From f128add1afeb2fa078230f37fdc282670c5f4ed1 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve.fernandez@tier4.jp>
Date: Mon, 27 Jan 2025 13:23:19 +0100
Subject: [PATCH 1/2] fix: add support for Boost >= 1.76

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
---
 autoware_utils/CMakeLists.txt                          | 4 ++++
 autoware_utils/src/geometry/random_concave_polygon.cpp | 5 +++++
 2 files changed, 9 insertions(+)

diff --git a/autoware_utils/CMakeLists.txt b/autoware_utils/CMakeLists.txt
index 26ce297..9f03661 100644
--- a/autoware_utils/CMakeLists.txt
+++ b/autoware_utils/CMakeLists.txt
@@ -4,6 +4,10 @@ project(autoware_utils)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
+find_package(Boost REQUIRED)
+target_compile_definitions(autoware_utils
+  PRIVATE BOOST_MAJOR_VERSION=${Boost_MAJOR_VERSION} BOOST_MINOR_VERSION=${Boost_MINOR_VERSION})
+
 file(GLOB_RECURSE src_files
     src/*.cpp
     src/geometry/*.cpp
diff --git a/autoware_utils/src/geometry/random_concave_polygon.cpp b/autoware_utils/src/geometry/random_concave_polygon.cpp
index b40e421..f491cd9 100644
--- a/autoware_utils/src/geometry/random_concave_polygon.cpp
+++ b/autoware_utils/src/geometry/random_concave_polygon.cpp
@@ -20,7 +20,12 @@
 #include <boost/geometry/algorithms/correct.hpp>
 #include <boost/geometry/algorithms/intersects.hpp>
 #include <boost/geometry/algorithms/is_valid.hpp>
+
+#if BOOST_MAJOR_VERSION == 1 && BOOST_MINOR_VERSION < 76
 #include <boost/geometry/strategies/agnostic/hull_graham_andrew.hpp>
+#else
+#error TODO: add support for Boost 1.76 or later (Ubuntu 24.04, ROS Jazzy)
+#endif
 
 #include <algorithm>
 #include <limits>

From a912c7d811f8e8937adc6dc2b0848e894980f458 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve.fernandez@tier4.jp>
Date: Mon, 27 Jan 2025 16:22:44 +0100
Subject: [PATCH 2/2] fix CMake file

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
---
 autoware_utils/CMakeLists.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/autoware_utils/CMakeLists.txt b/autoware_utils/CMakeLists.txt
index 9f03661..633e083 100644
--- a/autoware_utils/CMakeLists.txt
+++ b/autoware_utils/CMakeLists.txt
@@ -5,8 +5,6 @@ find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Boost REQUIRED)
-target_compile_definitions(autoware_utils
-  PRIVATE BOOST_MAJOR_VERSION=${Boost_MAJOR_VERSION} BOOST_MINOR_VERSION=${Boost_MINOR_VERSION})
 
 file(GLOB_RECURSE src_files
     src/*.cpp
@@ -19,6 +17,8 @@ file(GLOB_RECURSE src_files
 ament_auto_add_library(autoware_utils SHARED
   ${src_files}
 )
+target_compile_definitions(autoware_utils
+  PRIVATE BOOST_MAJOR_VERSION=${Boost_MAJOR_VERSION} BOOST_MINOR_VERSION=${Boost_MINOR_VERSION})
 
 if(BUILD_TESTING)
   file(GLOB_RECURSE test_files test/**/*.cpp)