From 859625eebf80e779dc17a622cc011efcb4ba592d Mon Sep 17 00:00:00 2001
From: Giang Nguyen <hoanggia@uni-bremen.de>
Date: Tue, 13 Aug 2024 18:40:02 +0200
Subject: [PATCH] Add library for ros2_control

---
 build_multiverse_ws2.sh                                    | 7 ++++---
 .../multiverse_control/include/multiverse_hw_interface.h   | 1 +
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/build_multiverse_ws2.sh b/build_multiverse_ws2.sh
index e579fd1b..f1ca5f1b 100755
--- 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
\ No newline at end of file
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
index 07c93b48..6b4e4b4e 100644
--- 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"