Use Eigen CMake target (#190)

ros-controls · Mar 4, 2024 · 02a9e3a · 02a9e3a
1 parent c78c686
commit 02a9e3a
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -51,12 +51,11 @@ set(CONTROL_FILTERS_INCLUDE_DEPENDS
   generate_parameter_library
   pluginlib
   geometry_msgs
-  Eigen3
 )
-
 foreach(Dependency IN ITEMS ${CONTROL_FILTERS_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+find_package(Eigen3 REQUIRED NO_MODULE)
 
 generate_parameter_library(
   low_pass_filter_parameters
@@ -72,7 +71,10 @@ target_include_directories(low_pass_filter PUBLIC
     $<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
     $<INSTALL_INTERFACE:include/control_toolbox>
 )
-target_link_libraries(low_pass_filter PUBLIC low_pass_filter_parameters)
+target_link_libraries(low_pass_filter PUBLIC
+  low_pass_filter_parameters
+  Eigen3::Eigen
+)
 ament_target_dependencies(low_pass_filter PUBLIC ${CONTROL_FILTERS_INCLUDE_DEPENDS})
 
 # Install pluginlib xml

diff --git a/package.xml b/package.xml
@@ -19,10 +19,11 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>control_msgs</depend>
+  <depend>eigen</depend>
   <depend>filters</depend>
+  <depend>generate_parameter_library</depend>
   <depend>geometry_msgs</depend>
   <depend>pluginlib</depend>
-  <depend>generate_parameter_library</depend>
   <depend>rclcpp</depend>
   <depend>rcutils</depend>
   <depend>realtime_tools</depend>