From 600227747ab4e0a61de4b5239da5e8cea3d2fa7d Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Fri, 23 Aug 2024 13:51:23 +0200
Subject: [PATCH] Replace obsolete header (#2978)

---
 .../pointcloud_octomap_updater/pointcloud_octomap_updater.h  | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
index 6f734936c1..79b0c0c33e 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
+++ b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
@@ -37,9 +37,14 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/version.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/message_filter.h>
+#if RCLCPP_VERSION_GTE(28, 3, 3)  // Rolling
+#include <message_filters/subscriber.hpp>
+#else
 #include <message_filters/subscriber.h>
+#endif
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
 #include <moveit/point_containment_filter/shape_mask.h>