ros-noetic-moveit-resources-prbt-ikfast-manipulator-plugin.patch

diff --git a/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_solver.cpp b/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_solver.cpp
index 006fe89..ba54c8c 100644
--- a/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_solver.cpp
+++ b/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_solver.cpp
@@ -25,10 +25,6 @@
 #include "ikfast.h" // found inside share/openrave-X.Y/python/ikfast.h
 using namespace ikfast;
 
-// check if the included ikfast version matches what this file was compiled with
-#define IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x]
-IKFAST_COMPILE_ASSERT(IKFAST_VERSION==0x1000004a);
-
 #include <cmath>
 #include <vector>
 #include <limits>
diff --git a/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp b/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp
index 25ae8ee..cb7b915 100644
--- a/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp
+++ b/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp
@@ -798,7 +798,7 @@ bool IKFastKinematicsPlugin::getPositionFK(const std::vector<std::string>& link_
     return false;
   }
 
-  IkReal angles[num_joints_];
+  IkReal* angles = new IkReal[num_joints_];
   for (unsigned char i = 0; i < num_joints_; i++)
     angles[i] = joint_angles[i];