Change tf2_ros C to C++ headers

[sea-bass]

Bug report

Required Info:

• Operating System:
  • Ubuntu 24.04
• Installation type:
  • Binaries
• Version or commit hash:
  • rolling
• DDS implementation:
  • N/A
• Client library (if applicable):
  • N/A

Steps to reproduce issue

In #720, all .h files in the tf2 package were converted to .hpp with deprecation warnings -- which is great!

However, this was not done consistently throughout the repo. For example, the tf2_ros package still is missing several .hpp files. This makes it pretty inconvenient to do blanket search/replaces in downstream repos that use this.

Expected behavior

Every header in the repo should ideally consistently have a .hpp counterpart now -- not just tf2.

Actual behavior

Not the case currently.

Additional information

N/A

[ahcorde]

Related PR #744

[clalancette]

However, this was not done consistently throughout the repo. For example, the tf2_ros package still is missing several .hpp files. This makes it pretty inconvenient to do blanket search/replaces in downstream repos that use this.

For what it is worth, we usually do it on a package-by-package basis, not for the whole repository. It is just too disruptive to do everything at once. With #744 now in, I think the big remaining package to do here is tf2_ros, which will require another large round of downstream PRs.

[CursedRock17]

Hey sorry to be late to the conversation, I've been pretty stacked up with some stuff. Like @clalancette said, I assumed we were going to tackle this at the package level. Especially since #259 (the original target) only mentioned tf2. I wouldn't mind doing tf2_ros as well, but seeing the bit of chaos #720 has created, I would recommend waiting for this chunk to settle in. I can create an issue and have it assigned to me if interested.

[sea-bass]

This makes sense!

For what it's worth, this "chaos" is a good thing. It means lots of CI pipelines that use this package are treating warnings as errors and reacting quickly to the changes.

I'm happy to close / rename this issue in favor of tracking tickets to consistently port all the other individual packages in this repo.

Though I will say, we did this for moveit2 recently ad well, with the conscious effort of ensuring all the changes to the binaries happened in the same sync.

[christophebedard]

I'm happy to close / rename this issue in favor of tracking tickets to consistently port all the other individual packages in this repo.

That would indeed be good!

[CursedRock17]

I would be in agreement to just renaming this issue since there's already discussion about the topic here. The only package we need change header files for, in this repo, is tf2_ros. Everything else would just be adjustments for that package.

all the changes to the binaries happened in the same sync.

Seems to be the next biggest problem in from #720's release.