobian w.r.t to p

src/tagslam.cpp

@@ -19,8 +19,6 @@
 #include <cv_bridge/cv_bridge.h>
 #endif
 
-#include <tf2/LinearMath/Transform.h>
-#include <tf2/transform_datatypes.h>
 #include <yaml-cpp/yaml.h>
 
 #include <cmath>
@@ -46,6 +44,8 @@
 #include <tagslam/tagslam.hpp>
 #include <tagslam/yaml.hpp>
 #include <tagslam/yaml_utils.hpp>
+#include <tf2/LinearMath/Transform.hpp>
+#include <tf2/transform_datatypes.hpp>
 #include <unordered_set>
 
 const int QSZ = 1000;