Install includes to include/${PROJECT_NAME} and use modern CMake (ros…

…#493) * Install includes to include/${PROJECT_NAME} and use modern CMake Signed-off-by: Shane Loretz <[email protected]> * Remove dependency on eigen3_cmake_module Signed-off-by: Shane Loretz <[email protected]> * Undo whitespace change Signed-off-by: Shane Loretz <[email protected]> * Remove extra newline Signed-off-by: Shane Loretz <[email protected]> * Remove duplicate add_library call * Keep making old style CMake variables Signed-off-by: Shane Loretz <[email protected]> * Update test dependencies Signed-off-by: Shane Loretz <[email protected]> * Alphabetize Signed-off-by: Shane Loretz <[email protected]> * Include dirs and libs for static_transform_broadcaster_node Signed-off-by: Shane Loretz <[email protected]> * Use Eigen3::Eigen when available, else Eigen3_INCLUDE_DIRS Signed-off-by: Shane Loretz <[email protected]> * target_include_directories(... PRIVATE Signed-off-by: Shane Loretz <[email protected]> * Fix indentation Signed-off-by: Shane Loretz <[email protected]>
ms-iot · Apr 1, 2022 · 0163c86 · 0163c86
1 parent 8c77449
commit 0163c86
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Showing 13 changed files with 244 additions and 203 deletions.
diff --git a/test_tf2/CMakeLists.txt b/test_tf2/CMakeLists.txt
@@ -20,7 +20,6 @@ endif()
 
 find_package(ament_cmake_gtest REQUIRED)
 find_package(builtin_interfaces REQUIRED)
-find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(launch_testing_ament_cmake REQUIRED)
@@ -36,92 +35,88 @@ ament_find_gtest()
 
 ament_add_gtest(buffer_core_test test/buffer_core_test.cpp)
 if(TARGET buffer_core_test)
-  ament_target_dependencies(buffer_core_test
-    builtin_interfaces
-    geometry_msgs
-    rclcpp
-    tf2
-    tf2_geometry_msgs
-    tf2_ros
-  )
+  target_link_libraries(buffer_core_test
+    ${builtin_interfaces_TARGETS}
+    ${geometry_msgs_TARGETS}
+    rclcpp::rclcpp
+    tf2::tf2
+    ${tf2_geometry_msgs_TARGETS}
+    tf2_ros::tf2_ros)
 endif()
 
 ament_add_gtest(test_message_filter test/test_message_filter.cpp)
 if(TARGET test_message_filter)
-  ament_target_dependencies(test_message_filter
-    builtin_interfaces
-    geometry_msgs
-    rclcpp
-    tf2
-    tf2_ros
-  )
+  target_link_libraries(test_message_filter
+    ${builtin_interfaces_TARGETS}
+    ${geometry_msgs_TARGETS}
+    rclcpp::rclcpp
+    tf2::tf2
+    tf2_ros::tf2_ros)
 endif()
 
 ament_add_gtest(test_convert test/test_convert.cpp)
 if(TARGET test_convert)
-  ament_target_dependencies(test_convert
-    Eigen3
-    eigen3_cmake_module
-    tf2
-    tf2_bullet
-    tf2_eigen
-    tf2_geometry_msgs
-    tf2_kdl
-  )
+  target_link_libraries(test_convert
+    ${geometry_msgs_TARGETS}
+    tf2::tf2
+    tf2_bullet::tf2_bullet
+    tf2_eigen::tf2_eigen
+    ${tf2_geometry_msgs_TARGETS}
+    tf2_kdl::tf2_kdl)
+  if(TARGET Eigen3::Eigen)
+    # TODO(sloretz) require target to exist when https://github.com/ros2/choco-packages/issues/19 is addressed
+    target_link_libraries(test_convert Eigen3::Eigen)
+  else()
+    target_include_directories(test_convert PRIVATE ${Eigen3_INCLUDE_DIRS})
+  endif()
 endif()
 
 ament_add_gtest(test_utils test/test_utils.cpp)
 if(TARGET test_utils)
-  ament_target_dependencies(test_utils
-    geometry_msgs
-    tf2
-    tf2_geometry_msgs
-    tf2_kdl
-  )
+  target_link_libraries(test_utils
+    ${geometry_msgs_TARGETS}
+    tf2::tf2
+    ${tf2_geometry_msgs_TARGETS}
+    tf2_kdl::tf2_kdl)
 endif()
 
