ros-noetic-jsk-pcl-ros-utils.patch

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6fd6146d1..e38dd3a69 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -60,6 +60,8 @@ set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}
 
 # For kinfu
 find_package(PCL QUIET COMPONENTS gpu_kinfu_large_scale)
+find_package(VTK REQUIRED)
+get_target_property(VTK_INCLUDE_DIRS VTK::CommonCore INTERFACE_INCLUDE_DIRECTORIES)
 
 pkg_check_modules(yaml_cpp yaml-cpp REQUIRED)
 IF(${yaml_cpp_VERSION} VERSION_LESS "0.5.0")
@@ -99,7 +101,7 @@ generate_dynamic_reconfigure_options(
 
 find_package(OpenCV REQUIRED core imgproc)
 
-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${VTK_INCLUDE_DIRS})
 link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS})
 if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
   set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -z defs")
@@ -220,7 +222,7 @@ jsk_pcl_util_nodelet(src/marker_array_voxel_to_pointcloud_nodelet.cpp
 add_library(jsk_pcl_ros_utils SHARED ${jsk_pcl_util_nodelet_sources})
 add_dependencies(jsk_pcl_ros_utils ${PROJECT_NAME}_gencfg)
 target_link_libraries(jsk_pcl_ros_utils
-  ${catkin_LIBRARIES} ${pcl_ros_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp)
+  ${catkin_LIBRARIES} ${pcl_ros_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp VTK::CommonCore)
 
 get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
 
diff --git a/src/pointcloud_to_pcd_nodelet.cpp b/src/pointcloud_to_pcd_nodelet.cpp
index 3113a387a..8f2f01420 100644
--- a/src/pointcloud_to_pcd_nodelet.cpp
+++ b/src/pointcloud_to_pcd_nodelet.cpp
@@ -51,7 +51,7 @@ namespace jsk_pcl_ros_utils
 
   void PointCloudToPCD::timerCallback (const ros::TimerEvent& event)
   {
-    pcl::PCLPointCloud2::ConstPtr cloud;
+    boost::shared_ptr<const pcl::PCLPointCloud2> cloud;
     cloud = ros::topic::waitForMessage<pcl::PCLPointCloud2>("input", *pnh_);
     if ((cloud->width * cloud->height) == 0)
     {