From 338a2f8657ed214d62160ee3af30ab09e37350ac Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 23 Feb 2024 22:43:28 +0000
Subject: [PATCH 1/3] Use Eigen CMake target

---
 CMakeLists.txt | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7d3a2c73..a3d070b0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,9 +51,8 @@ set(CONTROL_FILTERS_INCLUDE_DEPENDS
   generate_parameter_library
   pluginlib
   geometry_msgs
-  Eigen3
 )
-
+find_package(Eigen3 REQUIRED NO_MODULE)
 foreach(Dependency IN ITEMS ${CONTROL_FILTERS_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
@@ -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

From ca3b8b166b268a92fe0fceae5f939d7c328546d8 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 23 Feb 2024 22:47:17 +0000
Subject: [PATCH 2/3] Add dependency on eigen

---
 package.xml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index bc977f55..b47371a3 100644
--- 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>

From f01404c8b904bca4d5bd2e15dbb2e7d158173fc1 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 23 Feb 2024 22:50:06 +0000
Subject: [PATCH 3/3] Resort CMakeLists

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a3d070b0..9786821c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,10 +52,10 @@ set(CONTROL_FILTERS_INCLUDE_DEPENDS
   pluginlib
   geometry_msgs
 )
-find_package(Eigen3 REQUIRED NO_MODULE)
 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