 add_executable(test_buffer_server test/test_buffer_server.cpp)
 if(TARGET test_buffer_server)
-  ament_target_dependencies(test_buffer_server
-    rclcpp
-    tf2_bullet
-    tf2_ros
-  )
+  target_link_libraries(test_buffer_server
+    rclcpp::rclcpp
+    tf2_ros::tf2_ros)
 endif()
 
 add_executable(test_buffer_client test/test_buffer_client.cpp)
 if(TARGET test_buffer_client)
-  ament_target_dependencies(test_buffer_client
-    rclcpp
-    tf2_bullet
-    tf2_geometry_msgs
-    tf2_kdl
-    tf2_ros
-  )
-  target_link_libraries(test_buffer_client ${GTEST_LIBRARIES})
+  target_link_libraries(test_buffer_client
+    ${GTEST_LIBRARIES}
+    rclcpp::rclcpp
+    tf2_bullet::tf2_bullet
+    ${tf2_geometry_msgs_TARGETS}
+    tf2_kdl::tf2_kdl
+    tf2_ros::tf2_ros)
   add_launch_test(test/buffer_client_tester.launch.py)
 endif()
 
 add_executable(test_static_publisher test/test_static_publisher.cpp)
 if(TARGET test_static_publisher)
-  ament_target_dependencies(test_static_publisher
-    geometry_msgs
-    rclcpp
-    tf2
-    tf2_ros
-  )
-  target_include_directories(test_static_publisher PRIVATE ${GTEST_INCLUDE_DIRS})
-  target_link_libraries(test_static_publisher ${GTEST_LIBRARIES})
+  target_link_libraries(test_static_publisher
+    ${GTEST_LIBRARIES}
+    ${geometry_msgs_TARGETS}
+    rclcpp::rclcpp
+    tf2::tf2
+    tf2_ros::tf2_ros)
   add_launch_test(test/static_publisher.launch.py)
 endif()
 
 ament_add_gtest(test_tf2_bullet test/test_tf2_bullet.cpp)
 if(TARGET test_tf2_bullet)
-  ament_target_dependencies(test_tf2_bullet
-      rclcpp
-      tf2_bullet
-      tf2_ros
-  )
+  target_link_libraries(test_tf2_bullet
+    rclcpp::rclcpp
+    tf2_bullet::tf2_bullet
+    tf2_ros::tf2_ros
+    tf2::tf2)
 endif()
 
 # TODO(ahcorde): enable once python part of tf2_geometry_msgs is working

diff --git a/test_tf2/package.xml b/test_tf2/package.xml
@@ -12,7 +12,6 @@
   <author>Eitan Marder-Eppstein</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <build_depend>eigen</build_depend>
 

diff --git a/tf2/CMakeLists.txt b/tf2/CMakeLists.txt
@@ -13,6 +13,7 @@ endif()
 find_package(ament_cmake)
 find_package(console_bridge_vendor REQUIRED) # Provides console_bridge 0.4.0 on platforms without it.
 find_package(console_bridge REQUIRED)
+find_package(builtin_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rosidl_runtime_cpp REQUIRED)
@@ -23,25 +24,25 @@ find_package(rosidl_runtime_cpp REQUIRED)
 add_library(tf2 SHARED src/cache.cpp src/buffer_core.cpp src/static_cache.cpp src/time.cpp)
 target_include_directories(tf2 PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include>")
-ament_target_dependencies(tf2
-  "console_bridge"
-  "geometry_msgs"
-  "rcutils"
-)
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(tf2 PUBLIC
+  ${geometry_msgs_TARGETS})
+target_link_libraries(tf2 PRIVATE
+  ${builtin_interfaces_TARGETS}
+  console_bridge::console_bridge
+  rcutils::rcutils)
+
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(tf2 PRIVATE "TF2_BUILDING_DLL")
 
-install(TARGETS tf2 EXPORT tf2
+install(TARGETS tf2 EXPORT export_tf2
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION include/${PROJECT_NAME}
-)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 # Tests
 if(BUILD_TESTING)
@@ -91,9 +92,11 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_simple_tf2_core test/simple_tf2_core.cpp)
   if(TARGET test_simple_tf2_core)
-    target_link_libraries(test_simple_tf2_core tf2)
-    ament_target_dependencies(test_simple_tf2_core
-      "geometry_msgs"
+    target_link_libraries(test_simple_tf2_core
+      ${builtin_interfaces_TARGETS}
+      tf2
+      # Used, but not linked to test tf2's exports:
+      #   ${geometry_msgs_TARGETS}
     )
   endif()
 
