fri 2.x support

Author: mhubii

lbr_fri_ros2/test/test_command_interfaces.cpp

@@ -135,7 +135,12 @@ class TestCommandInterfaces : public ::testing::Test {
 };
 
 TEST_F(TestCommandInterfaces, TestPositionCommandInterface) {
+#if FRICLIENT_VERSION_MAJOR == 1
   set_up(KUKA::FRI::EClientCommandMode::POSITION);
+#endif
+#if FRICLIENT_VERSION_MAJOR == 2
+  set_up(KUKA::FRI::EClientCommandMode::JOINT_POSITION);
+#endif
   test_simple();
 }