Use find_package for fcl (backport #2399)

moveit_core/CMakeLists.txt

@@ -6,47 +6,36 @@ find_package(moveit_common REQUIRED)
 moveit_package()
 
 find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(eigen3_cmake_module REQUIRED)
-find_package(Eigen3 REQUIRED)
-
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(LIBFCL REQUIRED "fcl>=0.5.0")
-# replace LIBFCL_LIBRARIES with full paths to the libraries
-set(LIBFCL_LIBRARIES_FULL "")
-foreach(LIBFCL_LIBRARY ${LIBFCL_LIBRARIES})
-  find_library(${LIBFCL_LIBRARY}_LIB ${LIBFCL_LIBRARY} ${LIBFCL_LIBRARY_DIRS})
-  list(APPEND LIBFCL_LIBRARIES_FULL ${${LIBFCL_LIBRARY}_LIB})
-endforeach()
-set(LIBFCL_LIBRARIES "${LIBFCL_LIBRARIES_FULL}")
-
-find_package(Bullet 2.87 REQUIRED)
 find_package(angles REQUIRED)
-find_package(OCTOMAP REQUIRED)
-find_package(urdfdom REQUIRED)
-find_package(urdf REQUIRED)
-find_package(urdfdom_headers REQUIRED)
-find_package(ament_cmake REQUIRED)
-find_package(tf2_eigen REQUIRED)
-find_package(tf2_kdl REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
+find_package(Bullet 2.87 REQUIRED)
+find_package(common_interfaces REQUIRED)
 find_package(eigen_stl_containers REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(eigen3_cmake_module REQUIRED)
+find_package(fcl REQUIRED)
 find_package(generate_parameter_library REQUIRED)
 find_package(geometric_shapes REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(kdl_parser REQUIRED)
 find_package(moveit_msgs REQUIRED)
+find_package(OCTOMAP REQUIRED)
 find_package(octomap_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
 find_package(random_numbers REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(ruckig REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(shape_msgs REQUIRED)
 find_package(srdfdom REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_kdl REQUIRED)
 find_package(trajectory_msgs REQUIRED)
+find_package(urdf REQUIRED)
+find_package(urdfdom REQUIRED)
+find_package(urdfdom_headers REQUIRED)
 find_package(visualization_msgs REQUIRED)
-find_package(common_interfaces REQUIRED)
-find_package(pluginlib REQUIRED)
 # TODO: Port python bindings
 # find_package(pybind11 REQUIRED)
 
@@ -85,31 +74,6 @@ set(THIS_PACKAGE_INCLUDE_DIRS
     utils/include
 )
 
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-  angles
-  eigen_stl_containers
-  generate_parameter_library
-  geometric_shapes
-  geometry_msgs
-  kdl_parser
-  moveit_msgs
-  octomap_msgs
-  random_numbers
-  sensor_msgs
-  shape_msgs
-  srdfdom
-  std_msgs
-  tf2_eigen
-  tf2_geometry_msgs
-  trajectory_msgs
-  visualization_msgs
-  Eigen3
-  eigen3_cmake_module
-  OCTOMAP
-  Bullet
-  ruckig
-)
-
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS}
   ${LIBFCL_INCLUDE_DIRS}
 )
@@ -219,7 +183,39 @@ install(
 )
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} orocos_kdl_vendor)
+ament_export_dependencies(
+  angles
+  Bullet
+  common_interfaces
+  eigen_stl_containers
+  Eigen3
+  eigen3_cmake_module
+  fcl
+  generate_parameter_library
+  geometric_shapes
+  geometry_msgs
+  kdl_parser
+  moveit_msgs
+  OCTOMAP
+  octomap_msgs
+  pluginlib
+  random_numbers
+  rclcpp
+  ruckig
+  sensor_msgs
+  shape_msgs
+  srdfdom
+  std_msgs
+  tf2_eigen
+  tf2_geometry_msgs
+  tf2_kdl
+  trajectory_msgs
+  urdf
+  urdfdom
+  urdfdom_headers
+  visualization_msgs
+  orocos_kdl_vendor
+)
 
 # Plugin exports
 pluginlib_export_plugin_description_file(moveit_core collision_detector_fcl_description.xml)

moveit_core/collision_detection_fcl/CMakeLists.txt

@@ -14,11 +14,11 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   urdf
   urdfdom
   urdfdom_headers
-  LIBFCL
   visualization_msgs
 )
 target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_collision_detection
+  fcl
 )
 
 add_library(collision_detector_fcl_plugin SHARED src/collision_detector_fcl_plugin_loader.cpp)