From da257a94b812d169daf835b4d0ce48e8b4847fd4 Mon Sep 17 00:00:00 2001
From: Jochen Sprickerhof <git@jochen.sprickerhof.de>
Date: Mon, 23 Jan 2023 10:40:23 +0100
Subject: [PATCH 1/2] Don't hardcode plugin search path (#44)

Pluginlib will search there anyhow.
---
 bio_ik_kinematics_description.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/bio_ik_kinematics_description.xml b/bio_ik_kinematics_description.xml
index cf68db3..ecdcc5b 100644
--- a/bio_ik_kinematics_description.xml
+++ b/bio_ik_kinematics_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libbio_ik">
+<library path="libbio_ik">
     <class name="bio_ik/BioIKKinematicsPlugin" type="bio_ik_kinematics_plugin::BioIKKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
     </class>
 </library>

From a5ca17b01c7664e9626545ae5f1df711fe8da141 Mon Sep 17 00:00:00 2001
From: Hongzhuo Liang <lianghongzhuo@126.com>
Date: Mon, 23 Jan 2023 23:39:17 +0100
Subject: [PATCH 2/2] add tf_conversions in cmake list

---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4e42ad0..23dc3ef 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_eigen
   tf2_kdl
   tf2_geometry_msgs
+  tf_conversions
 )
 
 find_package(OpenMP)