diff --git a/moveit_core/online_signal_smoothing/CMakeLists.txt b/moveit_core/online_signal_smoothing/CMakeLists.txt index 9741899a80..3a3e5b8536 100644 --- a/moveit_core/online_signal_smoothing/CMakeLists.txt +++ b/moveit_core/online_signal_smoothing/CMakeLists.txt @@ -15,7 +15,7 @@ set_target_properties(moveit_smoothing_base PROPERTIES VERSION ) ament_target_dependencies(moveit_smoothing_base rclcpp - tf2_eigen + Eigen3 ) # Plugin implementations diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt index 6adca0a66d..e95461540e 100644 --- a/moveit_ros/moveit_servo/CMakeLists.txt +++ b/moveit_ros/moveit_servo/CMakeLists.txt @@ -18,12 +18,11 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS sensor_msgs std_msgs std_srvs + tf2_eigen trajectory_msgs ) find_package(ament_cmake REQUIRED) -find_package(eigen3_cmake_module REQUIRED) -find_package(Eigen3 REQUIRED) find_package(generate_parameter_library REQUIRED) foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) @@ -31,8 +30,6 @@ endforeach() include_directories( include -SYSTEM - ${EIGEN3_INCLUDE_DIRS} ) ################### @@ -54,7 +51,7 @@ add_library(moveit_servo_lib_cpp SHARED ) set_target_properties(moveit_servo_lib_cpp PROPERTIES VERSION "${moveit_servo_VERSION}") -target_link_libraries(moveit_servo_lib_cpp moveit_servo_lib_parameters ${Eigen_LIBRARIES}) +target_link_libraries(moveit_servo_lib_cpp moveit_servo_lib_parameters) ament_target_dependencies(moveit_servo_lib_cpp ${THIS_PACKAGE_INCLUDE_DEPENDS}) add_library(moveit_servo_lib_ros SHARED src/servo_node.cpp) diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml index 8e31d8b732..2a96034fba 100644 --- a/moveit_ros/moveit_servo/package.xml +++ b/moveit_ros/moveit_servo/package.xml @@ -26,14 +26,15 @@ control_msgs generate_parameter_library geometry_msgs - moveit_msgs moveit_core + moveit_msgs moveit_ros_planning_interface pluginlib realtime_tools sensor_msgs std_msgs std_srvs + tf2_eigen trajectory_msgs controller_manager @@ -41,9 +42,10 @@ joint_state_broadcaster joint_trajectory_controller joy - robot_state_publisher - moveit_configs_utils launch_param_builder + moveit_configs_utils + robot_state_publisher + tf2_ros ament_cmake_gtest ament_lint_auto