diff --git a/spot_driver_cpp/CMakeLists.txt b/spot_driver_cpp/CMakeLists.txt
index 6199cbe39..f6518a498 100644
--- a/spot_driver_cpp/CMakeLists.txt
+++ b/spot_driver_cpp/CMakeLists.txt
@@ -38,6 +38,8 @@ add_library(spot_image_publisher
   src/api/default_robot_api.cpp
   src/api/robot.cpp
   src/kinematic_node.cpp
+  src/kinematic_service.cpp
+  src/kinematic_utils.cpp
   src/spot_image_publisher.cpp
   src/spot_image_publisher_node.cpp
   src/spot_image_sources.cpp)
diff --git a/spot_driver_cpp/include/spot_driver_cpp/kinematic_utils.hpp b/spot_driver_cpp/include/spot_driver_cpp/kinematic_utils.hpp
index 4f6fc82c6..0da7e60ef 100644
--- a/spot_driver_cpp/include/spot_driver_cpp/kinematic_utils.hpp
+++ b/spot_driver_cpp/include/spot_driver_cpp/kinematic_utils.hpp
@@ -11,10 +11,10 @@
 
 namespace spot_ros2::kinematic_utils {
 
+using ::bosdyn::api::spot::InverseKinematicsRequest;
 using spot_msgs::srv::GetInverseKinematicSolutions;
 
-::bosdyn::api::spot::InverseKinematicsRequest to_proto(
-    const std::shared_ptr<GetInverseKinematicSolutions::Request> request);
+InverseKinematicsRequest to_proto(const std::shared_ptr<GetInverseKinematicSolutions::Request> request);
 
 // RosResponse toRos(const ProtoResponse& response);
 
diff --git a/spot_driver_cpp/src/kinematic_utils.cpp b/spot_driver_cpp/src/kinematic_utils.cpp
index 633336a6f..2586dbf5f 100644
--- a/spot_driver_cpp/src/kinematic_utils.cpp
+++ b/spot_driver_cpp/src/kinematic_utils.cpp
@@ -4,8 +4,7 @@
 
 namespace spot_ros2::kinematic_utils {
 
-::bosdyn::api::spot::InverseKinematicsRequest to_proto(
-    const std::shared_ptr<GetInverseKinematicSolutions::Request> request) {
+InverseKinematicsRequest to_proto(const std::shared_ptr<GetInverseKinematicSolutions::Request> request) {
   return {};
 }