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saikishorsaikishor
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Use target_link_libraries instead of ament_target_dependencies (#1697)
1 parent 23b8ffc commit f3236c5

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22 files changed

+300
-282
lines changed

22 files changed

+300
-282
lines changed

‎ackermann_steering_controller/CMakeLists.txt‎

Lines changed: 13 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -40,8 +40,15 @@ target_include_directories(ackermann_steering_controller PUBLIC
4040
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
4141
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
4242
target_link_libraries(ackermann_steering_controller PUBLIC
43-
ackermann_steering_controller_parameters)
44-
ament_target_dependencies(ackermann_steering_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
43+
ackermann_steering_controller_parameters
44+
steering_controllers_library::steering_controllers_library
45+
controller_interface::controller_interface
46+
hardware_interface::hardware_interface
47+
pluginlib::pluginlib
48+
rclcpp::rclcpp
49+
rclcpp_lifecycle::rclcpp_lifecycle
50+
realtime_tools::realtime_tools
51+
${std_srvs_TARGETS})
4552

4653
pluginlib_export_plugin_description_file(
4754
controller_interface ackermann_steering_controller.xml)
@@ -55,10 +62,10 @@ if(BUILD_TESTING)
5562

5663
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
5764
ament_add_gmock(test_load_ackermann_steering_controller test/test_load_ackermann_steering_controller.cpp)
58-
ament_target_dependencies(test_load_ackermann_steering_controller
59-
controller_manager
60-
hardware_interface
61-
ros2_control_test_assets
65+
target_link_libraries(test_load_ackermann_steering_controller
66+
controller_manager::controller_manager
67+
hardware_interface::hardware_interface
68+
ros2_control_test_assets::ros2_control_test_assets
6269
)
6370

6471
add_rostest_with_parameters_gmock(test_ackermann_steering_controller
@@ -67,22 +74,12 @@ if(BUILD_TESTING)
6774
)
6875
target_include_directories(test_ackermann_steering_controller PRIVATE include)
6976
target_link_libraries(test_ackermann_steering_controller ackermann_steering_controller)
70-
ament_target_dependencies(
71-
test_ackermann_steering_controller
72-
controller_interface
73-
hardware_interface
74-
)
7577

7678
add_rostest_with_parameters_gmock(
7779
test_ackermann_steering_controller_preceding test/test_ackermann_steering_controller_preceding.cpp
7880
${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_preceding_params.yaml)
7981
target_include_directories(test_ackermann_steering_controller_preceding PRIVATE include)
8082
target_link_libraries(test_ackermann_steering_controller_preceding ackermann_steering_controller)
81-
ament_target_dependencies(
82-
test_ackermann_steering_controller_preceding
83-
controller_interface
84-
hardware_interface
85-
)
8683
endif()
8784

8885
install(

‎admittance_controller/CMakeLists.txt‎

Lines changed: 27 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -46,10 +46,26 @@ target_include_directories(admittance_controller PUBLIC
4646
$<INSTALL_INTERFACE:include/admittance_controller>
4747
)
4848
target_link_libraries(admittance_controller PUBLIC
49-
admittance_controller_parameters
50-
Eigen3::Eigen
51-
)
52-
ament_target_dependencies(admittance_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
49+
admittance_controller_parameters
50+
Eigen3::Eigen
51+
control_toolbox::control_toolbox
52+
controller_interface::controller_interface
53+
hardware_interface::hardware_interface
54+
kinematics_interface::kinematics_interface
55+
pluginlib::pluginlib
56+
rclcpp::rclcpp
57+
angles::angles
58+
rclcpp_lifecycle::rclcpp_lifecycle
59+
realtime_tools::realtime_tools
60+
tf2::tf2
61+
tf2_eigen::tf2_eigen
62+
tf2_geometry_msgs::tf2_geometry_msgs
63+
tf2_kdl::tf2_kdl
64+
tf2_ros::tf2_ros
65+
${geometry_msgs_TARGETS}
66+
${trajectory_msgs_TARGETS}
67+
${control_msgs_TARGETS}
68+
${tf2_geometry_msgs_TARGETS})
5369

5470
pluginlib_export_plugin_description_file(controller_interface admittance_controller.xml)
5571

@@ -64,24 +80,20 @@ if(BUILD_TESTING)
6480
# test loading admittance controller
6581
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
6682
ament_add_gmock(test_load_admittance_controller test/test_load_admittance_controller.cpp)
67-
ament_target_dependencies(test_load_admittance_controller
68-
controller_manager
69-
hardware_interface
70-
ros2_control_test_assets
83+
target_link_libraries(test_load_admittance_controller
84+
controller_manager::controller_manager
85+
hardware_interface::hardware_interface
86+
ros2_control_test_assets::ros2_control_test_assets
7187
)
7288

