Add library for ros2_control

Multiverse-Framework · Aug 13, 2024 · 859625e · 859625e
1 parent 4607201
commit 859625e
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/build_multiverse_ws2.sh b/build_multiverse_ws2.sh
@@ -20,9 +20,10 @@ MULTIVERSE_DIR=$PWD/multiverse
 cd $(dirname $0)/multiverse_ws2
 rosdep install --from-paths src --ignore-src -r -y --rosdistro $ROS2_DISTRO
 . /opt/ros/$ROS2_DISTRO/setup.sh
-colcon build --symlink-install
 
-# Check if ros is jazzy
-if [ "$ROS2_DISTRO" = "jazzy" ]; then
+if [ "$ROS2_DISTRO" = "foxy" ]; then
+    colcon build
+elif [ "$ROS2_DISTRO" = "jazzy" ]; then
+    colcon build --symlink-install
     ln -sf ${MULTIVERSE_DIR}/lib/libstdc++/libmultiverse_client_json.so ${MULTIVERSE_DIR}/../multiverse_ws2/install/multiverse_control/lib/libmultiverse_client_json.so
 fi
diff --git a/multiverse_ws2/src/multiverse_core/multiverse_control/include/multiverse_hw_interface.h b/multiverse_ws2/src/multiverse_core/multiverse_control/include/multiverse_hw_interface.h
@@ -28,6 +28,7 @@
 #include "set"
 #include "thread"
 
+#include "rclcpp/rclcpp.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/system_interface.hpp"