From 59fe9c535f9318dface44bf3f4a6e0fbaa96a7a1 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Wed, 21 May 2025 23:12:56 +0200 Subject: [PATCH] Use target_link_libraries instead of ament_target_dependencies --- ackermann_steering_controller/CMakeLists.txt | 29 ++++++------- admittance_controller/CMakeLists.txt | 42 ++++++++++++------- bicycle_steering_controller/CMakeLists.txt | 29 ++++++------- diff_drive_controller/CMakeLists.txt | 31 +++++++------- effort_controllers/CMakeLists.txt | 12 +++--- .../CMakeLists.txt | 22 +++++----- forward_command_controller/CMakeLists.txt | 27 ++++++------ gpio_controllers/CMakeLists.txt | 41 ++++++++---------- gps_sensor_broadcaster/CMakeLists.txt | 23 +++++----- imu_sensor_broadcaster/CMakeLists.txt | 21 +++++----- joint_state_broadcaster/CMakeLists.txt | 28 ++++++------- joint_trajectory_controller/CMakeLists.txt | 34 ++++++++------- mecanum_drive_controller/CMakeLists.txt | 32 +++++++------- parallel_gripper_controller/CMakeLists.txt | 19 ++++++--- pid_controller/CMakeLists.txt | 38 +++++++---------- pose_broadcaster/CMakeLists.txt | 23 +++++----- position_controllers/CMakeLists.txt | 11 ++--- range_sensor_broadcaster/CMakeLists.txt | 24 +++++------ steering_controllers_library/CMakeLists.txt | 22 ++++++---- tricycle_controller/CMakeLists.txt | 34 ++++++++------- tricycle_steering_controller/CMakeLists.txt | 29 ++++++------- velocity_controllers/CMakeLists.txt | 11 ++--- 22 files changed, 300 insertions(+), 282 deletions(-) diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt index 3f49ab86ee..d9dca4c145 100644 --- a/ackermann_steering_controller/CMakeLists.txt +++ b/ackermann_steering_controller/CMakeLists.txt @@ -40,8 +40,15 @@ target_include_directories(ackermann_steering_controller PUBLIC $ $) target_link_libraries(ackermann_steering_controller PUBLIC - ackermann_steering_controller_parameters) -ament_target_dependencies(ackermann_steering_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + ackermann_steering_controller_parameters + steering_controllers_library::steering_controllers_library + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${std_srvs_TARGETS}) pluginlib_export_plugin_description_file( controller_interface ackermann_steering_controller.xml) @@ -55,10 +62,10 @@ if(BUILD_TESTING) add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") ament_add_gmock(test_load_ackermann_steering_controller test/test_load_ackermann_steering_controller.cpp) - ament_target_dependencies(test_load_ackermann_steering_controller - controller_manager - hardware_interface - ros2_control_test_assets + target_link_libraries(test_load_ackermann_steering_controller + controller_manager::controller_manager + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock(test_ackermann_steering_controller @@ -67,22 +74,12 @@ if(BUILD_TESTING) ) target_include_directories(test_ackermann_steering_controller PRIVATE include) target_link_libraries(test_ackermann_steering_controller ackermann_steering_controller) - ament_target_dependencies( - test_ackermann_steering_controller - controller_interface - hardware_interface - ) add_rostest_with_parameters_gmock( test_ackermann_steering_controller_preceding test/test_ackermann_steering_controller_preceding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_preceding_params.yaml) target_include_directories(test_ackermann_steering_controller_preceding PRIVATE include) target_link_libraries(test_ackermann_steering_controller_preceding ackermann_steering_controller) - ament_target_dependencies( - test_ackermann_steering_controller_preceding - controller_interface - hardware_interface - ) endif() install( diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt index c71bf11bfb..6cd1ba6385 100644 --- a/admittance_controller/CMakeLists.txt +++ b/admittance_controller/CMakeLists.txt @@ -46,10 +46,26 @@ target_include_directories(admittance_controller PUBLIC $ ) target_link_libraries(admittance_controller PUBLIC - admittance_controller_parameters - Eigen3::Eigen -) -ament_target_dependencies(admittance_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + admittance_controller_parameters + Eigen3::Eigen + control_toolbox::control_toolbox + controller_interface::controller_interface + hardware_interface::hardware_interface + kinematics_interface::kinematics_interface + pluginlib::pluginlib + rclcpp::rclcpp + angles::angles + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + tf2::tf2 + tf2_eigen::tf2_eigen + tf2_geometry_msgs::tf2_geometry_msgs + tf2_kdl::tf2_kdl + tf2_ros::tf2_ros + ${geometry_msgs_TARGETS} + ${trajectory_msgs_TARGETS} + ${control_msgs_TARGETS} + ${tf2_geometry_msgs_TARGETS}) pluginlib_export_plugin_description_file(controller_interface admittance_controller.xml) @@ -64,10 +80,10 @@ if(BUILD_TESTING) # test loading admittance controller add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") ament_add_gmock(test_load_admittance_controller test/test_load_admittance_controller.cpp) - ament_target_dependencies(test_load_admittance_controller - controller_manager - hardware_interface - ros2_control_test_assets + target_link_libraries(test_load_admittance_controller + controller_manager::controller_manager + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets ) # test admittance controller function @@ -75,13 +91,9 @@ if(BUILD_TESTING) test/test_admittance_controller.