robotology · traversaro · Jan 19, 2022 · Jan 18, 2022 · Jan 18, 2022 · Jan 18, 2022
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,6 +5,11 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 
 ## [Unreleased]
 
+## [4.1.2] - 2022-01-19
+
+### Fixed 
+- Fix compilation against YARP 3.7 (https://github.com/robotology/gazebo-yarp-plugins/pull/607, https://github.com/robotology/gazebo-yarp-plugins/issues/608).
+
 ## [4.1.1] - 2022-01-13
 
 ### Fixed 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -114,3 +114,4 @@ endif()
 
 # add a dox target to generate doxygen documentation
 add_subdirectory(doc)
+
diff --git a/plugins/clock/include/GazeboYarpPlugins/ClockServerImpl.h b/plugins/clock/include/GazeboYarpPlugins/ClockServerImpl.h
@@ -4,7 +4,7 @@
  * CopyPolicy: Released under the terms of the LGPLv2.1 or any later version, see LGPL.TXT or LGPL3.TXT
  */
 
-#include <ClockServer.h>
+#include <GazeboYarpPlugins/ClockServer.h>
 
 namespace GazeboYarpPlugins {
     class ClockServerImpl;

diff --git a/plugins/linkattacher/include/GazeboYarpPlugins/linkattacherserverimpl.h b/plugins/linkattacher/include/GazeboYarpPlugins/linkattacherserverimpl.h
@@ -23,7 +23,7 @@
 #include <GazeboYarpPlugins/common.h>
 #include <GazeboYarpPlugins/ConfHelpers.hh>
 
-#include <LinkAttacherServer.h>
+#include <GazeboYarpPlugins/LinkAttacherServer.h>
 
 const std::string LogPrefix = "LinkAttacher:";
 // available joint types in SDF (http://sdformat.org/spec?ver=1.6&elem=joint#joint_type)

diff --git a/plugins/worldinterface/src/worldinterfaceserverimpl.h b/plugins/worldinterface/src/worldinterfaceserverimpl.h
@@ -9,7 +9,7 @@
 #ifndef YARPGAZEBO_WORLD_INTERFACESERVERIMPL
 #define YARPGAZEBO_WORLD_INTERFACESERVERIMPL
 
-#include <WorldInterfaceServer.h>
+#include <GazeboYarpPlugins/WorldInterfaceServer.h>
 #include "worldproxy.h"
 
 class WorldInterfaceServerImpl: public GazeboYarpPlugins::WorldInterfaceServer

diff --git a/plugins/worldinterface/src/worldproxy.h b/plugins/worldinterface/src/worldproxy.h
@@ -17,7 +17,7 @@
 
 #include <yarp/os/Semaphore.h>
 
-#include "WorldInterfaceServer.h"
+#include <GazeboYarpPlugins/WorldInterfaceServer.h>
 
 #include <map>
 #include <mutex>

diff --git a/thrift/clock/CMakeLists.txt b/thrift/clock/CMakeLists.txt
@@ -6,7 +6,7 @@
 set(LIBRARY_TARGET_NAME gazebo_yarp_rpc_clock)
 
 yarp_idl_to_dir(INPUT_FILES clock_rpc.thrift
-                OUTPUT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/autogenerated
+                OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/autogenerated
                 SOURCES_VAR CLOCKRPC_SRC
                 HEADERS_VAR CLOCKRPC_HEADERS
                 INCLUDE_DIRS_VAR CLOCKRPC_INCLUDES)

diff --git a/thrift/clock/autogenerated/clock_rpc_index.txt b/thrift/clock/autogenerated/clock_rpc_index.txt
diff --git a/thrift/clock/autogenerated/clock_rpc_thrift.cmake b/thrift/clock/autogenerated/clock_rpc_thrift.cmake
diff --git a/thrift/clock/autogenerated/include/ClockServer.h b/thrift/clock/autogenerated/include/ClockServer.h
diff --git a/thrift/clock/autogenerated/include/GazeboYarpPlugins/ClockServer.h b/thrift/clock/autogenerated/include/GazeboYarpPlugins/ClockServer.h