From 1cbb441c5f1a9bc5cf6ba9ed7cda3b68bc1d66dc Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Sun, 28 Jan 2024 19:33:32 +0100
Subject: [PATCH] FIX: include deprecated header

---
 mola_input_rosbag2/CMakeLists.txt         | 39 +++++++++++++++++++++++
 mola_input_rosbag2/src/Rosbag2Dataset.cpp |  5 +++
 2 files changed, 44 insertions(+)

diff --git a/mola_input_rosbag2/CMakeLists.txt b/mola_input_rosbag2/CMakeLists.txt
index 927c5477..c8d26efc 100644
--- a/mola_input_rosbag2/CMakeLists.txt
+++ b/mola_input_rosbag2/CMakeLists.txt
@@ -53,3 +53,42 @@ mola_add_library(
 		mrpt-obs
 		mrpt-ros2bridge
 )
+
+# Credits: https://gist.github.com/jtanx/96ded5e050d5ee5b19804195ee5cf5f9
+function(pad_string output str padchar length)
+  string(LENGTH "${str}" _strlen)
+  math(EXPR _strlen "${length} - ${_strlen}")
+
+  if(_strlen GREATER 0)
+    string(REPEAT ${padchar} ${_strlen} _pad)
+    string(PREPEND str ${_pad})
+  endif()
+
+  set(${output} "${str}" PARENT_SCOPE)
+endfunction()
+
+# 2 hex digits for each version part:
+# For example: "0.5.1"  => "0x000501"
+macro(mrpt_version_to_hex VER TARGET_VAR_NAME)
+	string(REGEX MATCHALL "[0-9]+" __parts "${${VER}}")
+
+	if(__parts)
+		list(GET __parts 0 __VERSION_NUMBER_MAJOR)
+		list(GET __parts 1 __VERSION_NUMBER_MINOR)
+		list(GET __parts 2 __VERSION_NUMBER_PATCH)
+		pad_string(__VERSION_NUMBER_MAJOR ${__VERSION_NUMBER_MAJOR} "0" 2)
+		pad_string(__VERSION_NUMBER_MINOR ${__VERSION_NUMBER_MINOR} "0" 2)
+		pad_string(__VERSION_NUMBER_PATCH ${__VERSION_NUMBER_PATCH} "0" 2)
+		set(${TARGET_VAR_NAME} "0x${__VERSION_NUMBER_MAJOR}${__VERSION_NUMBER_MINOR}${__VERSION_NUMBER_PATCH}")
+	else()
+		set(${TARGET_VAR_NAME} "0x000")
+	endif()
+endmacro()
+
+# Convert package versions to hex so they can be used in preprocessor for wider
+# versions compatibility of "one-source for all":
+mrpt_version_to_hex(cv_bridge_VERSION  cv_bridge_VERSION_HEX)
+
+target_compile_definitions(${PROJECT_NAME} PRIVATE CV_BRIDGE_VERSION=${cv_bridge_VERSION_HEX})
+
+message(STATUS "Found: cv_bridge_VERSION: ${cv_bridge_VERSION} (${cv_bridge_VERSION_HEX})")
\ No newline at end of file
diff --git a/mola_input_rosbag2/src/Rosbag2Dataset.cpp b/mola_input_rosbag2/src/Rosbag2Dataset.cpp
index 896a98b3..d75e478d 100644
--- a/mola_input_rosbag2/src/Rosbag2Dataset.cpp
+++ b/mola_input_rosbag2/src/Rosbag2Dataset.cpp
@@ -38,7 +38,12 @@
 #include <tf2/convert.h>
 #include <tf2/exceptions.h>
 
+#if CV_BRIDGE_VERSION < 0x030400
+#include <cv_bridge/cv_bridge.h>
+#else
 #include <cv_bridge/cv_bridge.hpp>
+#endif
+
 #include <nav_msgs/msg/odometry.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/serialization.hpp>