Fix dependencies (#262)

* Remove deprecated ament_target_dependencies()
* Cleanup dependencies: only tests depend on Boost::filesystem

Co-authored-by: David V. Lu <[email protected]>

Author: rhaschke

CMakeLists.txt

@@ -53,7 +53,6 @@ find_package(resource_retriever REQUIRED)
 find_package(shape_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 find_package(fcl REQUIRED)
-include(ConfigExtras)
 
 set(THIS_PACKAGE_EXPORT_DEPENDS
   eigen3_cmake_module
@@ -90,15 +89,25 @@ target_compile_options(${PROJECT_NAME} PRIVATE ${PROJECT_COMPILE_OPTIONS})
 target_include_directories(${PROJECT_NAME}
     PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
            $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
-ament_target_dependencies(${PROJECT_NAME} PUBLIC
-  ${THIS_PACKAGE_EXPORT_DEPENDS}
-)
 # Private libraries that are not transitively needed by downstream projects
-target_link_libraries(${PROJECT_NAME} PRIVATE assimp::assimp fcl ${QHULL_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}
+  PRIVATE
+    assimp::assimp
+    fcl
+    ${QHULL_LIBRARIES}
+  PUBLIC
+    ${geometry_msgs_TARGETS}
+    ${shape_msgs_TARGETS}
+    ${visualization_msgs_TARGETS}
+    ${console_bridge_TARGETS}
+    eigen_stl_containers::eigen_stl_containers
+    random_numbers::random_numbers
+    rclcpp::rclcpp
+    resource_retriever::resource_retriever
+)
 target_include_directories(${PROJECT_NAME} PRIVATE ${QHULL_INCLUDE_DIRS})
 
 if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
   # Unit tests
   add_subdirectory(test)
 
@@ -120,4 +129,4 @@ install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_EXPORT_DEPENDS})
 
-ament_package(CONFIG_EXTRAS "cmake/ConfigExtras.cmake")
+ament_package()

cmake/ConfigExtras.cmake

@@ -1,3 +1,6 @@
+find_package(Boost REQUIRED COMPONENTS filesystem)
+find_package(ament_cmake_gtest REQUIRED)
+
 file(TO_NATIVE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/resources" TEST_RESOURCES_DIR)
 if(WIN32)
     # Correct directory separator for Windows
@@ -8,13 +11,12 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 ament_add_gtest(test_basics test_basics.cpp)
 target_link_libraries(test_basics ${PROJECT_NAME})
-ament_target_dependencies(test_basics Eigen3)
 
 ament_add_gtest(test_point_inclusion test_point_inclusion.cpp)
-target_link_libraries(test_point_inclusion ${PROJECT_NAME})
+target_link_libraries(test_point_inclusion ${PROJECT_NAME} Boost::filesystem)
 
 ament_add_gtest(test_bounding_sphere test_bounding_sphere.cpp)
-target_link_libraries(test_bounding_sphere ${PROJECT_NAME})
+target_link_libraries(test_bounding_sphere ${PROJECT_NAME} Boost::filesystem)
 
 ament_add_gtest(test_bounding_box test_bounding_box.cpp)
 target_link_libraries(test_bounding_box ${PROJECT_NAME})
@@ -26,13 +28,13 @@ ament_add_gtest(test_create_mesh test_create_mesh.cpp)
 target_link_libraries(test_create_mesh ${PROJECT_NAME})
 
 ament_add_gtest(test_loaded_meshes test_loaded_meshes.cpp)
-target_link_libraries(test_loaded_meshes ${PROJECT_NAME})
+target_link_libraries(test_loaded_meshes ${PROJECT_NAME} Boost::filesystem)
 
 ament_add_gtest(test_shapes test_shapes.cpp)
 target_link_libraries(test_shapes ${PROJECT_NAME})
 
 ament_add_gtest(test_ray_intersection test_ray_intersection.cpp)
-target_link_libraries(test_ray_intersection ${PROJECT_NAME})
+target_link_libraries(test_ray_intersection ${PROJECT_NAME} Boost::filesystem)
 
 ament_add_gtest(test_body_operations test_body_operations.cpp)
-target_link_libraries(test_body_operations ${PROJECT_NAME})
+target_link_libraries(test_body_operations ${PROJECT_NAME} Boost::filesystem)