From f393a523df31ac9e63fde75494941364d53f7460 Mon Sep 17 00:00:00 2001
From: sea-bass <sebas.a.castro@gmail.com>
Date: Mon, 20 Jan 2025 15:04:02 -0500
Subject: [PATCH] Add moveit_kinematics dependency to generated IKFast plugins

---
 .../scripts/create_ikfast_moveit_plugin.py               | 9 ++++++++-
 .../ikfast_kinematics_plugin/templates/CMakeLists.txt    | 3 +++
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py b/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
index 45495eff73..908798927f 100755
--- a/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
+++ b/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
@@ -369,12 +369,19 @@ def update_ikfast_package(args):
     build_deps = [
         "liblapack-dev",
         "moveit_core",
+        "moveit_kinematics",
         "pluginlib",
         "rclcpp",
         "tf2_kdl",
         "tf2_eigen",
     ]
-    run_deps = ["liblapack-dev", "moveit_core", "pluginlib", "rclcpp"]
+    run_deps = [
+        "liblapack-dev",
+        "moveit_core",
+        "moveit_kinematics",
+        "pluginlib",
+        "rclcpp",
+    ]
 
     update_deps(build_deps, "build_depend", package_xml)
     update_deps(run_deps, "exec_depend", package_xml)
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
index 20b14c15c7..56403046e1 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
@@ -9,6 +9,7 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 
 find_package(ament_cmake REQUIRED)
 find_package(moveit_core REQUIRED)
+find_package(moveit_kinematics REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(tf2_kdl REQUIRED)
@@ -30,6 +31,7 @@ ament_target_dependencies(
   ${IKFAST_LIBRARY_NAME}
   rclcpp
   moveit_core
+  moveit_kinematics
   pluginlib
   tf2_kdl
   orocos_kdl
@@ -54,6 +56,7 @@ pluginlib_export_plugin_description_file(
 ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
 ament_export_libraries(${IKFAST_LIBRARY_NAME})
 ament_export_dependencies(moveit_core)
+ament_export_dependencies(moveit_kinematics)
 ament_export_dependencies(pluginlib)
 ament_export_dependencies(rclcpp)
 ament_export_dependencies(tf2_kdl)