From 28d73ebf2d6751969fd3a4348d074a63fa5ed1a6 Mon Sep 17 00:00:00 2001
From: Danial Ramzan <danialramzan@gmail.com>
Date: Tue, 6 Aug 2024 01:44:39 -0700
Subject: [PATCH] fix triton object for 22.04

---
 src/triton_controls/CMakeLists.txt | 14 ++++++++++++--
 src/triton_controls/package.xml    |  1 +
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/src/triton_controls/CMakeLists.txt b/src/triton_controls/CMakeLists.txt
index b6a98e34..ae59a8d0 100644
--- a/src/triton_controls/CMakeLists.txt
+++ b/src/triton_controls/CMakeLists.txt
@@ -27,8 +27,9 @@ find_package(sensor_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(OpenCV 4.2 REQUIRED)
 find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 
-include_directories(include ${catkin_INCLUDE_DIRS})
+include_directories(include)
 
 add_executable(thrust_allocator 
   src/thrust_allocator.cpp
@@ -63,6 +64,8 @@ ament_target_dependencies(
   "geometry_msgs"
   "sensor_msgs"
   "OpenCV"
+  "tf2"
+  "tf2_geometry_msgs"
 )
 install(TARGETS thrust_allocator
   DESTINATION lib/${PROJECT_NAME}
@@ -73,6 +76,8 @@ ament_target_dependencies(
   "rclcpp"
   "rclcpp_components"
   "tf2"
+  "tf2_ros"
+  "tf2_geometry_msgs"
   "triton_interfaces"
   "geometry_msgs"
   "sensor_msgs"
@@ -87,6 +92,8 @@ ament_target_dependencies(
   "rclcpp"
   "rclcpp_components"
   "tf2"
+  "tf2_ros"
+  "tf2_geometry_msgs"
   "triton_interfaces"
   "geometry_msgs"
   "sensor_msgs"
@@ -120,6 +127,8 @@ ament_target_dependencies(triton_controls
   "sensor_msgs"
   "OpenCV"
   "tf2"
+  "tf2_ros"
+  "tf2_geometry_msgs"
   "nav_msgs"
 )
 
@@ -136,7 +145,6 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/
 )
 
- 
 install(DIRECTORY
   test/config
   DESTINATION share/${PROJECT_NAME}/test
@@ -162,3 +170,5 @@ if(BUILD_TESTING)
 endif()
 
 ament_package()
+
+
diff --git a/src/triton_controls/package.xml b/src/triton_controls/package.xml
index 7027b025..d3beb213 100644
--- a/src/triton_controls/package.xml
+++ b/src/triton_controls/package.xml
@@ -18,6 +18,7 @@
   <depend>sensor_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
   <depend>robot_localization</depend>
 
   <test_depend>ament_lint_auto</test_depend>