From c394e94add20890c53e03f1478b25c83ea531682 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Mon, 18 Nov 2024 17:40:26 +0100
Subject: [PATCH] fix build with PCL 1.13

- PCL_LIBRARIES has to be added explicitly to pull in VTK,
which is required in `pointcloud_to_stl_nodelet.cpp` by using
`pcl::io::savePolygonFileSTL(ss.str(),triangles)`.
(the respective header includes VTK headers)

- define pcl_isfinite again which got removed from PCL for compatibility
  with old versions

- ros::topic::waitForMessage still returns a boost::shared_ptr.
---
 jsk_pcl_ros_utils/CMakeLists.txt                       | 2 +-
 jsk_pcl_ros_utils/src/normal_flip_to_frame_nodelet.cpp | 5 +++++
 jsk_pcl_ros_utils/src/pointcloud_to_pcd_nodelet.cpp    | 2 +-
 3 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/jsk_pcl_ros_utils/CMakeLists.txt b/jsk_pcl_ros_utils/CMakeLists.txt
index 231dda1b06..e9eb0eff92 100644
--- a/jsk_pcl_ros_utils/CMakeLists.txt
+++ b/jsk_pcl_ros_utils/CMakeLists.txt
@@ -223,7 +223,7 @@ jsk_pcl_util_nodelet(src/marker_array_voxel_to_pointcloud_nodelet.cpp
 add_library(jsk_pcl_ros_utils SHARED ${jsk_pcl_util_nodelet_sources})
 add_dependencies(jsk_pcl_ros_utils ${PROJECT_NAME}_gencfg)
 target_link_libraries(jsk_pcl_ros_utils
-  ${catkin_LIBRARIES} ${pcl_ros_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp)
+  ${catkin_LIBRARIES} ${pcl_ros_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp)
 
 get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
 
diff --git a/jsk_pcl_ros_utils/src/normal_flip_to_frame_nodelet.cpp b/jsk_pcl_ros_utils/src/normal_flip_to_frame_nodelet.cpp
index 77309bb8cb..36a59b2f88 100644
--- a/jsk_pcl_ros_utils/src/normal_flip_to_frame_nodelet.cpp
+++ b/jsk_pcl_ros_utils/src/normal_flip_to_frame_nodelet.cpp
@@ -64,6 +64,11 @@ namespace jsk_pcl_ros_utils
     sub_.shutdown();
   }
 
+// pcl removed the method by 1.13, no harm in defining it ourselves to use below
+#if __cplusplus >= 201103L
+#define pcl_isfinite(x) std::isfinite(x)
+#endif
+
   void NormalFlipToFrame::flip(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg)
   {
     vital_checker_->poke();
diff --git a/jsk_pcl_ros_utils/src/pointcloud_to_pcd_nodelet.cpp b/jsk_pcl_ros_utils/src/pointcloud_to_pcd_nodelet.cpp
index fe9be68586..e123b5057c 100644
--- a/jsk_pcl_ros_utils/src/pointcloud_to_pcd_nodelet.cpp
+++ b/jsk_pcl_ros_utils/src/pointcloud_to_pcd_nodelet.cpp
@@ -60,7 +60,7 @@ namespace jsk_pcl_ros_utils
 
   void PointCloudToPCD::savePCD()
   {
-    pcl::PCLPointCloud2::ConstPtr cloud;
+    boost::shared_ptr<const pcl::PCLPointCloud2> cloud;
     cloud = ros::topic::waitForMessage<pcl::PCLPointCloud2>("input", *pnh_);
     if ((cloud->width * cloud->height) == 0)
     {