7389
# test admittance controller function
7490
add_rostest_with_parameters_gmock(test_admittance_controller
7591
test/test_admittance_controller.cpp
7692
${CMAKE_CURRENT_SOURCE_DIR}/test/test_params.yaml
7793
)
78-
target_link_libraries(test_admittance_controller admittance_controller)
79-
ament_target_dependencies(test_admittance_controller
80-
control_msgs
81-
controller_interface
82-
hardware_interface
83-
ros2_control_test_assets
84-
)
94+
target_link_libraries(test_admittance_controller
95+
admittance_controller
96+
ros2_control_test_assets::ros2_control_test_assets)
8597
endif()
8698

8799
install(

‎bicycle_steering_controller/CMakeLists.txt‎

Lines changed: 13 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -40,8 +40,15 @@ target_include_directories(bicycle_steering_controller PUBLIC
4040
"$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
4141
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
4242
target_link_libraries(bicycle_steering_controller PUBLIC
43-
bicycle_steering_controller_parameters)
44-
ament_target_dependencies(bicycle_steering_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
43+
bicycle_steering_controller_parameters
44+
steering_controllers_library::steering_controllers_library
45+
controller_interface::controller_interface
46+
hardware_interface::hardware_interface
47+
pluginlib::pluginlib
48+
rclcpp::rclcpp
49+
rclcpp_lifecycle::rclcpp_lifecycle
50+
realtime_tools::realtime_tools
51+
${std_srvs_TARGETS})
4552

4653
pluginlib_export_plugin_description_file(
4754
controller_interface bicycle_steering_controller.xml)
@@ -54,33 +61,23 @@ if(BUILD_TESTING)
5461

5562
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
5663
ament_add_gmock(test_load_bicycle_steering_controller test/test_load_bicycle_steering_controller.cpp)
57-
ament_target_dependencies(test_load_bicycle_steering_controller
58-
controller_manager
59-
hardware_interface
60-
ros2_control_test_assets
64+
target_link_libraries(test_load_bicycle_steering_controller
65+
controller_manager::controller_manager
66+
hardware_interface::hardware_interface
67+
ros2_control_test_assets::ros2_control_test_assets
6168
)
6269

6370
add_rostest_with_parameters_gmock(
6471
test_bicycle_steering_controller test/test_bicycle_steering_controller.cpp
6572
${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_params.yaml)
6673
target_include_directories(test_bicycle_steering_controller PRIVATE include)
6774
target_link_libraries(test_bicycle_steering_controller bicycle_steering_controller)
68-
ament_target_dependencies(
69-
test_bicycle_steering_controller
70-
controller_interface
71-
hardware_interface
72-
)
7375

7476
add_rostest_with_parameters_gmock(
7577
test_bicycle_steering_controller_preceding test/test_bicycle_steering_controller_preceding.cpp
7678
${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_preceding_params.yaml)
7779
target_include_directories(test_bicycle_steering_controller_preceding PRIVATE include)
7880
target_link_libraries(test_bicycle_steering_controller_preceding bicycle_steering_controller)
79-
ament_target_dependencies(
80-
test_bicycle_steering_controller_preceding
81-
controller_interface
82-
hardware_interface
83-
)
8481
endif()
8582

8683
install(

‎diff_drive_controller/CMakeLists.txt‎

Lines changed: 16 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -48,8 +48,19 @@ target_include_directories(diff_drive_controller PUBLIC
4848
target_link_libraries(diff_drive_controller
4949
PUBLIC
5050
diff_drive_controller_parameters
51-
control_toolbox::rate_limiter_parameters)
52-
ament_target_dependencies(diff_drive_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
51+
control_toolbox::rate_limiter_parameters
52+
control_toolbox::control_toolbox
53+
controller_interface::controller_interface
54+
hardware_interface::hardware_interface
55+
pluginlib::pluginlib
56+
rclcpp::rclcpp
57+
rclcpp_lifecycle::rclcpp_lifecycle
58+
rcpputils::rcpputils
59+
realtime_tools::realtime_tools
60+
tf2::tf2
61+
${tf2_msgs_TARGETS}
62+
${geometry_msgs_TARGETS}
63+
${nav_msgs_TARGETS})
5364
pluginlib_export_plugin_description_file(controller_interface diff_drive_plugin.xml)
5465

5566
if(BUILD_TESTING)
@@ -63,22 +74,12 @@ if(BUILD_TESTING)
6374
target_link_libraries(test_diff_drive_controller
6475
diff_drive_controller
6576
)
66-
ament_target_dependencies(test_diff_drive_controller
67-
geometry_msgs
68-
hardware_interface
69-
nav_msgs
70-
rclcpp
71-
rclcpp_lifecycle
72-
realtime_tools
73-
tf2
74-
tf2_msgs
75-
)
7677

7778
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
7879
ament_add_gmock(test_load_diff_drive_controller test/test_load_diff_drive_controller.cpp)
79-
ament_target_dependencies(test_load_diff_drive_controller
80-
controller_manager
81-
ros2_control_test_assets
80+
target_link_libraries(test_load_diff_drive_controller
81+
controller_manager::controller_manager
82+
ros2_control_test_assets::ros2_control_test_assets
8283
)
8384
endif()
8485

