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Removed rcutils dependency #991

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Merged
ahcorde merged 3 commits into from
Sep 15, 2026
Merged

Removed rcutils dependency #991

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e445e3a
granular rclcpp/rclcpp.hpp and include what you use
ahcorde Sep 1, 2026
132c518
Removed rcutils dependency
ahcorde Sep 10, 2026
d6d049c
Merge branch 'rolling' into ahcorde/rolling/remove_rcutils_dependency
ahcorde Sep 14, 2026
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9 changes: 5 additions & 4 deletions tf2_ros/include/tf2_ros/message_filter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,21 +62,22 @@
#include "builtin_interfaces/msg/time.hpp"
#include "rclcpp/clock.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/node_interfaces/node_interfaces.hpp"
#include "rclcpp/node_interfaces/get_node_logging_interface.hpp"
#include "rclcpp/node_interfaces/get_node_clock_interface.hpp"

#define TF2_ROS_MESSAGEFILTER_DEBUG(fmt, ...) \
RCUTILS_LOG_DEBUG_NAMED( \
"tf2_ros_message_filter", \
RCLCPP_DEBUG( \
rclcpp::get_logger("tf2_ros_message_filter"), \
std::string(std::string("MessageFilter [target=%s]: ") + std::string(fmt)).c_str(), \
getTargetFramesString().c_str(), __VA_ARGS__)

#define TF2_ROS_MESSAGEFILTER_WARN(fmt, ...) \
RCUTILS_LOG_WARN_NAMED( \
"tf2_ros_message_filter", \
RCLCPP_WARN( \
rclcpp::get_logger("tf2_ros_message_filter"), \
std::string(std::string("MessageFilter [target=%s]: ") + std::string(fmt)).c_str(), \
getTargetFramesString().c_str(), __VA_ARGS__)

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7 changes: 4 additions & 3 deletions tf2_ros/src/static_transform_broadcaster_program.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,9 +40,8 @@
#include "tf2/LinearMath/Quaternion.hpp"
#include "tf2/LinearMath/Vector3.hpp"

#include "rcutils/logging_macros.h"

#include "rclcpp/executors.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/node_options.hpp"
#include "rclcpp/utilities.hpp"
Expand Down Expand Up @@ -305,7 +304,9 @@ int main(int argc, char ** argv)

std::string ret = parse_args(args, help, rotation, translation, frame_id, child_frame_id);
if (ret != "") {
RCUTILS_LOG_ERROR("error parsing command line arguments: %s", ret.c_str());
RCLCPP_ERROR(
rclcpp::get_logger("static_transform_publisher"),
"error parsing command line arguments: %s", ret.c_str());
print_usage();
return 1;
}
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