Use ament_cmake generated rclcpp version header (#1448)

ros-controls · Mar 26, 2024 · 5b5ec20 · 5b5ec20
1 parent b1288bd
commit 5b5ec20
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Showing 4 changed files with 2 additions and 2 deletions.
diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
@@ -15,7 +15,6 @@ find_package(ament_cmake REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
-add_compile_definitions(RCLCPP_VERSION_MAJOR=${rclcpp_lifecycle_VERSION_MAJOR})
 
 add_library(controller_interface SHARED
   src/controller_interface_base.cpp

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -26,6 +26,7 @@
 #include "hardware_interface/loaned_state_interface.hpp"
 
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp/version.h"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 namespace controller_interface

diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -25,7 +25,6 @@ find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
-add_compile_definitions(RCLCPP_VERSION_MAJOR=${rclcpp_VERSION_MAJOR})
 
 add_library(controller_manager SHARED
   src/controller_manager.cpp

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -25,6 +25,7 @@
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp/version.h"
 #include "rclcpp_lifecycle/state.hpp"
 
 namespace  // utility