Fix build for Foxy

Author: wxmerkt

CMakeLists.txt

@@ -43,6 +43,14 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 target_compile_definitions(${PROJECT_NAME} PRIVATE "OCTOMAP_RVIZ_PLUGINS_BUILDING_LIBRARY")
 
+# Check version of rclcpp to switch between features (message_lost_callback):
+#  - Foxy is on rclcpp 2.x
+#  - Galactic is on rclcpp 9.x
+#  - Rolling (currently) is on rclcpp 14.x
+if(${rclcpp_VERSION_MAJOR} VERSION_LESS "3.0.0")
+  target_compile_definitions(${PROJECT_NAME} PRIVATE "FOXY")
+endif()
+
 pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
 
 if(BUILD_TESTING)

src/occupancy_map_display.cpp

@@ -235,6 +235,7 @@ void OccupancyMapDisplay::subscribeToUpdateTopic()
 {
   try {
     rclcpp::SubscriptionOptions sub_opts;
+#ifndef FOXY
     sub_opts.event_callbacks.message_lost_callback =
       [&](rclcpp::QOSMessageLostInfo & info)
       {
@@ -246,6 +247,7 @@ void OccupancyMapDisplay::subscribeToUpdateTopic()
           rviz_common::properties::StatusProperty::Warn, "Update Topic",
           QString(sstm.str().c_str()));
       };
+#endif
 
     update_subscription_ =
       rviz_ros_node_.lock()->get_raw_node()->