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Add support for the latest KDL Parser (#13)

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The latest KDL Parser uses `kdl_parser::kdl_parser` as CMake target
name.
This commit is contained in:
Sutou Kouhei 2026-01-06 17:00:45 +09:00 committed by GitHub
parent 72e556f051
commit b8327e284d
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GPG Key ID: B5690EEEBB952194
1 changed files with 9 additions and 1 deletions
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10
CMakeLists.txt
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@ -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