Using urdf/model.hpp for rolling

ros-controls · Jan 5, 2025 · 15e0283 · 15e0283
1 parent d8a21c4
commit 15e0283
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
@@ -20,7 +20,12 @@
 #include <unordered_map>
 #include <vector>
 
-#include "urdf/model.h"
+#include "rclcpp/version.h"
+#if RCLCPP_VERSION_GTE(29, 0, 0)
+#include "urdf/model.hpp"  
+#else
+#include "urdf/model.h"  
+#endif
 
 #include "hardware_interface/component_parser.hpp"
 #include "hardware_interface/hardware_info.hpp"