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/test_params.yaml ) - target_link_libraries(test_admittance_controller admittance_controller) - ament_target_dependencies(test_admittance_controller - control_msgs - controller_interface - hardware_interface - ros2_control_test_assets - ) + target_link_libraries(test_admittance_controller + admittance_controller + ros2_control_test_assets::ros2_control_test_assets) endif() install( diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt index 0ad9dd193e..dec1544eed 100644 --- a/bicycle_steering_controller/CMakeLists.txt +++ b/bicycle_steering_controller/CMakeLists.txt @@ -40,8 +40,15 @@ target_include_directories(bicycle_steering_controller PUBLIC "$" "$") target_link_libraries(bicycle_steering_controller PUBLIC - bicycle_steering_controller_parameters) -ament_target_dependencies(bicycle_steering_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + bicycle_steering_controller_parameters + steering_controllers_library::steering_controllers_library + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${std_srvs_TARGETS}) pluginlib_export_plugin_description_file( controller_interface bicycle_steering_controller.xml) @@ -54,10 +61,10 @@ if(BUILD_TESTING) add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") ament_add_gmock(test_load_bicycle_steering_controller test/test_load_bicycle_steering_controller.cpp) - ament_target_dependencies(test_load_bicycle_steering_controller - controller_manager - hardware_interface - ros2_control_test_assets + target_link_libraries(test_load_bicycle_steering_controller + controller_manager::controller_manager + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock( @@ -65,22 +72,12 @@ if(BUILD_TESTING) ${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_params.yaml) target_include_directories(test_bicycle_steering_controller PRIVATE include) target_link_libraries(test_bicycle_steering_controller bicycle_steering_controller) - ament_target_dependencies( - test_bicycle_steering_controller - controller_interface - hardware_interface - ) add_rostest_with_parameters_gmock( test_bicycle_steering_controller_preceding test/test_bicycle_steering_controller_preceding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_preceding_params.yaml) target_include_directories(test_bicycle_steering_controller_preceding PRIVATE include) target_link_libraries(test_bicycle_steering_controller_preceding bicycle_steering_controller) - ament_target_dependencies( - test_bicycle_steering_controller_preceding - controller_interface - hardware_interface - ) endif() install( diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt index 2acbf8b69e..7d57720a26 100644 --- a/diff_drive_controller/CMakeLists.txt +++ b/diff_drive_controller/CMakeLists.txt @@ -48,8 +48,19 @@ target_include_directories(diff_drive_controller PUBLIC target_link_libraries(diff_drive_controller PUBLIC diff_drive_controller_parameters - control_toolbox::rate_limiter_parameters) -ament_target_dependencies(diff_drive_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + control_toolbox::rate_limiter_parameters + control_toolbox::control_toolbox + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + rcpputils::rcpputils + realtime_tools::realtime_tools + tf2::tf2 + ${tf2_msgs_TARGETS} + ${geometry_msgs_TARGETS} + ${nav_msgs_TARGETS}) pluginlib_export_plugin_description_file(controller_interface diff_drive_plugin.xml) if(BUILD_TESTING) @@ -63,22 +74,12 @@ if(BUILD_TESTING) target_link_libraries(test_diff_drive_controller diff_drive_controller ) - ament_target_dependencies(test_diff_drive_controller - geometry_msgs - hardware_interface - nav_msgs - rclcpp - rclcpp_lifecycle - realtime_tools - tf2 - tf2_msgs - ) add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") ament_add_gmock(test_load_diff_drive_controller test/test_load_diff_drive_controller.cpp) - ament_target_dependencies(test_load_diff_drive_controller - controller_manager - ros2_control_test_assets + target_link_libraries(test_load_diff_drive_controller + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) endif() diff --git a/effort_controllers/CMakeLists.txt b/effort_controllers/CMakeLists.txt index 32b975ffca..be047b1321 100644 --- a/effort_controllers/CMakeLists.txt +++ b/effort_controllers/CMakeLists.txt @@ -25,7 +25,11 @@ target_include_directories(effort_controllers PUBLIC $ $ ) -ament_target_dependencies(effort_controllers PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(effort_controllers PUBLIC + forward_command_controller::forward_command_controller + pluginlib::pluginlib + rclcpp::rclcpp +) pluginlib_export_plugin_description_file(controller_interface effort_controllers_plugins.xml) @@ -39,10 +43,8 @@ if(BUILD_TESTING) ) target_link_libraries(test_load_joint_group_effort_controller effort_controllers - ) - ament_target_dependencies(test_load_joint_group_effort_controller - controller_manager - ros2_control_test_assets + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) ament_add_gmock(test_joint_group_effort_controller diff --git a/force_torque_sensor_broadcaster/CMakeLists.txt b/force_torque_sensor_broadcaster/CMakeLists.txt index 3e3786a9f1..c7d8e3beb8 100644 --- a/force_torque_sensor_broadcaster/CMakeLists.txt +++ b/force_torque_sensor_broadcaster/CMakeLists.txt @@ -35,9 +35,14 @@ target_include_directories(force_torque_sensor_broadcaster PUBLIC $ ) target_link_libraries(force_torque_sensor_broadcaster PUBLIC - force_torque_sensor_broadcaster_parameters -) -ament_target_dependencies(force_torque_sensor_broadcaster PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + force_torque_sensor_broadcaster_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${geometry_msgs_TARGETS}) pluginlib_export_plugin_description_file( controller_interface force_torque_sensor_broadcaster.xml) @@ -53,11 +58,9 @@ if(BUILD_TESTING) target_include_directories(test_load_force_torque_sensor_broadcaster PRIVATE include) target_link_libraries(test_load_force_torque_sensor_broadcaster force_torque_sensor_broadcaster - ) - ament_target_dependencies(test_load_force_torque_sensor_broadcaster - controller_manager - hardware_interface - ros2_control_test_assets + controller_manager::controller_manager + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock(test_force_torque_sensor_broadcaster @@ -67,9 +70,6 @@ if(BUILD_TESTING) target_link_libraries(test_force_torque_sensor_broadcaster force_torque_sensor_broadcaster ) - ament_target_dependencies(test_force_torque_sensor_broadcaster - hardware_interface - ) endif() install( diff --git a/forward_command_controller/CMakeLists.txt b/forward_command_controller/CMakeLists.txt index 06888549c4..542fa45537 100644 --- a/forward_command_controller/CMakeLists.txt +++ b/forward_command_controller/CMakeLists.txt @@ -42,10 +42,15 @@ target_include_directories(forward_command_controller PUBLIC $ ) target_link_libraries(forward_command_controller PUBLIC - forward_command_controller_parameters - multi_interface_forward_command_controller_parameters -) -ament_target_dependencies(forward_command_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + forward_command_controller_parameters + multi_interface_forward_command_controller_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${std_msgs_TARGETS}) pluginlib_export_plugin_description_file(controller_interface forward_command_plugin.xml) if(BUILD_TESTING) @@ -58,11 +63,8 @@ if(BUILD_TESTING) ) target_link_libraries(test_load_forward_command_controller forward_command_controller - ) - ament_target_dependencies(test_load_forward_command_controller - controller_manager - hardware_interface - ros2_control_test_assets + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) ament_add_gmock(test_forward_command_controller @@ -77,11 +79,8 @@ if(BUILD_TESTING) ) target_link_libraries(test_load_multi_interface_forward_command_controller forward_command_controller - ) - ament_target_dependencies(test_load_multi_interface_forward_command_controller - controller_manager - hardware_interface - ros2_control_test_assets + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) ament_add_gmock(test_multi_interface_forward_command_controller diff --git a/gpio_controllers/CMakeLists.txt b/gpio_controllers/CMakeLists.txt index 0466dbae19..56dfd29b25 100644 --- a/gpio_controllers/CMakeLists.txt +++ b/gpio_controllers/CMakeLists.txt @@ -25,17 +25,18 @@ add_library(gpio_controllers src/gpio_command_controller.cpp ) target_include_directories(gpio_controllers PRIVATE include) -target_link_libraries(gpio_controllers PUBLIC gpio_command_controller_parameters) -ament_target_dependencies(gpio_controllers PUBLIC - builtin_interfaces - controller_interface - hardware_interface - pluginlib - rclcpp_lifecycle - rcutils - realtime_tools - control_msgs -) +target_link_libraries(gpio_controllers