From f862e5e4f15f5bd950152cf177b2c45dbb77f61a Mon Sep 17 00:00:00 2001
From: nobleo <lars.janssen@nobleo.nl>
Date: Fri, 3 Jul 2026 13:08:18 +0200
Subject: [PATCH 1/2] Small changes required for ros-lyrical support

---
 include/pick_ik/forward_kinematics.hpp | 2 +-
 package.xml                            | 1 +
 src/forward_kinematics.cpp             | 2 +-
 src/pick_ik_plugin.cpp                 | 2 +-
 4 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/include/pick_ik/forward_kinematics.hpp b/include/pick_ik/forward_kinematics.hpp
index 834f5b7..f6c2426 100644
--- a/include/pick_ik/forward_kinematics.hpp
+++ b/include/pick_ik/forward_kinematics.hpp
@@ -3,7 +3,7 @@
 #include <memory>
 #include <moveit/robot_model/joint_model.h>
 #include <moveit/robot_model/robot_model.h>
-#include <tf2/LinearMath/Vector3.h>
+#include <tf2/LinearMath/Vector3.hpp>
 #include <vector>
 
 namespace pick_ik {
diff --git a/package.xml b/package.xml
index 45e538f..b5cd725 100644
--- a/package.xml
+++ b/package.xml
@@ -17,6 +17,7 @@
   <depend>range-v3</depend>
   <depend>rclcpp</depend>
   <depend>rsl</depend>
+  <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_kdl</depend>
   <depend>tl_expected</depend>
diff --git a/src/forward_kinematics.cpp b/src/forward_kinematics.cpp
index fb03ed1..db773fd 100644
--- a/src/forward_kinematics.cpp
+++ b/src/forward_kinematics.cpp
@@ -5,7 +5,7 @@
 #include <iterator>
 #include <memory>
 #include <moveit/robot_model/robot_model.h>
-#include <tf2/LinearMath/Vector3.h>
+#include <tf2/LinearMath/Vector3.hpp>
 #include <vector>
 
 namespace pick_ik {
diff --git a/src/pick_ik_plugin.cpp b/src/pick_ik_plugin.cpp
index c322beb..ab5d4b0 100644
--- a/src/pick_ik_plugin.cpp
+++ b/src/pick_ik_plugin.cpp
@@ -4,7 +4,7 @@
 #include <pick_ik/ik_memetic.hpp>
 #include <pick_ik/pick_ik_plugin.hpp>
 
-#include <pick_ik_parameters.hpp>
+#include <pick_ik/pick_ik_parameters.hpp>
 #include <pluginlib/class_list_macros.hpp>
 #include <rclcpp/rclcpp.hpp>
 

From 5cbf181d159189e9c88fbf89406eb06e9c5c8f86 Mon Sep 17 00:00:00 2001
From: Tim Clephas <tim.clephas@nobleo.nl>
Date: Fri, 3 Jul 2026 15:46:10 +0200
Subject: [PATCH 2/2] fixup! Small changes required for ros-lyrical support

---
 include/pick_ik/forward_kinematics.hpp | 3 ++-
 src/forward_kinematics.cpp             | 3 ++-
 src/pick_ik_plugin.cpp                 | 2 +-
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/include/pick_ik/forward_kinematics.hpp b/include/pick_ik/forward_kinematics.hpp
index f6c2426..5d21f29 100644
--- a/include/pick_ik/forward_kinematics.hpp
+++ b/include/pick_ik/forward_kinematics.hpp
@@ -1,9 +1,10 @@
 #pragma once
 
+#include <tf2/LinearMath/Vector3.hpp>
+
 #include <memory>
 #include <moveit/robot_model/joint_model.h>
 #include <moveit/robot_model/robot_model.h>
-#include <tf2/LinearMath/Vector3.hpp>
 #include <vector>
 
 namespace pick_ik {
diff --git a/src/forward_kinematics.cpp b/src/forward_kinematics.cpp
index db773fd..dba312d 100644
--- a/src/forward_kinematics.cpp
+++ b/src/forward_kinematics.cpp
@@ -1,11 +1,12 @@
 #include <pick_ik/forward_kinematics.hpp>
 
+#include <tf2/LinearMath/Vector3.hpp>
+
 #include <algorithm>
 #include <cassert>
 #include <iterator>
 #include <memory>
 #include <moveit/robot_model/robot_model.h>
-#include <tf2/LinearMath/Vector3.hpp>
 #include <vector>
 
 namespace pick_ik {
diff --git a/src/pick_ik_plugin.cpp b/src/pick_ik_plugin.cpp
index ab5d4b0..36edf04 100644
--- a/src/pick_ik_plugin.cpp
+++ b/src/pick_ik_plugin.cpp
@@ -2,9 +2,9 @@
 #include <pick_ik/goal.hpp>
 #include <pick_ik/ik_gradient.hpp>
 #include <pick_ik/ik_memetic.hpp>
+#include <pick_ik/pick_ik_parameters.hpp>
 #include <pick_ik/pick_ik_plugin.hpp>
 
-#include <pick_ik/pick_ik_parameters.hpp>
 #include <pluginlib/class_list_macros.hpp>
 #include <rclcpp/rclcpp.hpp>