From db6b4077b51d58dd8f955111ce4d00132dc3c26f Mon Sep 17 00:00:00 2001
From: Bernd Pfrommer <bernd.pfrommer@gmail.com>
Date: Mon, 11 Mar 2024 11:49:50 -0400
Subject: [PATCH] cleaner importing of dependencies

---
 CMakeLists.txt        | 25 +++++++------------------
 src/bag_to_frames.cpp |  4 ++++
 2 files changed, 11 insertions(+), 18 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c0cfd25..2fa63a6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,20 +33,9 @@ foreach(pkg ${ament_dependencies})
   find_package(${pkg} REQUIRED)
 endforeach()
 
-#
-# find libav because the dependencies exported by ffmpeg_image_transport are
-# screwed up.
-#
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(LIBAV IMPORTED_TARGET
-    libavdevice
-    libavfilter
-    libavformat
-    libavcodec
-    libswresample
-    libswscale
-    libavutil
-)
+if(${cv_bridge_VERSION} GREATER "3.3.0")
+  add_definitions(-DUSE_CV_BRIDGE_HPP)
+endif()
 
 
 #
@@ -76,18 +65,18 @@ if(BUILD_TESTING)
   find_package(ament_cmake_cppcheck REQUIRED)
   find_package(ament_cmake_cpplint REQUIRED)
   find_package(ament_cmake_clang_format REQUIRED)
-#   find_package(ament_cmake_flake8 REQUIRED)
+  find_package(ament_cmake_flake8 REQUIRED)
   find_package(ament_cmake_lint_cmake REQUIRED)
-#   find_package(ament_cmake_pep257 REQUIRED)
+  find_package(ament_cmake_pep257 REQUIRED)
   find_package(ament_cmake_xmllint REQUIRED)
 
   ament_copyright()
   ament_cppcheck(LANGUAGE c++)
   ament_cpplint(FILTERS "-build/include,-runtime/indentation_namespace")
   ament_clang_format(CONFIG_FILE .clang-format)
-#  ament_flake8()
+  ament_flake8()
   ament_lint_cmake()
-#  ament_pep257()
+  ament_pep257()
   ament_xmllint()
 endif()
 
diff --git a/src/bag_to_frames.cpp b/src/bag_to_frames.cpp
index a2791e9..f5ebae5 100644
--- a/src/bag_to_frames.cpp
+++ b/src/bag_to_frames.cpp
@@ -16,7 +16,11 @@
 #include <unistd.h>
 
 #include <chrono>
+#ifdef USE_CV_BRIDGE_HPP
 #include <cv_bridge/cv_bridge.hpp>
+#else
+#include <cv_bridge/cv_bridge.h>
+#endif
 #include <ffmpeg_image_transport/ffmpeg_decoder.hpp>
 #include <ffmpeg_image_transport_msgs/msg/ffmpeg_packet.hpp>
 #include <ffmpeg_image_transport_tools/bag_processor.hpp>