From 485a6deed275577312e914eae2cc6be371f49afe Mon Sep 17 00:00:00 2001
From: jgmonroy <javier.gmonroy@gmail.com>
Date: Tue, 16 Jan 2018 14:30:46 +0100
Subject: [PATCH] Support for MRPT 1.9.9 (new includes after MRPT lib
 refactoring)

---
 CMakeLists.txt                                 | 14 +++++++++++++-
 include/rf2o_laser_odometry/CLaserOdometry2D.h |  7 ++++---
 2 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e49d4df..2139d2e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,18 @@ find_package(catkin REQUIRED COMPONENTS
 find_package(Boost REQUIRED COMPONENTS system)
 find_package(cmake_modules REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(MRPT REQUIRED base obs maps slam)
+
+find_package(MRPT REQUIRED)
+MESSAGE(STATUS "Found MRPT: " ${MRPT_VERSION})
+IF(MRPT_VERSION VERSION_LESS 1.9.9)
+        # MRPT<2.0
+        find_package(MRPT REQUIRED base obs maps slam)
+ELSE()
+        # MRPT>=2.0
+        find_package(MRPT REQUIRED obs maps slam poses core)
+ENDIF()
+
+
 #include_directories(${MRPT_INCLUDE_DIRS})
 #MESSAGE( STATUS "MRPT_INCLUDE_DIRS: " ${MRPT_INCLUDE_DIRS})
 #link_directories(${MRPT_LIBRARY_DIRS})
@@ -50,6 +61,7 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
   ${EIGEN_INCLUDE_DIRS}
+  ${MRPT_INCLUDE_DIRS}
 )
 
 ## Declare a cpp executable
diff --git a/include/rf2o_laser_odometry/CLaserOdometry2D.h b/include/rf2o_laser_odometry/CLaserOdometry2D.h
index 200f148..0cf49f2 100644
--- a/include/rf2o_laser_odometry/CLaserOdometry2D.h
+++ b/include/rf2o_laser_odometry/CLaserOdometry2D.h
@@ -26,13 +26,15 @@
 // MRPT related headers
 #include <mrpt/version.h>
 #if MRPT_VERSION>=0x130
-#   include <mrpt/obs/CObservation2DRangeScan.h>
-#   include <mrpt/obs/CObservationOdometry.h>
+    #include <mrpt/obs/CObservation2DRangeScan.h>
+    #include <mrpt/obs/CObservationOdometry.h>
+    #include <mrpt/utils/CTicTac.h>
     using namespace mrpt::obs;
 #else
 #   include <mrpt/slam/CObservation2DRangeScan.h>
 #   include <mrpt/slam/CObservationOdometry.h>
     using namespace mrpt::slam;
+    #include <mrpt/utils.h>
 #endif
 
 #if MRPT_VERSION<0x150
@@ -41,7 +43,6 @@
 
 #include <mrpt/system/os.h>
 #include <mrpt/poses/CPose3D.h>
-#include <mrpt/utils.h>
 #include <mrpt/opengl.h>
 #include <mrpt/math/CHistogram.h>