From b8327e284de0f2edec322e6a1a4a064fd01874e5 Mon Sep 17 00:00:00 2001 From: Sutou Kouhei Date: Tue, 6 Jan 2026 17:00:45 +0900 Subject: [PATCH] Add support for the latest KDL Parser (#13) The latest KDL Parser uses `kdl_parser::kdl_parser` as CMake target name. --- CMakeLists.txt | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 58fc69d..9a5d25f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -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