Merge pull request #39 from fmrico/fix_runtime_link_error

Fix link error when running MPPI in Realease

Author: fmrico

controllers/easynav_mppi_controller/CMakeLists.txt

@@ -16,6 +16,7 @@ find_package(easynav_system REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common io)
@@ -35,6 +36,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   easynav_core::easynav_core
   easynav_system::easynav_system
   tf2_ros::tf2_ros
+  tf2_geometry_msgs::tf2_geometry_msgs
   pluginlib::pluginlib
   ${geometry_msgs_TARGETS}
   ${nav_msgs_TARGETS}
@@ -77,6 +79,7 @@ ament_export_dependencies(
   easynav_core
   pluginlib
   tf2_ros
+  tf2_geometry_msgs
   geometry_msgs
   nav_msgs
   visualization_msgs

controllers/easynav_mppi_controller/package.xml

@@ -14,6 +14,7 @@
   <depend>easynav_system</depend>
   <depend>pluginlib</depend>
   <depend>tf2_ros</depend>
+  <depend>tf2_geometry_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>visualization_msgs</depend>

controllers/easynav_mppi_controller/src/easynav_mppi_controller/MPPIOptimizer.cpp

@@ -1,5 +1,6 @@
 #include "easynav_mppi_controller/MPPIOptimizer.hpp"
 #include "tf2/utils.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 #include <cmath>
 #include <limits>