From 1d21fe97132d79402804a0a2f39291e01a91b8a1 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Fri, 10 Jan 2025 01:22:28 +0100
Subject: [PATCH] pilz_industrial_motion_planner: Use tf2::fromMsg instead of
 tf2::convert (#3219)

(cherry picked from commit cd26fc038f0449849cba5084b23d33dfe52ac5a1)
---
 .../src/trajectory_functions.cpp                              | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
index 2248d38a3f..077456a3a0 100644
--- a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
+++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
@@ -113,7 +113,7 @@ bool pilz_industrial_motion_planner::computePoseIK(const planning_scene::Plannin
                                                    const double timeout)
 {
   Eigen::Isometry3d pose_eigen;
-  tf2::convert<geometry_msgs::msg::Pose, Eigen::Isometry3d>(pose, pose_eigen);
+  tf2::fromMsg(pose, pose_eigen);
   return computePoseIK(scene, group_name, link_name, pose_eigen, frame_id, seed, solution, check_self_collision,
                        timeout);
 }
@@ -589,7 +589,7 @@ bool pilz_industrial_motion_planner::isStateColliding(const planning_scene::Plan
 void normalizeQuaternion(geometry_msgs::msg::Quaternion& quat)
 {
   tf2::Quaternion q;
-  tf2::convert<geometry_msgs::msg::Quaternion, tf2::Quaternion>(quat, q);
+  tf2::fromMsg(quat, q);
   quat = tf2::toMsg(q.normalized());
 }