fix undefined reference to symbol 'ccd_vec3_origin'

4am-robotics · Mar 20, 2024 · 74cf243 · 74cf243
1 parent 3713adc
commit 74cf243
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/cob_obstacle_distance/CMakeLists.txt b/cob_obstacle_distance/CMakeLists.txt
@@ -11,8 +11,8 @@ find_package(Eigen3)
 set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
 add_definitions(${EIGEN3_DEFINITIONS})
 
+find_package(CCD REQUIRED)
 find_package(orocos_kdl REQUIRED)
-
 find_package(PkgConfig REQUIRED)
 
 pkg_check_modules(ASSIMP assimp)
@@ -29,7 +29,7 @@ catkin_package(
 )
 
 ### BUILD ###
-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${FCL_INCLUDE_DIRS} ${orocos_kdl_INCLUDE_DIRS} ${ASSIMP_INCLUDE_DIRS})
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${CCD_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${FCL_INCLUDE_DIRS} ${orocos_kdl_INCLUDE_DIRS} ${ASSIMP_INCLUDE_DIRS})
 
 add_library(parsers src/parsers/mesh_parser.cpp src/parsers/stl_parser.cpp)
 add_dependencies(parsers ${catkin_EXPORTED_TARGETS})
@@ -41,7 +41,7 @@ target_link_libraries(marker_shapes_management parsers ${fcl_LIBRARIES} ${catkin
 
 add_executable(${PROJECT_NAME} src/chainfk_solvers/advanced_chainfksolver_recursive.cpp src/${PROJECT_NAME}.cpp src/distance_manager.cpp src/helpers/helper_functions.cpp)
 add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME} parsers marker_shapes_management ${fcl_LIBRARIES} ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} parsers marker_shapes_management ${CCD_LIBRARIES} ${fcl_LIBRARIES} ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
 
 add_executable(debug_obstacle_distance_node src/debug/debug_obstacle_distance_node.cpp)
 add_dependencies(debug_obstacle_distance_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

diff --git a/cob_obstacle_distance/package.xml b/cob_obstacle_distance/package.xml
@@ -21,6 +21,7 @@
   <depend>dynamic_reconfigure</depend>
   <depend>eigen_conversions</depend>
   <depend>eigen</depend>
+  <depend>libccd-dev</depend>
   <depend condition="$ROS_DISTRO != noetic">libfcl-dev</depend>
   <depend condition="$ROS_DISTRO == noetic">fcl</depend>
   <depend>geometry_msgs</depend>