‎effort_controllers/CMakeLists.txt‎

Lines changed: 7 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,11 @@ target_include_directories(effort_controllers PUBLIC
2525
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
2626
$<INSTALL_INTERFACE:include/effort_controllers>
2727
)
28-
ament_target_dependencies(effort_controllers PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
28+
target_link_libraries(effort_controllers PUBLIC
29+
forward_command_controller::forward_command_controller
30+
pluginlib::pluginlib
31+
rclcpp::rclcpp
32+
)
2933

3034
pluginlib_export_plugin_description_file(controller_interface effort_controllers_plugins.xml)
3135

@@ -39,10 +43,8 @@ if(BUILD_TESTING)
3943
)
4044
target_link_libraries(test_load_joint_group_effort_controller
4145
effort_controllers
42-
)
43-
ament_target_dependencies(test_load_joint_group_effort_controller
44-
controller_manager
45-
ros2_control_test_assets
46+
controller_manager::controller_manager
47+
ros2_control_test_assets::ros2_control_test_assets
4648
)
4749

4850
ament_add_gmock(test_joint_group_effort_controller

‎force_torque_sensor_broadcaster/CMakeLists.txt‎

Lines changed: 11 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -35,9 +35,14 @@ target_include_directories(force_torque_sensor_broadcaster PUBLIC
3535
$<INSTALL_INTERFACE:include/force_torque_sensor_broadcaster>
3636
)
3737
target_link_libraries(force_torque_sensor_broadcaster PUBLIC
38-
force_torque_sensor_broadcaster_parameters
39-
)
40-
ament_target_dependencies(force_torque_sensor_broadcaster PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
38+
force_torque_sensor_broadcaster_parameters
39+
controller_interface::controller_interface
40+
hardware_interface::hardware_interface
41+
pluginlib::pluginlib
42+
rclcpp::rclcpp
43+
rclcpp_lifecycle::rclcpp_lifecycle
44+
realtime_tools::realtime_tools
45+
${geometry_msgs_TARGETS})
4146

4247
pluginlib_export_plugin_description_file(
4348
controller_interface force_torque_sensor_broadcaster.xml)
@@ -53,11 +58,9 @@ if(BUILD_TESTING)
5358
target_include_directories(test_load_force_torque_sensor_broadcaster PRIVATE include)
5459
target_link_libraries(test_load_force_torque_sensor_broadcaster
5560
force_torque_sensor_broadcaster
56-
)
57-
ament_target_dependencies(test_load_force_torque_sensor_broadcaster
58-
controller_manager
59-
hardware_interface
60-
ros2_control_test_assets
61+
controller_manager::controller_manager
62+
hardware_interface::hardware_interface
63+
ros2_control_test_assets::ros2_control_test_assets
6164
)
6265

6366
add_rostest_with_parameters_gmock(test_force_torque_sensor_broadcaster
@@ -67,9 +70,6 @@ if(BUILD_TESTING)
6770
target_link_libraries(test_force_torque_sensor_broadcaster
6871
force_torque_sensor_broadcaster
6972
)
70-
ament_target_dependencies(test_force_torque_sensor_broadcaster
71-
hardware_interface
72-
)
7373
endif()
7474

7575
install(

‎forward_command_controller/CMakeLists.txt‎

Lines changed: 13 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -42,10 +42,15 @@ target_include_directories(forward_command_controller PUBLIC
4242
$<INSTALL_INTERFACE:include/forward_command_controller>
4343
)
4444
target_link_libraries(forward_command_controller PUBLIC
45-
forward_command_controller_parameters
46-
multi_interface_forward_command_controller_parameters
47-
)
48-
ament_target_dependencies(forward_command_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
45+
forward_command_controller_parameters
46+
multi_interface_forward_command_controller_parameters
47+
controller_interface::controller_interface
48+
hardware_interface::hardware_interface
49+
pluginlib::pluginlib
50+
rclcpp::rclcpp
51+
rclcpp_lifecycle::rclcpp_lifecycle
52+
realtime_tools::realtime_tools
53+
${std_msgs_TARGETS})
4954
pluginlib_export_plugin_description_file(controller_interface forward_command_plugin.xml)
5055

5156
if(BUILD_TESTING)
@@ -58,11 +63,8 @@ if(BUILD_TESTING)
5863
)
5964
target_link_libraries(test_load_forward_command_controller
6065
forward_command_controller
61-
)
62-
ament_target_dependencies(test_load_forward_command_controller
63-
controller_manager
64-
hardware_interface
65-
ros2_control_test_assets
66+
controller_manager::controller_manager
67+
ros2_control_test_assets::ros2_control_test_assets
6668
)
6769

6870
ament_add_gmock(test_forward_command_controller
@@ -77,11 +79,8 @@ if(BUILD_TESTING)
7779
)
7880
target_link_libraries(test_load_multi_interface_forward_command_controller
7981
forward_command_controller
80-
)
81-
ament_target_dependencies(test_load_multi_interface_forward_command_controller
82-
controller_manager
83-
hardware_interface
84-
ros2_control_test_assets
82+
controller_manager::controller_manager
83+
ros2_control_test_assets::ros2_control_test_assets
8584
)
8685

8786
ament_add_gmock(test_multi_interface_forward_command_controller

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