diff --git a/visualization/motion_planning_tasks/properties/CMakeLists.txt b/visualization/motion_planning_tasks/properties/CMakeLists.txt
index f9fa7de0..edbb46e5 100644
--- a/visualization/motion_planning_tasks/properties/CMakeLists.txt
+++ b/visualization/motion_planning_tasks/properties/CMakeLists.txt
@@ -2,16 +2,13 @@ set(MOVEIT_LIB_NAME motion_planning_tasks_properties)
set(SOURCES
property_factory.cpp
+ property_from_yaml.cpp
)
find_package(PkgConfig REQUIRED)
-pkg_check_modules(YAML yaml-0.1)
-if (YAML_FOUND)
- # Only cmake > 3.12 provides XXX_LINK_LIBRARIES. Find the absolute path manually
- find_library(YAML_LIBRARIES ${YAML_LIBRARIES} PATHS ${YAML_LIBRARY_DIRS})
- list(APPEND SOURCES property_from_yaml.cpp)
- add_definitions(-DHAVE_YAML)
-endif()
+pkg_check_modules(YAML REQUIRED yaml-0.1)
+# Only cmake > 3.12 provides XXX_LINK_LIBRARIES. Find the absolute path manually
+find_library(YAML_LIBRARIES ${YAML_LIBRARIES} PATHS ${YAML_LIBRARY_DIRS})
add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCES})
diff --git a/visualization/motion_planning_tasks/properties/property_factory.cpp b/visualization/motion_planning_tasks/properties/property_factory.cpp
index bc347391..f34f7cdd 100644
--- a/visualization/motion_planning_tasks/properties/property_factory.cpp
+++ b/visualization/motion_planning_tasks/properties/property_factory.cpp
@@ -147,21 +147,4 @@ void PropertyFactory::addRemainingProperties(rviz::Property* root, mtc::Property
new rviz::Property("no properties", QVariant(), QString(), root);
}
-#ifndef HAVE_YAML
-rviz::Property* PropertyFactory::createDefault(const std::string& name, const std::string& /*type*/,
- const std::string& description, const std::string& value,
- rviz::Property* old) {
- if (old) { // reuse existing Property?
- assert(old->getNameStd() == name);
- old->setDescription(QString::fromStdString(description));
- old->setValue(QString::fromStdString(value));
- return old;
- } else { // create new Property?
- rviz::Property* result = new rviz::StringProperty(QString::fromStdString(name), QString::fromStdString(value),
- QString::fromStdString(description));
- result->setReadOnly(true);
- return result;
- }
-}
-#endif
} // namespace moveit_rviz_plugin
diff --git a/visualization/package.xml b/visualization/package.xml
index 3dfb1468..9bbf1ff4 100644
--- a/visualization/package.xml
+++ b/visualization/package.xml
@@ -18,6 +18,7 @@
moveit_ros_visualization
roscpp
rviz
+ yaml
rosunit
rostest