Build issue under humble

[istvan-fodor]

Hi @jizhang-cmu ,
I tried to build on humble, but ran into the following compile issue with far_planner. Is there a compatibility issue with the latest humble packages? As far as I can tell everything tf2 related is installed already on the system.

In file included from /home/ifodor/Documents/Projects/Github/autonomy_stack_go2/src/route_planner/far_planner/include/far_planner/utility.h:58,
                 from /home/ifodor/Documents/Projects/Github/autonomy_stack_go2/src/route_planner/far_planner/include/far_planner/graph_msger.h:4,
                 from /home/ifodor/Documents/Projects/Github/autonomy_stack_go2/src/route_planner/far_planner/src/graph_msger.cpp:9:
/usr/include/tf2_sensor_msgs/tf2_sensor_msgs.h:54:18: error: template-id ‘getTimestamp<>’ for ‘const ros::Time& tf2::getTimestamp(const PointCloud2&)’ does not match any template declaration
   54 | const ros::Time& getTimestamp(const sensor_msgs::PointCloud2& p) {return p.header.stamp;}
      |                  ^~~~~~~~~~~~
In file included from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:56,
                 from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.h:37,
                 from /home/ifodor/Documents/Projects/Github/autonomy_stack_go2/src/route_planner/far_planner/include/far_planner/utility.h:23,
                 from /home/ifodor/Documents/Projects/Github/autonomy_stack_go2/src/route_planner/far_planner/include/far_planner/graph_msger.h:4,
                 from /home/ifodor/Documents/Projects/Github/autonomy_stack_go2/src/route_planner/far_planner/src/graph_msger.cpp:9:
/opt/ros/humble/include/tf2/tf2/convert.h:91:16: note: candidates are: ‘template<class P> tf2::TimePoint tf2::getTimestamp(const tf2::Stamped<T>&)’
   91 | tf2::TimePoint getTimestamp(const tf2::Stamped<P> & t)
      |                ^~~~~~~~~~~~
/opt/ros/humble/include/tf2/tf2/convert.h:67:16: note:                 ‘template<class T> tf2::TimePoint tf2::getTimestamp(const T&)’
   67 | tf2::TimePoint getTimestamp(const T & t);
      |                ^~~~~~~~~~~~

Also the following:

In file included from /home/ifodor/Documents/Projects/Github/autonomy_stack_go2/src/route_planner/far_planner/include/far_planner/utility.h:58,
                 from /home/ifodor/Documents/Projects/Github/autonomy_stack_go2/src/route_planner/far_planner/include/far_planner/graph_msger.h:4,
                 from /home/ifodor/Documents/Projects/Github/autonomy_stack_go2/src/route_planner/far_planner/src/graph_msger.cpp:9:
/usr/include/tf2_sensor_msgs/tf2_sensor_msgs.h:64:20: error: template-id ‘getFrameId<>’ for ‘const string& tf2::getFrameId(const PointCloud2&)’ does not match any template declaration
   64 | const std::string& getFrameId(const sensor_msgs::PointCloud2 &p) {return p.header.frame_id;}
      |                    ^~~~~~~~~~

Thank you!