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Update CMakeLists.txt
fix ament_target_dependencies
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65 files changed

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‎moveit_core/constraint_samplers/CMakeLists.txt‎

Lines changed: 12 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -9,16 +9,24 @@ target_include_directories(
99
$<INSTALL_INTERFACE:include/moveit_core>)
1010
set_target_properties(moveit_constraint_samplers
1111
PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
12-
ament_target_dependencies(moveit_constraint_samplers urdf urdfdom
13-
urdfdom_headers visualization_msgs)
12+
1413
target_link_libraries(
1514
moveit_constraint_samplers
15+
PRIVATE
1616
moveit_robot_trajectory
1717
moveit_robot_state
1818
moveit_kinematic_constraints
1919
moveit_kinematics_base
2020
moveit_planning_scene
21-
moveit_utils)
21+
moveit_utils
22+
PUBLIC
23+
${visualization_msgs_TARGETS}
24+
urdf::urdf
25+
urdfdom::urdfdom_model
26+
urdfdom::urdfdom_sensor
27+
urdfdom::urdfdom_world
28+
urdfdom_headers::urdfdom_headers
29+
)
2230

2331
install(DIRECTORY include/ DESTINATION include/moveit_core)
2432

@@ -43,7 +51,6 @@ if(BUILD_TESTING)
4351
test/pr2_arm_kinematics_plugin.cpp test/pr2_arm_ik.cpp)
4452
target_include_directories(test_constraint_samplers
4553
PUBLIC ${geometry_msgs_INCLUDE_DIRS})
46-
ament_target_dependencies(test_constraint_samplers kdl_parser)
4754
target_link_libraries(test_constraint_samplers moveit_test_utils moveit_utils
48-
moveit_constraint_samplers)
55+
moveit_constraint_samplers moveit_planning_scene kdl_parser::kdl_parser)
4956
endif()

‎moveit_core/transforms/CMakeLists.txt‎

Lines changed: 15 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -3,24 +3,28 @@ target_include_directories(
33
moveit_transforms
44
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
55
$<INSTALL_INTERFACE:include/moveit_core>)
6-
target_link_libraries(moveit_transforms moveit_macros moveit_utils)
6+
77
set_target_properties(moveit_transforms PROPERTIES VERSION
88
"${${PROJECT_NAME}_VERSION}")
9-
ament_target_dependencies(
10-
moveit_transforms
11-
geometric_shapes
12-
tf2_eigen
13-
rclcpp
14-
rmw_implementation
15-
urdfdom
16-
urdfdom_headers
17-
Boost)
9+
target_link_libraries(moveit_transforms
10+
PRIVATE
11+
moveit_macros moveit_utils
12+
PUBLIC
13+
geometric_shapes::geometric_shapes
14+
rclcpp::rclcpp
15+
rmw_implementation::rmw_implementation
16+
tf2_eigen::tf2_eigen
17+
urdfdom::urdfdom_model
18+
urdfdom::urdfdom_sensor
19+
urdfdom::urdfdom_world
20+
urdfdom_headers::urdfdom_headers
21+
)
1822

1923
install(DIRECTORY include/ DESTINATION include/moveit_core)
2024

2125
# Unit tests
2226
if(BUILD_TESTING)
2327
find_package(ament_cmake_gtest REQUIRED)
2428
ament_add_gtest(test_transforms test/test_transforms.cpp)
25-
target_link_libraries(test_transforms moveit_transforms)
29+
target_link_libraries(test_transforms moveit_transforms moveit_macros)
2630
endif()

‎moveit_core/utils/CMakeLists.txt‎

Lines changed: 9 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -3,10 +3,14 @@ add_library(moveit_utils SHARED src/lexical_casts.cpp src/message_checks.cpp
33
target_include_directories(
44
moveit_utils PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
55
$<INSTALL_INTERFACE:include/moveit_core>)
6-
ament_target_dependencies(moveit_utils Boost moveit_msgs rclcpp fmt)
7-
target_link_libraries(moveit_utils rsl::rsl)
6+
87
set_target_properties(moveit_utils PROPERTIES VERSION
98
"${${PROJECT_NAME}_VERSION}")
9+
target_link_libraries(moveit_utils
10+
${moveit_msgs_TARGETS}
11+
ament_index_cpp::ament_index_cpp
12+
pluginlib::pluginlib
13+
rsl::rsl)
1014

