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Add support for the latest KDL Parser #13

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Merged
kou merged 1 commit into from
Jan 6, 2026
+9 −1
Merged

Add support for the latest KDL Parser #13

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10 changes: 9 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -48,10 +48,18 @@ add_library(
target_include_directories(openarm_teleop_lib
PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src)

if(NOT TARGET kdl_parser::kdl_parser)
# For old kdl-parser such as libkdl-parser-dev 1.14.2 in Debian.
add_library(kdl_parser::kdl_parser INTERFACE IMPORTED)
target_link_libraries(kdl_parser::kdl_parser
INTERFACE ${kdl_parser_LIBRARIES})
target_include_directories(kdl_parser::kdl_parser
INTERFACE ${kdl_parser_INCLUDE_DIRS})
endif()
target_link_libraries(
openarm_teleop_lib
PUBLIC OpenArmCAN::openarm_can Eigen3::Eigen ${orocos_kdl_LIBRARIES}
${kdl_parser_LIBRARIES} urdfdom::urdfdom_model yaml-cpp::yaml-cpp)
kdl_parser::kdl_parser urdfdom::urdfdom_model yaml-cpp::yaml-cpp)

# -----------------------------
# Executables
Expand Down