Use tf2 instead of tf

[dzywater]

(1)in rotors_gazebo_plugins\package.xml use

tf2_ros

instead of

tf

(2)in rotors_gazebo_plugins\CMakeLists.txt use tf2_ros instead of tf

(3)in rotors_gazebo_plugins\src\gazebo_noisydepth_plugin.cpp remove #include <tf/tf.h>

(4) in rotors_gazebo_plugins\include\rotors_gazebo_plugins\gazebo_ros_interface_plugin.h use tf2_ros::TransformBroadcaster transformbroadcaster; instead of tf::Transform tf_; tf::TransformBroadcaster transformbroadcaster;

(5) rotors_gazebo_plugins\src\gazebo_ros_interface_plugin.cpp rewrite GzBroadcastTransformMsgCallback

void GazeboRosInterfacePlugin::GzBroadcastTransformMsgCallback( GzTransformStampedWithFrameIdsMsgPtr& broadcast_transform_msg) { geometry_msgs::TransformStamped msg; msg.header.stamp.sec = broadcast_transform_msg->header().stamp().sec(); msg.header.stamp.nsec = broadcast_transform_msg->header().stamp().nsec(); msg.header.frame_id = broadcast_transform_msg->parent_frame_id(); msg.child_frame_id = broadcast_transform_msg->child_frame_id();

msg.transform.rotation.x = broadcast_transform_msg->transform().rotation().x(); msg.transform.rotation.y = broadcast_transform_msg->transform().rotation().y(); msg.transform.rotation.z = broadcast_transform_msg->transform().rotation().z(); msg.transform.rotation.w = broadcast_transform_msg->transform().rotation().w();

msg.transform.translation.x = broadcast_transform_msg->transform().translation().x(); msg.transform.translation.y = broadcast_transform_msg->transform().translation().y(); msg.transform.translation.z = broadcast_transform_msg->transform().translation().z();

transformbroadcaster.sendTransform(msg); }