fix: update CMake policies and improve message target linking for ROS2

Author: ibrahimhroob

CMakeLists.txt

@@ -210,6 +210,10 @@ else(ROS_EDITION STREQUAL "ROS2")
   # Copyright(c) 2020 livoxtech limited.
 
   cmake_minimum_required(VERSION 3.14)
+  if(POLICY CMP0144)
+    cmake_policy(SET CMP0144 NEW)
+    set(CMAKE_POLICY_DEFAULT_CMP0144 NEW)
+  endif()
   project(livox_ros_driver2)
 
   # Default to C99
@@ -302,23 +306,27 @@ else(ROS_EDITION STREQUAL "ROS2")
 
   target_include_directories(${PROJECT_NAME} PRIVATE ${livox_sdk_INCLUDE_DIRS})
 
-  # get include directories of custom msg headers
-  if(HUMBLE_ROS STREQUAL "humble")
-    rosidl_get_typesupport_target(cpp_typesupport_target
-    ${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
-    target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
+  # Link the generated custom message target. The generated target carries the
+  # include directories for livox_ros_driver2/msg/*.hpp on ROS 2 distros such as
+  # Humble and Jazzy, so do not read INTERFACE_INCLUDE_DIRECTORIES directly.
+  if(COMMAND rosidl_get_typesupport_target)
+    rosidl_get_typesupport_target(LIVOX_INTERFACE_TARGET
+      ${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
   else()
     set(LIVOX_INTERFACE_TARGET "${LIVOX_INTERFACES}__rosidl_typesupport_cpp")
-    add_dependencies(${PROJECT_NAME} ${LIVOX_INTERFACES})
-    get_target_property(LIVOX_INTERFACES_INCLUDE_DIRECTORIES ${LIVOX_INTERFACE_TARGET} INTERFACE_INCLUDE_DIRECTORIES)
   endif()
 
+  if(NOT LIVOX_INTERFACE_TARGET OR NOT TARGET ${LIVOX_INTERFACE_TARGET})
+    message(FATAL_ERROR "Failed to resolve ${LIVOX_INTERFACES} C++ typesupport target")
+  endif()
+
+  add_dependencies(${PROJECT_NAME} ${LIVOX_INTERFACES})
+
   # include file direcotry
   target_include_directories(${PROJECT_NAME} PUBLIC
     ${PCL_INCLUDE_DIRS}
     ${APR_INCLUDE_DIRS}
     ${LIVOX_LIDAR_SDK_INCLUDE_DIR}
-    ${LIVOX_INTERFACES_INCLUDE_DIRECTORIES}   # for custom msgs
     3rdparty
     src
   )
@@ -367,4 +375,4 @@ else(ROS_EDITION STREQUAL "ROS2")
     launch
   )
 
-endif()
+endif()