diff --git a/joint_limits/src/joint_soft_limiter.cpp b/joint_limits/src/joint_soft_limiter.cpp
index 315b236d64..14eab8e41a 100644
--- a/joint_limits/src/joint_soft_limiter.cpp
+++ b/joint_limits/src/joint_soft_limiter.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 /// \author Adrià Roig Moreno
+#define _USE_MATH_DEFINES
 #include "joint_limits/joint_soft_limiter.hpp"
 
 namespace joint_limits