Update trajopt_example.cpp

Author: mosfet80

doc/examples/trajopt_planner/src/trajopt_example.cpp

@@ -17,9 +17,19 @@
 #include <moveit_msgs/PlanningScene.h>
 
 #include <geometry_msgs/TransformStamped.h>
-#include <tf2/utils.hpp>
-#include <tf2_eigen/tf2_eigen.hpp>
-#include <tf2_ros/transform_listener.hpp>
+
+// TODO(mosfet80): remove else after EOL galactic
+#if __has_include(<tf2/utils.hpp>)
+   #include <tf2/utils.hpp>
+   #include <tf2_eigen/tf2_eigen.hpp>
+   #include <tf2_ros/transform_listener.hpp>
+#else
+   #include <tf2/utils.h>
+   #include <tf2_eigen/tf2_eigen.h>
+   #include <tf2_ros/transform_listener.h>
+#endif
+
+
 
 /* Author: Omid Heidari
    Desc: This file is a test for using trajopt in MoveIt. The goal is to make different types of constraints in