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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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Adds missing includes and auto for melodic #90

Closed IanTheEngineer closed 6 years ago

IanTheEngineer commented 6 years ago

This is related to #89

The gcc compiler in bionic (v7.3.0) is (correctly) more strict about requiring include files in headers. This meant we needed to add few additional vector includes.

Additionally, urdf::Model::getJoint() has switched from returning a boost::shared_ptr<const urdf::Joint> to returning std::shared_ptr<const urdf::Joint> in ros melodic. To be flexible and simultaneously build on different branches, we're using auto to capture the correct type everywhere.

IanTheEngineer commented 6 years ago

I agree with your magic sentiment. I'll add a comment in there so its clear the type changes between ROS Distros. Fortunately the Joint smart pointer is only used internally, so I feel this simple slide of hand is worth it