PUBLIC + gpio_command_controller_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + rcutils::rcutils + realtime_tools::realtime_tools + ${control_msgs_TARGETS} + ${builtin_interfaces_TARGETS}) + pluginlib_export_plugin_description_file(controller_interface gpio_controllers_plugin.xml) install( @@ -63,10 +64,10 @@ if(BUILD_TESTING) ) target_include_directories(test_load_gpio_command_controller PRIVATE include) - ament_target_dependencies(test_load_gpio_command_controller - controller_manager - hardware_interface - ros2_control_test_assets + target_link_libraries(test_load_gpio_command_controller + controller_manager::controller_manager + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets ) ament_add_gmock( @@ -76,15 +77,7 @@ if(BUILD_TESTING) target_include_directories(test_gpio_command_controller PRIVATE include) target_link_libraries(test_gpio_command_controller gpio_controllers - ) - ament_target_dependencies(test_gpio_command_controller - controller_interface - hardware_interface - rclcpp - rclcpp_lifecycle - realtime_tools - ros2_control_test_assets - control_msgs + ros2_control_test_assets::ros2_control_test_assets ) endif() diff --git a/gps_sensor_broadcaster/CMakeLists.txt b/gps_sensor_broadcaster/CMakeLists.txt index 80928a223d..7cc818d1fe 100644 --- a/gps_sensor_broadcaster/CMakeLists.txt +++ b/gps_sensor_broadcaster/CMakeLists.txt @@ -40,8 +40,15 @@ target_include_directories(gps_sensor_broadcaster PUBLIC $ ) -target_link_libraries(gps_sensor_broadcaster PUBLIC gps_sensor_broadcaster_parameters) -ament_target_dependencies(gps_sensor_broadcaster PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(gps_sensor_broadcaster PUBLIC + gps_sensor_broadcaster_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${sensor_msgs_TARGETS}) pluginlib_export_plugin_description_file( controller_interface gps_sensor_broadcaster.xml) @@ -59,11 +66,8 @@ if(BUILD_TESTING) target_include_directories(test_load_gps_sensor_broadcaster PRIVATE include) target_link_libraries(test_load_gps_sensor_broadcaster gps_sensor_broadcaster - ) - ament_target_dependencies(test_load_gps_sensor_broadcaster - controller_manager - hardware_interface - ros2_control_test_assets + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) ament_add_gmock(test_gps_sensor_broadcaster @@ -72,10 +76,7 @@ if(BUILD_TESTING) target_include_directories(test_gps_sensor_broadcaster PRIVATE include) target_link_libraries(test_gps_sensor_broadcaster gps_sensor_broadcaster - ) - ament_target_dependencies(test_gps_sensor_broadcaster - hardware_interface - ros2_control_test_assets + ros2_control_test_assets::ros2_control_test_assets ) endif() diff --git a/imu_sensor_broadcaster/CMakeLists.txt b/imu_sensor_broadcaster/CMakeLists.txt index e63f0bb328..9d7727e33d 100644 --- a/imu_sensor_broadcaster/CMakeLists.txt +++ b/imu_sensor_broadcaster/CMakeLists.txt @@ -35,9 +35,14 @@ target_include_directories(imu_sensor_broadcaster PUBLIC $ ) target_link_libraries(imu_sensor_broadcaster PUBLIC - imu_sensor_broadcaster_parameters -) -ament_target_dependencies(imu_sensor_broadcaster PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + imu_sensor_broadcaster_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${sensor_msgs_TARGETS}) pluginlib_export_plugin_description_file( controller_interface imu_sensor_broadcaster.xml) @@ -53,11 +58,8 @@ if(BUILD_TESTING) target_include_directories(test_load_imu_sensor_broadcaster PRIVATE include) target_link_libraries(test_load_imu_sensor_broadcaster imu_sensor_broadcaster - ) - ament_target_dependencies(test_load_imu_sensor_broadcaster - controller_manager - hardware_interface - ros2_control_test_assets + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock(test_imu_sensor_broadcaster @@ -67,9 +69,6 @@ if(BUILD_TESTING) target_link_libraries(test_imu_sensor_broadcaster imu_sensor_broadcaster ) - ament_target_dependencies(test_imu_sensor_broadcaster - hardware_interface - ) endif() install( diff --git a/joint_state_broadcaster/CMakeLists.txt b/joint_state_broadcaster/CMakeLists.txt index 54a033e553..df6c67c89e 100644 --- a/joint_state_broadcaster/CMakeLists.txt +++ b/joint_state_broadcaster/CMakeLists.txt @@ -37,9 +37,18 @@ target_include_directories(joint_state_broadcaster PUBLIC $ ) target_link_libraries(joint_state_broadcaster PUBLIC - joint_state_broadcaster_parameters -) -ament_target_dependencies(joint_state_broadcaster PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + joint_state_broadcaster_parameters + controller_manager::controller_manager + controller_interface::controller_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + urdf::urdf + rcutils::rcutils + ${sensor_msgs_TARGETS} + ${control_msgs_TARGETS} + ${builtin_interfaces_TARGETS}) pluginlib_export_plugin_description_file(controller_interface joint_state_plugin.xml) if(BUILD_TESTING) @@ -54,23 +63,14 @@ if(BUILD_TESTING) ) target_link_libraries(test_load_joint_state_broadcaster joint_state_broadcaster - ) - ament_target_dependencies(test_load_joint_state_broadcaster - controller_manager - hardware_interface - ros2_control_test_assets - ) + ros2_control_test_assets::ros2_control_test_assets) ament_add_gmock(test_joint_state_broadcaster test/test_joint_state_broadcaster.cpp ) target_link_libraries(test_joint_state_broadcaster joint_state_broadcaster - ) - ament_target_dependencies(test_joint_state_broadcaster - hardware_interface - ros2_control_test_assets - ) + ros2_control_test_assets::ros2_control_test_assets) endif() install( diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt index 58a6378e19..8b3f109b07 100644 --- a/joint_trajectory_controller/CMakeLists.txt +++ b/joint_trajectory_controller/CMakeLists.txt @@ -43,9 +43,20 @@ target_include_directories(joint_trajectory_controller PUBLIC $ ) target_link_libraries(joint_trajectory_controller PUBLIC - joint_trajectory_controller_parameters -) -ament_target_dependencies(joint_trajectory_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + joint_trajectory_controller_parameters + control_toolbox::control_toolbox + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + rsl::rsl + tl_expected::tl_expected + urdf::urdf + angles::angles + ${trajectory_msgs_TARGETS} + ${control_msgs_TARGETS}) pluginlib_export_plugin_description_file(controller_interface joint_trajectory_plugin.xml) @@ -56,12 +67,12 @@ if(BUILD_TESTING) ament_add_gmock(test_trajectory test/test_trajectory.cpp) target_link_libraries(test_trajectory joint_trajectory_controller) - ament_target_dependencies(test_trajectory ros2_control_test_assets) + target_link_libraries(test_trajectory ros2_control_test_assets::ros2_control_test_assets) target_compile_definitions(test_trajectory PRIVATE _USE_MATH_DEFINES) ament_add_gmock(test_tolerances test/test_tolerances.cpp) target_link_libraries(test_tolerances joint_trajectory_controller) - ament_target_dependencies(test_tolerances ros2_control_test_assets) + target_link_libraries(test_tolerances ros2_control_test_assets::ros2_control_test_assets) target_compile_definitions(test_tolerances PRIVATE _USE_MATH_DEFINES) ament_add_gmock(test_trajectory_controller @@ -70,7 +81,7 @@ if(BUILD_TESTING) target_link_libraries(test_trajectory_controller joint_trajectory_controller ) - ament_target_dependencies(test_trajectory_controller ros2_control_test_assets) + target_link_libraries(test_trajectory_controller ros2_control_test_assets::ros2_control_test_assets) target_compile_definitions(joint_trajectory_controller PRIVATE _USE_MATH_DEFINES) add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") @@ -79,12 +90,8 @@ if(BUILD_TESTING) ) target_link_libraries(test_load_joint_trajectory_controller joint_trajectory_controller - ) - ament_target_dependencies(test_load_joint_trajectory_controller - controller_manager - control_toolbox - realtime_tools - ros2_control_test_assets + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) ament_add_gmock(test_trajectory_actions @@ -93,8 +100,7 @@ if(BUILD_TESTING) set_tests_properties(test_trajectory_actions PROPERTIES TIMEOUT 300) target_link_libraries(test_trajectory_actions joint_trajectory_controller - ) - ament_target_dependencies(test_trajectory_actions ros2_control_test_assets) + ros2_control_test_assets::ros2_control_test_assets) endif() diff --git a/mecanum_drive_controller/CMakeLists.txt b/mecanum_drive_controller/CMakeLists.txt index 5e9d2227b6..3755d86e17 100644 --- a/mecanum_drive_controller/CMakeLists.txt +++ b/mecanum_drive_controller/CMakeLists.txt @@ -42,8 +42,18 @@ target_include_directories(mecanum_drive_controller PUBLIC "$" "$") target_link_libraries(mecanum_drive_controller PUBLIC - mecanum_drive_controller_parameters) -ament_target_dependencies(mecanum_drive_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + mecanum_drive_controller_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + tf2::tf2 + ${tf2_geometry_msgs_TARGETS} + ${tf2_msgs_TARGETS} + ${nav_msgs_TARGETS} + ${std_srvs_TARGETS}) pluginlib_export_plugin_description_file( controller_interface mecanum_drive_controller.xml) @@ -57,10 +67,10 @@ if(BUILD_TESTING) add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") ament_add_gmock(test_load_mecanum_drive_controller test/test_load_mecanum_drive_controller.cpp) - ament_target_dependencies(test_load_mecanum_drive_controller - controller_manager - hardware_interface - ros2_control_test_assets + target_link_libraries(test_load_mecanum_drive_controller + controller_manager::controller_manager + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock( @@ -68,22 +78,12 @@ if(BUILD_TESTING) ${CMAKE_CURRENT_SOURCE_DIR}/test/mecanum_drive_controller_params.yaml) target_include_directories(test_mecanum_drive_controller PRIVATE include) target_link_libraries(test_mecanum_drive_controller mecanum_drive_controller) - ament_target_dependencies( - test_mecanum_drive_controller - controller_interface - hardware_interface - ) add_rostest_with_parameters_gmock( test_mecanum_drive_controller_preceding test/test_mecanum_drive_controller_preceding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/mecanum_drive_controller_preceding_params.yaml) target_include_directories(test_mecanum_drive_controller_preceding PRIVATE include) target_link_libraries(test_mecanum_drive_controller_preceding mecanum_drive_controller) - ament_target_dependencies( - test_mecanum_drive_controller_preceding - controller_interface - hardware_interface - ) endif() install( diff --git a/parallel_gripper_controller/CMakeLists.txt b/parallel_gripper_controller/CMakeLists.txt index 2235863f68..716d2b11f5 100644 --- a/parallel_gripper_controller/CMakeLists.txt +++ b/parallel_gripper_controller/CMakeLists.txt @@ -36,9 +36,16 @@ target_include_directories(parallel_gripper_action_controller PUBLIC $ ) target_link_libraries(parallel_gripper_action_controller PUBLIC - parallel_gripper_action_controller_parameters -) -ament_target_dependencies(parallel_gripper_action_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + parallel_gripper_action_controller_parameters + control_toolbox::control_toolbox + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_action::rclcpp_action + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${control_msgs_TARGETS}) pluginlib_export_plugin_description_file(controller_interface ros_control_plugins.xml) @@ -50,9 +57,9 @@ if(BUILD_TESTING) add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") ament_add_gmock(test_load_parallel_gripper_action_controllers test/test_load_parallel_gripper_action_controller.cpp) target_include_directories(test_load_parallel_gripper_action_controllers PRIVATE include) - ament_target_dependencies(test_load_parallel_gripper_action_controllers - controller_manager - ros2_control_test_assets + target_link_libraries(test_load_parallel_gripper_action_controllers + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock(test_parallel_gripper_controller diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt index 20397570b0..afe6ebf5f0 100644 --- a/pid_controller/CMakeLists.txt +++ b/pid_controller/CMakeLists.txt @@ -49,9 +49,19 @@ target_include_directories(pid_controller PUBLIC $ ) target_link_libraries(pid_controller PUBLIC - pid_controller_parameters -) -ament_target_dependencies(pid_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + pid_controller_parameters + angles::angles + control_toolbox::control_toolbox + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${std_srvs_TARGETS} + ${control_msgs_TARGETS} + ${parameter_traits_TARGETS} + ${std_srvs_TARGETS}) pluginlib_export_plugin_description_file(controller_interface pid_controller.xml) @@ -67,11 +77,6 @@ if(BUILD_TESTING) ) target_include_directories(test_pid_controller PRIVATE include) target_link_libraries(test_pid_controller pid_controller) - ament_target_dependencies( - test_pid_controller - controller_interface - hardware_interface - ) add_rostest_with_parameters_gmock( test_pid_controller_preceding @@ -80,11 +85,6 @@ if(BUILD_TESTING) ) target_include_directories(test_pid_controller_preceding PRIVATE include) target_link_libraries(test_pid_controller_preceding pid_controller) - ament_target_dependencies( - test_pid_controller_preceding - controller_interface - hardware_interface - ) add_rostest_with_parameters_gmock( test_pid_controller_dual_interface @@ -93,18 +93,12 @@ if(BUILD_TESTING) ) target_include_directories(test_pid_controller_dual_interface PRIVATE include) target_link_libraries(test_pid_controller_dual_interface pid_controller) - ament_target_dependencies( - test_pid_controller_dual_interface - controller_interface - hardware_interface - ) ament_add_gmock(test_load_pid_controller test/test_load_pid_controller.cpp) target_include_directories(test_load_pid_controller PRIVATE include) - ament_target_dependencies( - test_load_pid_controller - controller_manager - ros2_control_test_assets + target_link_libraries(test_load_pid_controller + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) endif() diff --git a/pose_broadcaster/CMakeLists.txt b/pose_broadcaster/CMakeLists.txt index de4408ae26..fd3254b96d 100644 --- a/pose_broadcaster/CMakeLists.txt +++ b/pose_broadcaster/CMakeLists.txt @@ -38,11 +38,15 @@ target_include_directories(pose_broadcaster PUBLIC $ ) target_link_libraries(pose_broadcaster PUBLIC - pose_broadcaster_parameters -) -ament_target_dependencies(pose_broadcaster PUBLIC - ${THIS_PACKAGE_INCLUDE_DEPENDS} -) + pose_broadcaster_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${tf2_msgs_TARGETS} + ${geometry_msgs_TARGETS}) pluginlib_export_plugin_description_file( controller_interface pose_broadcaster.xml @@ -60,10 +64,8 @@ if(BUILD_TESTING) ) target_link_libraries(test_load_pose_broadcaster pose_broadcaster - ) - ament_target_dependencies(test_load_pose_broadcaster - controller_manager - ros2_control_test_assets + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock(test_pose_broadcaster @@ -73,9 +75,6 @@ if(BUILD_TESTING) target_link_libraries(test_pose_broadcaster pose_broadcaster ) - ament_target_dependencies(test_pose_broadcaster - hardware_interface - ) endif() install( diff --git a/position_controllers/CMakeLists.txt b/position_controllers/CMakeLists.txt index a49f073348..fa103c096d 100644 --- a/position_controllers/CMakeLists.txt +++ b/position_controllers/CMakeLists.txt @@ -25,7 +25,10 @@ target_include_directories(position_controllers PUBLIC $ $ ) -ament_target_dependencies(position_controllers PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(position_controllers PUBLIC + forward_command_controller::forward_command_controller + pluginlib::pluginlib + rclcpp::rclcpp) pluginlib_export_plugin_description_file(controller_interface position_controllers_plugins.xml) @@ -39,10 +42,8 @@ if(BUILD_TESTING) ) target_link_libraries(test_load_joint_group_position_controller position_controllers - ) - ament_target_dependencies(test_load_joint_group_position_controller - controller_manager - ros2_control_test_assets + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) ament_add_gmock(test_joint_group_position_controller diff --git a/range_sensor_broadcaster/CMakeLists.txt b/range_sensor_broadcaster/CMakeLists.txt index cdc63f2751..8782abe97d 100644 --- a/range_sensor_broadcaster/CMakeLists.txt +++ b/range_sensor_broadcaster/CMakeLists.txt @@ -42,10 +42,15 @@ target_include_directories(range_sensor_broadcaster PRIVATE $ PRIVATE $ ) -ament_target_dependencies(range_sensor_broadcaster ${THIS_PACKAGE_INCLUDE_DEPENDS}) -target_link_libraries(range_sensor_broadcaster - range_sensor_broadcaster_parameters -) +target_link_libraries(range_sensor_broadcaster PUBLIC + range_sensor_broadcaster_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${sensor_msgs_TARGETS}) pluginlib_export_plugin_description_file( controller_interface range_sensor_broadcaster.xml) @@ -61,11 +66,9 @@ if(BUILD_TESTING) target_include_directories(test_load_range_sensor_broadcaster PRIVATE include) target_link_libraries(test_load_range_sensor_broadcaster range_sensor_broadcaster - ) - ament_target_dependencies(test_load_range_sensor_broadcaster - controller_manager - hardware_interface - ros2_control_test_assets + controller_manager::controller_manager + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock(test_range_sensor_broadcaster @@ -75,9 +78,6 @@ if(BUILD_TESTING) target_link_libraries(test_range_sensor_broadcaster range_sensor_broadcaster ) - ament_target_dependencies(test_range_sensor_broadcaster - hardware_interface - ) endif() install( diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt index 9599e01d55..d57b00d278 100644 --- a/steering_controllers_library/CMakeLists.txt +++ b/steering_controllers_library/CMakeLists.txt @@ -46,8 +46,20 @@ target_include_directories(steering_controllers_library PUBLIC "$" "$") target_link_libraries(steering_controllers_library PUBLIC - steering_controllers_library_parameters) -ament_target_dependencies(steering_controllers_library PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + steering_controllers_library_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + tf2::tf2 + tf2_geometry_msgs::tf2_geometry_msgs + ${tf2_msgs_TARGETS} + ${geometry_msgs_TARGETS} + ${control_msgs_TARGETS} + ${nav_msgs_TARGETS} + ${std_srvs_TARGETS}) if(BUILD_TESTING) find_package(ament_cmake_gmock REQUIRED) @@ -59,11 +71,7 @@ if(BUILD_TESTING) ${CMAKE_CURRENT_SOURCE_DIR}/test/steering_controllers_library_params.yaml) target_include_directories(test_steering_controllers_library PRIVATE include) target_link_libraries(test_steering_controllers_library steering_controllers_library) - ament_target_dependencies( - test_steering_controllers_library - controller_interface - hardware_interface - ) + ament_add_gmock(test_steering_odometry test/test_steering_odometry.cpp) target_link_libraries(test_steering_odometry steering_controllers_library) diff --git a/tricycle_controller/CMakeLists.txt b/tricycle_controller/CMakeLists.txt