From ae5d4d18558d7c840436a4755093440bffbfb479 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Thu, 11 Nov 2021 09:49:19 +0000
Subject: [PATCH] Fix deprecated headers

---
 .../src/prbt_manipulator_ikfast_moveit_plugin.cpp  | 14 ++++++++++----
 1 file changed, 10 insertions(+), 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
index c74be79c..f4b81773 100644
--- 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;