velodyne: use transform api

modules/drivers/velodyne/parser/BUILD

@@ -81,6 +81,7 @@ cc_library(
     deps = [
         "//modules/drivers/velodyne/proto:velodyne_proto",
         "//modules/drivers/proto:sensor_proto",
+        "//modules/transform:tf2_buffer_lib",
         "//framework:cybertron",
         "@eigen",
     ],

modules/drivers/velodyne/parser/compensator.cc

@@ -40,7 +40,7 @@ bool Compensator::query_pose_affine_from_tf2(
     return false;
   }
 
-  adu::common::TransformStamped stamped_transform;
+  apollo::transform::TransformStamped stamped_transform;
 
   try {
     stamped_transform =

modules/drivers/velodyne/parser/compensator.h

@@ -21,9 +21,7 @@
 #include <memory>
 #include <string>
 
-#include "cybertron/cybertron.h"
-#include "cybertron/tf2_cybertron/transform_broadcaster.h"
-#include "cybertron/tf2_cybertron/buffer.h"
+#include "modules/transform/buffer.h"
 
 #include "modules/drivers/proto/pointcloud.pb.h"
 #include "modules/drivers/velodyne/parser/const_variables.h"
@@ -33,7 +31,7 @@ namespace apollo {
 namespace drivers {
 namespace velodyne {
 
-using apollo::cybertron::tf2_cybertron::Buffer;
+using apollo::transform::Buffer;
 using apollo::drivers::PointCloud;
 using apollo::drivers::velodyne::config::Config;