From 165a6c2fdabbd17ce8ff28fbfd45cf48af0ccce8 Mon Sep 17 00:00:00 2001
From: Irene Garcia Camacho <igarcia@iri.upc.edu>
Date: Tue, 25 Sep 2018 18:28:00 +0000
Subject: [PATCH] Implemented the new constraints

---
 CMakeLists.txt | 6 +++---
 package.xml    | 2 ++
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4ff38c9..940d6a8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,12 +2,12 @@ cmake_minimum_required(VERSION 2.8.3)
 project(tiago_modules)
 
 ## Add support for C++11, supported in ROS Kinetic and newer
-# add_definitions(-std=c++11)
+add_definitions(-std=c++11)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs control_msgs geometry_msgs std_srvs move_base_msgs tf nav_msgs pal_navigation_msgs pal_interaction_msgs pal_waypoint_msgs)
+find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs control_msgs geometry_msgs std_srvs move_base_msgs tf nav_msgs pal_navigation_msgs pal_interaction_msgs pal_waypoint_msgs moveit_ros_planning_interface)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -108,7 +108,7 @@ generate_dynamic_reconfigure_options(
 catkin_package(
  INCLUDE_DIRS include
  LIBRARIES gripper_module play_motion_module head_module torso_module nav_module tts_module arm_module move_platform_module
- CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs control_msgs geometry_msgs std_srvs move_base_msgs tf nav_msgs pal_navigation_msgs pal_waypoint_msgs pal_interaction_msgs
+ CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs control_msgs geometry_msgs std_srvs move_base_msgs tf nav_msgs pal_navigation_msgs pal_waypoint_msgs pal_interaction_msgs moveit_ros_planning_interface
 
 #  DEPENDS system_lib
 )
diff --git a/package.xml b/package.xml
index 6f243bd..41f80f3 100644
--- a/package.xml
+++ b/package.xml
@@ -54,6 +54,7 @@
   <build_depend>pal_waypoint_msgs</build_depend>
   <build_depend>pal_interaction_msgs</build_depend>
   <build_depend>tf</build_depend>
+  <build_depend>moveit_ros_planning_interface</build_depend>
   <!-- new dependencies -->
   <!--<build_depend>new build dependency</build_depend>-->
   <run_depend>iri_ros_tools</run_depend>
@@ -70,6 +71,7 @@
   <run_depend>pal_waypoint_msgs</run_depend>
   <run_depend>pal_interaction_msgs</run_depend>
   <run_depend>tf</run_depend>
+  <run_depend>moveit_ros_planning_interface</run_depend>
   <!-- new dependencies -->
   <!--<run_depend>new run dependency</run_depend>-->
 
-- 
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