From 5943283acc0ff20b2d6303f8e21f41985cf42d3a Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Sat, 16 Sep 2023 11:01:54 +0200
Subject: [PATCH] refactored cmakelists

---
 .github/workflows/ros_package_build.yml |  3 ---
 CMakeLists.txt                          | 33 +++++++++++++------------
 plugins.xml => nodelets.xml             |  2 +-
 package.xml                             | 25 +++++++++----------
 4 files changed, 30 insertions(+), 33 deletions(-)
 rename plugins.xml => nodelets.xml (84%)

diff --git a/.github/workflows/ros_package_build.yml b/.github/workflows/ros_package_build.yml
index a7670c8..100c48e 100644
--- a/.github/workflows/ros_package_build.yml
+++ b/.github/workflows/ros_package_build.yml
@@ -5,9 +5,6 @@ on:
   push:
     branches: [ hw_api ]
 
-  pull_request:
-    branches: [ hw_api ]
-
   workflow_dispatch:
 
 concurrency:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 86e0d79..2c469c4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,23 +1,24 @@
-cmake_minimum_required(VERSION 3.1.2)
+cmake_minimum_required(VERSION 3.5)
 project(mrs_bumper)
 
 set(CATKIN_DEPENDENCIES
   cmake_modules
-  roscpp
-  nodelet
+  cv_bridge
   dynamic_reconfigure
-  tf2_ros
-  tf2_geometry_msgs
-  sensor_msgs
   geometry_msgs
-  cv_bridge
-  image_transport
   image_geometry
-  pcl_ros
-  pcl_conversions
-  pcl_msgs
+  image_transport
+  message_runtime
   mrs_lib
   mrs_msgs
+  nodelet
+  pcl_conversions
+  pcl_msgs
+  pcl_ros
+  roscpp
+  sensor_msgs
+  tf2_geometry_msgs
+  tf2_ros
   )
 
 find_package(catkin REQUIRED COMPONENTS
@@ -55,7 +56,7 @@ set(EXECUTABLES
   )
 
 set(LIBRARIES
-  Bumper
+  MrsBumper_Bumper
   )
 
 catkin_package(
@@ -77,16 +78,16 @@ include_directories(include
 
 # bumper
 
-add_library(Bumper
+add_library(MrsBumper_Bumper
   src/bumper_nodelet.cpp
   )
 
-add_dependencies(Bumper
+add_dependencies(MrsBumper_Bumper
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
   )
 
-target_link_libraries(Bumper
+target_link_libraries(MrsBumper_Bumper
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${PCL_LIBRARIES}
@@ -126,6 +127,6 @@ install(DIRECTORY launch config
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   )
 
-install(FILES plugins.xml
+install(FILES nodelets.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   )
diff --git a/plugins.xml b/nodelets.xml
similarity index 84%
rename from plugins.xml
rename to nodelets.xml
index 64148af..249c1e5 100644
--- a/plugins.xml
+++ b/nodelets.xml
@@ -1,4 +1,4 @@
-<library path="lib/libBumper">
+<library path="lib/libMrsBumper_Bumper">
   <class name="mrs_bumper/Bumper" type="mrs_bumper::Bumper" base_class_type="nodelet::Nodelet">
     <description>Nodelet for publishing rough object positions for reactive collision avoidance</description>
   </class>
diff --git a/package.xml b/package.xml
index 0decd43..dc51e9b 100644
--- a/package.xml
+++ b/package.xml
@@ -13,26 +13,25 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <depend>cmake_modules</depend>
-  <depend>roscpp</depend>
-  <depend>nodelet</depend>
+  <depend>cv_bridge</depend>
   <depend>dynamic_reconfigure</depend>
-  <depend>tf2_ros</depend>
-  <depend>tf2_geometry_msgs</depend>
-  <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
-  <depend>cv_bridge</depend>
-  <depend>image_transport</depend>
   <depend>image_geometry</depend>
-  <depend>pcl_ros</depend>
-  <depend>pcl_conversions</depend>
-  <depend>pcl_msgs</depend>
+  <depend>image_transport</depend>
+  <depend>message_runtime</depend>
   <depend>mrs_lib</depend>
   <depend>mrs_msgs</depend>
-
-  <exec_depend>message_runtime</exec_depend>
+  <depend>nodelet</depend>
+  <depend>pcl_conversions</depend>
+  <depend>pcl_msgs</depend>
+  <depend>pcl_ros</depend>
+  <depend>roscpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_ros</depend>
 
   <export>
-    <nodelet plugin="${prefix}/plugins.xml" />
+    <nodelet plugin="${prefix}/nodelets.xml" />
   </export>
 
 </package>