From e36e9ed9a6b8b952900321dcb44f03bd9f899749 Mon Sep 17 00:00:00 2001
From: Stefan Scherzinger <scherzin@fzi.de>
Date: Tue, 9 Jan 2024 18:49:19 +0100
Subject: [PATCH] Fix ROS2 version detection for IK solvers

---
 cartesian_controller_base/CMakeLists.txt                    | 6 +++++-
 .../include/cartesian_controller_base/IKSolver.h            | 1 +
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/cartesian_controller_base/CMakeLists.txt b/cartesian_controller_base/CMakeLists.txt
index 21f49074..afabe043 100644
--- 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
index 4415114a..79f0bc04 100644
--- 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"