fix code not building

ros-navigation · Jan 8, 2025 · e621d5f · e621d5f
1 parent a1a78a3
commit e621d5f
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/footprint.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/footprint.hpp
@@ -101,7 +101,7 @@ void transformFootprint(
  * @param  footprint A vector of points (type geometry_msgs::Point) representing a 2D polygon (footprint).
  * @return The centroid of the footprint as a geometry_msgs::Point.
 */
-geometry_msgs::Point calculateCentroid(const std::vector<geometry_msgs::Point>& footprint);
+geometry_msgs::msg::Point calculateCentroid(const std::vector<geometry_msgs::msg::Point>& footprint);
 
 /**
  * @brief  Given a pose and base footprint, build the oriented footprint of the robot (PolygonStamped)

diff --git a/nav2_costmap_2d/src/footprint.cpp b/nav2_costmap_2d/src/footprint.cpp
@@ -142,7 +142,7 @@ void transformFootprint(
   }
 }
 
-geometry_msgs::Point calculateCentroid(const std::vector<geometry_msgs::Point>& footprint)
+geometry_msgs::msg::Point calculateCentroid(const std::vector<geometry_msgs::msg::Point>& footprint)
 {
   geometry_msgs::Point center;
   double sum_x = 0.0, sum_y = 0.0;
@@ -163,7 +163,7 @@ geometry_msgs::Point calculateCentroid(const std::vector<geometry_msgs::Point>&
 
 void padFootprint(std::vector<geometry_msgs::msg::Point> & footprint, double padding)
 {
-  geometry_msgs::Point footprint_center = calculateCentroid(footprint);
+  geometry_msgs::msg::Point footprint_center = calculateCentroid(footprint);
 
   for (auto& point : footprint)
   {