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Signed-off-by: ElSayed ElSheikh <[email protected]>

Author: elsayedelsheikh

nav2_collision_monitor/src/pointcloud.cpp

@@ -61,9 +61,7 @@ void PointCloud::configure()
   getParameters(source_topic);
 
   const point_cloud_transport::TransportHints hint(transport_type_);
-
   pct_ = std::make_shared<point_cloud_transport::PointCloudTransport>(*node);
-
   data_sub_ = pct_->subscribe(
     source_topic, nav2::qos::SensorDataQoS(),
     std::bind(&PointCloud::dataCallback, this, std::placeholders::_1),
@@ -136,6 +134,7 @@ void PointCloud::getParameters(std::string & source_topic)
   nav2::declare_parameter_if_not_declared(
     node, source_name_ + ".min_range", rclcpp::ParameterValue(0.0));
   min_range_ = node->get_parameter(source_name_ + ".min_range").as_double();
+  nav2::declare_parameter_if_not_declared(
     node, source_name_ + ".transport_type", rclcpp::ParameterValue(std::string("raw")));
   transport_type_ = node->get_parameter(source_name_ + ".transport_type").as_string();
 }

nav2_costmap_2d/plugins/obstacle_layer.cpp

@@ -289,8 +289,32 @@ void ObstacleLayer::onInitialize()
           tf_filter_tolerance));
 
     } else {
-      auto sub = std::make_shared<point_cloud_transport::SubscriberFilter>(
+      // For Kilted and Older Support from Message Filters API change
+      #if RCLCPP_VERSION_GTE(29, 6, 0)
+      std::shared_ptr<point_cloud_transport::SubscriberFilter> sub;
+      #else
+      std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::PointCloud2,
+        rclcpp_lifecycle::LifecycleNode>> sub;
+      #endif
+
+      // For Kilted compatibility in Message Filters API change
+      #if RCLCPP_VERSION_GTE(29, 6, 0)
+      sub = std::make_shared<point_cloud_transport::SubscriberFilter>(
         *node, topic, transport_type, custom_qos_profile, sub_opt);
+      // For Jazzy compatibility in Message Filters API change
+      #elif RCLCPP_VERSION_GTE(29, 0, 0)
+      sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::PointCloud2,
+          rclcpp_lifecycle::LifecycleNode>>(
+        std::static_pointer_cast<rclcpp_lifecycle::LifecycleNode>(node),
+        topic, custom_qos_profile, sub_opt);
+      // For Humble and Older compatibility in Message Filters API change
+      #else
+      sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::PointCloud2,
+          rclcpp_lifecycle::LifecycleNode>>(
+        std::static_pointer_cast<rclcpp_lifecycle::LifecycleNode>(node),
+        topic, custom_qos_profile.get_rmw_qos_profile(), sub_opt);
+      #endif
+
       sub->unsubscribe();
 
       if (inf_is_valid) {