Fix linking error with cached_ik_kinematics_plugin

Signed-off-by: Shane Loretz <[email protected]>

Author: sloretz

moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt

@@ -9,7 +9,6 @@ ament_target_dependencies(moveit_cached_ik_kinematics_base
   moveit_core
   moveit_msgs
 )
-target_link_libraries(moveit_cached_ik_kinematics_base moveit_cached_ik_kinematics_plugin)
 
 if(trac_ik_kinematics_plugin_FOUND)
     include_directories(${trac_ik_kinematics_plugin_INCLUDE_DIRS})
@@ -20,6 +19,10 @@ generate_parameter_library(
   include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_parameters.yaml # path to input yaml file
 )
 
+target_link_libraries(moveit_cached_ik_kinematics_base
+  cached_ik_kinematics_parameters
+  moveit_kdl_kinematics_plugin)
+
 add_library(moveit_cached_ik_kinematics_plugin SHARED src/cached_ik_kinematics_plugin.cpp)
 set_target_properties(moveit_cached_ik_kinematics_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 ament_target_dependencies(moveit_cached_ik_kinematics_plugin
@@ -31,7 +34,8 @@ ament_target_dependencies(moveit_cached_ik_kinematics_plugin
 target_link_libraries(moveit_cached_ik_kinematics_plugin
     cached_ik_kinematics_parameters
     moveit_kdl_kinematics_plugin
-    moveit_srv_kinematics_plugin)
+    moveit_srv_kinematics_plugin
+    moveit_cached_ik_kinematics_base)
 if(trac_ik_kinematics_plugin_FOUND)
     target_link_libraries(moveit_cached_ik_kinematics_plugin ${trac_ik_kinematics_plugin_LIBRARIES})
     set_target_properties(moveit_cached_ik_kinematics_plugin PROPERTIES COMPILE_DEFINITIONS "CACHED_IK_KINEMATICS_TRAC_IK")