From dd2a59e0c2fcce66f10479e86f643941e71f451d Mon Sep 17 00:00:00 2001
From: mosfet80 <realeandrea@yahoo.it>
Date: Wed, 22 Oct 2025 23:53:24 +0200
Subject: [PATCH 1/3] fix tf2 deprecation

fix tf2 deprecation
---
 include/rviz_visual_tools/tf_visual_tools.hpp | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/include/rviz_visual_tools/tf_visual_tools.hpp b/include/rviz_visual_tools/tf_visual_tools.hpp
index 745c005..f6a0185 100644
--- a/include/rviz_visual_tools/tf_visual_tools.hpp
+++ b/include/rviz_visual_tools/tf_visual_tools.hpp
@@ -45,12 +45,7 @@
 // Eigen
 #include <Eigen/Geometry>
 
-#include <tf2_ros/transform_broadcaster.h>
-
-// namespace tf2_ros
-// {
-// class StaticTransformBroadcaster;
-// };
+#include <tf2_ros/transform_broadcaster.hpp>
 
 namespace rviz_visual_tools
 {

From 92db968176aec19eb3e76b241b9a8d492fe099b3 Mon Sep 17 00:00:00 2001
From: Nathan Brooks <nbbrooks@gmail.com>
Date: Thu, 15 Jan 2026 15:08:41 -0700
Subject: [PATCH 2/3] Use RCLCPP_VERSION_GTE for tf2_ros header deprecation
 logic

As seen in https://github.com/moveit/moveit2/pull/3567
---
 include/rviz_visual_tools/tf_visual_tools.hpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/include/rviz_visual_tools/tf_visual_tools.hpp b/include/rviz_visual_tools/tf_visual_tools.hpp
index f6a0185..d4b6654 100644
--- a/include/rviz_visual_tools/tf_visual_tools.hpp
+++ b/include/rviz_visual_tools/tf_visual_tools.hpp
@@ -39,13 +39,20 @@
 #include <string>
 
 // ROS
-#include <rclcpp/rclcpp.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
+#include <rclcpp/version.h>
+#include <ros/ros.h>
+#include <geometry_msgs/TransformStamped.h>
 
 // Eigen
 #include <Eigen/Geometry>
 
+// For Rolling, Kilted, and newer
+#if RCLCPP_VERSION_GTE(29, 6, 0)
 #include <tf2_ros/transform_broadcaster.hpp>
+// For Jazzy and older
+#else
+#include <tf2_ros/transform_broadcaster.h>
+#endif
 
 namespace rviz_visual_tools
 {

From ce0c90d2101faaec76350ac208f5be150deffe27 Mon Sep 17 00:00:00 2001
From: Nathan Brooks <nbbrooks@gmail.com>
Date: Thu, 15 Jan 2026 15:11:21 -0700
Subject: [PATCH 3/3] Fix bad copypasta

---
 include/rviz_visual_tools/tf_visual_tools.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/rviz_visual_tools/tf_visual_tools.hpp b/include/rviz_visual_tools/tf_visual_tools.hpp
index d4b6654..5458c0b 100644
--- a/include/rviz_visual_tools/tf_visual_tools.hpp
+++ b/include/rviz_visual_tools/tf_visual_tools.hpp
@@ -39,9 +39,9 @@
 #include <string>
 
 // ROS
+#include <rclcpp/rclcpp.hpp>
 #include <rclcpp/version.h>
-#include <ros/ros.h>
-#include <geometry_msgs/TransformStamped.h>
+#include <geometry_msgs/msg/transform_stamped.hpp>
 
 // Eigen
 #include <Eigen/Geometry>