@@ -104,7 +107,12 @@ if(BUILD_TESTING)
 endif()
 
 ament_export_dependencies(console_bridge geometry_msgs rcutils rosidl_runtime_cpp)
-ament_export_include_directories(include)
+
+# Export old-style CMake variables
+ament_export_include_directories("include/${PROJECT_NAME}")
 ament_export_libraries(tf2)
-ament_export_targets(tf2)
+
+# Export modern CMake targets
+ament_export_targets(export_tf2)
+
 ament_package()
diff --git a/tf2/package.xml b/tf2/package.xml
@@ -23,6 +23,7 @@
   <build_depend>rosidl_runtime_cpp</build_depend>
   <build_export_depend>rosidl_runtime_cpp</build_export_depend>
 
+  <depend>builtin_interfaces</depend>
   <depend>console_bridge_vendor</depend>
   <depend>geometry_msgs</depend>
   <depend>libconsole-bridge-dev</depend>

diff --git a/tf2_bullet/CMakeLists.txt b/tf2_bullet/CMakeLists.txt
@@ -21,7 +21,7 @@ include(bullet-extras.cmake)
 add_library(tf2_bullet INTERFACE)
 target_include_directories(tf2_bullet INTERFACE
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include>")
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(tf2_bullet INTERFACE
   tf2_bullet::Bullet
   tf2::tf2
@@ -30,9 +30,7 @@ target_link_libraries(tf2_bullet INTERFACE
 
 install(TARGETS tf2_bullet EXPORT export_tf2_bullet)
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION include/${PROJECT_NAME}
-)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

diff --git a/tf2_eigen/CMakeLists.txt b/tf2_eigen/CMakeLists.txt
@@ -14,11 +14,25 @@ find_package(geometry_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 
-find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-install(DIRECTORY include/${PROJECT_NAME}/
-        DESTINATION include/${PROJECT_NAME})
+add_library(tf2_eigen INTERFACE)
+target_link_libraries(tf2_eigen INTERFACE
+  ${geometry_msgs_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros)
+target_include_directories(tf2_eigen INTERFACE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+if(TARGET Eigen3::Eigen)
+  # TODO(sloretz) require target to exist when https://github.com/ros2/choco-packages/issues/19 is addressed
+  target_link_libraries(tf2_eigen INTERFACE Eigen3::Eigen)
+else()
+  target_include_directories(tf2_eigen INTERFACE ${Eigen3_INCLUDE_DIRS})
+endif()
+
+install(TARGETS tf2_eigen EXPORT export_tf2_eigen)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_cmake_cppcheck REQUIRED)
@@ -35,20 +49,26 @@ if(BUILD_TESTING)
 
   ament_add_gtest(tf2_eigen-test test/tf2_eigen-test.cpp)
   if(TARGET tf2_eigen-test)
-    target_include_directories(tf2_eigen-test PUBLIC
-      include)
-    ament_target_dependencies(tf2_eigen-test
-      "tf2"
-      "tf2_ros")
-    target_include_directories(tf2_eigen-test PUBLIC
-      ${Eigen3_INCLUDE_DIRS})
+    target_link_libraries(tf2_eigen-test
+      tf2_eigen
+      # Used, but not linked to test tf2_eigen's exports:
+      #   Eigen3::Eigen
+      #   ${geometry_msgs_TARGETS}
+      #   tf2::tf2
+      #   tf2_ros::tf2_ros
+    )
   endif()
 endif()
 
-ament_export_include_directories(include)
 ament_export_dependencies(
-  eigen3_cmake_module
   Eigen3
   tf2
   tf2_ros)
+
+# Export old-style CMake variables
+ament_export_include_directories("include/${PROJECT_NAME}")
+
+# Export modern CMake targets
+ament_export_targets(export_tf2_eigen)
+
 ament_package()
diff --git a/tf2_eigen/package.xml b/tf2_eigen/package.xml
@@ -10,9 +10,6 @@
   <author>Koji Terada</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>eigen3_cmake_module</buildtool_depend>
-
-  <buildtool_export_depend>eigen3_cmake_module</buildtool_export_depend>
 
   <build_depend>eigen</build_depend>