index 7192afa5cc..0c71042d63 100644 --- a/tricycle_controller/CMakeLists.txt +++ b/tricycle_controller/CMakeLists.txt @@ -46,8 +46,22 @@ target_include_directories(tricycle_controller PUBLIC $ $ ) -target_link_libraries(tricycle_controller PUBLIC tricycle_controller_parameters) -ament_target_dependencies(tricycle_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(tricycle_controller PUBLIC + tricycle_controller_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + tf2::tf2 + rcpputils::rcpputils + ${ackermann_msgs_TARGETS} + ${nav_msgs_TARGETS} + ${geometry_msgs_TARGETS} + ${tf2_msgs_TARGETS} + ${std_srvs_TARGETS} + ${builtin_interfaces_TARGETS}) pluginlib_export_plugin_description_file(controller_interface tricycle_controller.xml) @@ -61,25 +75,15 @@ if(BUILD_TESTING) target_link_libraries(test_tricycle_controller tricycle_controller ) - ament_target_dependencies(test_tricycle_controller - geometry_msgs - hardware_interface - nav_msgs - rclcpp - rclcpp_lifecycle - realtime_tools - tf2 - tf2_msgs - ) add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") ament_add_gmock(test_load_tricycle_controller test/test_load_tricycle_controller.cpp) target_link_libraries(test_load_tricycle_controller tricycle_controller ) - ament_target_dependencies(test_load_tricycle_controller - controller_manager - ros2_control_test_assets + target_link_libraries(test_load_tricycle_controller + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) ament_add_gmock(test_traction_limiter diff --git a/tricycle_steering_controller/CMakeLists.txt b/tricycle_steering_controller/CMakeLists.txt index ef8901f674..22eb46bbea 100644 --- a/tricycle_steering_controller/CMakeLists.txt +++ b/tricycle_steering_controller/CMakeLists.txt @@ -40,8 +40,15 @@ target_include_directories(tricycle_steering_controller PUBLIC "$" "$") target_link_libraries(tricycle_steering_controller PUBLIC - tricycle_steering_controller_parameters) -ament_target_dependencies(tricycle_steering_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) + tricycle_steering_controller_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + steering_controllers_library::steering_controllers_library + ${std_srvs_TARGETS}) pluginlib_export_plugin_description_file( controller_interface tricycle_steering_controller.xml) @@ -54,10 +61,10 @@ if(BUILD_TESTING) add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") ament_add_gmock(test_load_tricycle_steering_controller test/test_load_tricycle_steering_controller.cpp) - ament_target_dependencies(test_load_tricycle_steering_controller - controller_manager - hardware_interface - ros2_control_test_assets + target_link_libraries(test_load_tricycle_steering_controller + controller_manager::controller_manager + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock( @@ -65,22 +72,12 @@ if(BUILD_TESTING) ${CMAKE_CURRENT_SOURCE_DIR}/test/tricycle_steering_controller_params.yaml) target_include_directories(test_tricycle_steering_controller PRIVATE include) target_link_libraries(test_tricycle_steering_controller tricycle_steering_controller) - ament_target_dependencies( - test_tricycle_steering_controller - controller_interface - hardware_interface - ) add_rostest_with_parameters_gmock( test_tricycle_steering_controller_preceding test/test_tricycle_steering_controller_preceding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/tricycle_steering_controller_preceding_params.yaml) target_include_directories(test_tricycle_steering_controller_preceding PRIVATE include) target_link_libraries(test_tricycle_steering_controller_preceding tricycle_steering_controller) - ament_target_dependencies( - test_tricycle_steering_controller_preceding - controller_interface - hardware_interface - ) endif() install( diff --git a/velocity_controllers/CMakeLists.txt b/velocity_controllers/CMakeLists.txt index dc89696b03..153a8c13ed 100644 --- a/velocity_controllers/CMakeLists.txt +++ b/velocity_controllers/CMakeLists.txt @@ -25,7 +25,10 @@ target_include_directories(velocity_controllers PUBLIC $ $ ) -ament_target_dependencies(velocity_controllers PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(velocity_controllers PUBLIC + forward_command_controller::forward_command_controller + pluginlib::pluginlib + rclcpp::rclcpp) pluginlib_export_plugin_description_file(controller_interface velocity_controllers_plugins.xml) @@ -39,10 +42,8 @@ if(BUILD_TESTING) ) target_link_libraries(test_load_joint_group_velocity_controller velocity_controllers - ) - ament_target_dependencies(test_load_joint_group_velocity_controller - controller_manager - ros2_control_test_assets + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) ament_add_gmock(test_joint_group_velocity_controller