Implemented the new constraints

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
 )

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>-->