Fix deprecated headers

moveit · Nov 11, 2021 · ae5d4d1 · ae5d4d1
1 parent da5a9b8
commit ae5d4d1
Showing 1 changed file with 10 additions and 4 deletions.
diff --git a/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp b/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp
@@ -41,14 +41,20 @@
  * This file, including the ikfast cpp from OpenRAVE below, forms a MoveIt kinematics plugin.
  */
 
-#include <moveit/kinematics_base/kinematics_base.h>
-#include <moveit/robot_state/robot_state.h>
+
 #include <rclcpp/rclcpp.hpp>
+#include <Eigen/Geometry>
+#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
+#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_kdl/tf2_kdl.hpp>
-#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
+#else
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_kdl/tf2_kdl.h>
+#endif
+#include <moveit/kinematics_base/kinematics_base.h>
+#include <moveit/robot_state/robot_state.h>
 
-#include <Eigen/Geometry>
 
 using namespace moveit::core;