Fix ROS2 version detection for IK solvers

fzi-forschungszentrum-informatik · Jan 9, 2024 · e36e9ed · e36e9ed
1 parent dd97f79
commit e36e9ed
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/cartesian_controller_base/CMakeLists.txt b/cartesian_controller_base/CMakeLists.txt
@@ -60,7 +60,6 @@ add_library(${PROJECT_NAME} SHARED
   src/cartesian_controller_base.cpp
   src/SpatialPDController.cpp
   src/PDController.cpp
-  src/IKSolver.cpp
 )
 
 # Manual includes for local directories and non-ament packages
@@ -72,6 +71,10 @@ target_include_directories(${PROJECT_NAME}
     ${CMAKE_BINARY_DIR}  # ROS2VersionConfig.h
 )
 
+target_link_libraries(${PROJECT_NAME}
+        ik_solvers
+)
+
 ament_target_dependencies(${PROJECT_NAME}
         ${${PROJECT_NAME}_EXPORTED_TARGETS}
         ${THIS_PACKAGE_INCLUDE_DEPENDS}
@@ -90,6 +93,7 @@ target_include_directories(ik_solvers
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
+    ${CMAKE_BINARY_DIR}  # ROS2VersionConfig.h
 )
 
 # Prevent pluginlib from using boost

diff --git a/cartesian_controller_base/include/cartesian_controller_base/IKSolver.h b/cartesian_controller_base/include/cartesian_controller_base/IKSolver.h
@@ -57,6 +57,7 @@
 #include <trajectory_msgs/msg/joint_trajectory_point.hpp>
 #include <vector>
 
+#include "ROS2VersionConfig.h"
 #include "rclcpp/node.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"