use cv_bridge.hpp header for newer cv_bridge versions

AgoraRobotics · Jan 24, 2023 · eb3a9b5 · eb3a9b5
1 parent 97b0649
commit eb3a9b5
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -43,6 +43,10 @@ find_package(Eigen3 REQUIRED)
 find_package(Threads REQUIRED)
 find_package(apriltag 3.2 REQUIRED)
 
+if(cv_bridge_VERSION VERSION_GREATER_EQUAL 3.3.0)
+    add_compile_definitions(cv_bridge_HPP)
+endif()
+
 add_library(tags OBJECT src/tag_functions.cpp)
 target_link_libraries(tags apriltag::apriltag)
 set_property(TARGET tags PROPERTY POSITION_INDEPENDENT_CODE ON)

diff --git a/src/AprilTagNode.cpp b/src/AprilTagNode.cpp
@@ -1,7 +1,11 @@
 // ros
 #include <apriltag_msgs/msg/april_tag_detection.hpp>
 #include <apriltag_msgs/msg/april_tag_detection_array.hpp>
+#ifdef cv_bridge_HPP
+#include <cv_bridge/cv_bridge.hpp>
+#else
 #include <cv_bridge/cv_bridge.h>
+#endif
 #include <image_transport/camera_subscriber.hpp>
 #include <image_transport/image_transport.hpp>
 #include <rclcpp/rclcpp.hpp>