1115
install(DIRECTORY include/ DESTINATION include/moveit_core)
1216

@@ -16,22 +20,11 @@ target_include_directories(
1620
moveit_test_utils
1721
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
1822
$<INSTALL_INTERFACE:include/moveit_core>)
19-
target_link_libraries(moveit_test_utils moveit_robot_model
20-
moveit_kinematics_base rsl::rsl)
21-
ament_target_dependencies(
22-
moveit_test_utils
23-
ament_index_cpp
24-
Boost
25-
geometry_msgs
26-
urdf
27-
pluginlib
28-
srdfdom
29-
urdfdom
30-
urdfdom_headers
31-
rclcpp
32-
fmt)
23+
3324
set_target_properties(moveit_test_utils PROPERTIES VERSION
3425
"${${PROJECT_NAME}_VERSION}")
26+
target_link_libraries(moveit_test_utils moveit_robot_model
27+
moveit_kinematics_base rsl::rsl)
3528

3629
if(BUILD_TESTING)
3730
add_subdirectory(test)

‎moveit_kinematics/CMakeLists.txt‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -14,6 +14,7 @@ find_package(kdl_parser REQUIRED)
1414
find_package(moveit_core REQUIRED)
1515
find_package(moveit_msgs REQUIRED)
1616
find_package(moveit_ros_planning REQUIRED)
17+
find_package(moveit_ros_occupancy_map_monitor REQUIRED)
1718
find_package(orocos_kdl REQUIRED)
1819
find_package(pluginlib REQUIRED)
1920
find_package(random_numbers REQUIRED)

‎moveit_planners/chomp/chomp_interface/CMakeLists.txt‎

Lines changed: 35 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -22,13 +22,43 @@ add_library(moveit_chomp_interface SHARED src/chomp_interface.cpp
2222
src/chomp_planning_context.cpp)
2323
set_target_properties(moveit_chomp_interface
2424
PROPERTIES VERSION "${moveit_planners_chomp_VERSION}")
25-
ament_target_dependencies(moveit_chomp_interface
26-
${THIS_PACKAGE_INCLUDE_DEPENDS})
25+
26+
target_link_libraries(moveit_chomp_interface chomp_motion_planner::chomp_motion_planner)
27+
2728

2829
add_library(moveit_chomp_planner_plugin SHARED src/chomp_plugin.cpp)
29-
ament_target_dependencies(moveit_chomp_planner_plugin
30-
${THIS_PACKAGE_INCLUDE_DEPENDS})
31-
target_link_libraries(moveit_chomp_planner_plugin moveit_chomp_interface)
30+
31+
target_link_libraries(moveit_chomp_planner_plugin
32+
PRIVATE
33+
moveit_chomp_interface
34+
PUBLIC
35+
chomp_motion_planner::chomp_motion_planner
36+
moveit_core::moveit_collision_detection
37+
moveit_core::moveit_collision_detection_bullet
38+
moveit_core::moveit_collision_detection_fcl
39+
moveit_core::moveit_collision_distance_field
40+
moveit_core::moveit_constraint_samplers
41+
moveit_core::moveit_distance_field
42+
moveit_core::moveit_dynamics_solver
43+
moveit_core::moveit_exceptions
44+
moveit_core::moveit_kinematic_constraints
45+
moveit_core::moveit_kinematics_base
46+
moveit_core::moveit_kinematics_metrics
47+
moveit_core::moveit_macros
48+
moveit_core::moveit_planning_interface
49+
moveit_core::moveit_planning_scene
50+
moveit_core::moveit_robot_model
51+
moveit_core::moveit_robot_state
52+
moveit_core::moveit_robot_trajectory
53+
moveit_core::moveit_smoothing_base
54+
moveit_core::moveit_test_utils
55+
moveit_core::moveit_trajectory_processing
56+
moveit_core::moveit_transforms
57+
moveit_core::moveit_utils
58+
pluginlib::pluginlib
59+
rclcpp::rclcpp
60+
rsl::rsl
61+
)
3262

3363
install(
3464
TARGETS moveit_chomp_interface moveit_chomp_planner_plugin
@@ -38,7 +68,6 @@ install(
3868
RUNTIME DESTINATION bin)
3969

4070
ament_export_targets(moveit_planners_chompTargets HAS_LIBRARY_TARGET)
41-
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
4271

4372
pluginlib_export_plugin_description_file(moveit_core
4473
chomp_interface_plugin_description.xml)

‎moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt‎

Lines changed: 29 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -23,8 +23,34 @@ add_library(
2323
src/chomp_optimizer.cpp src/chomp_planner.cpp)
2424
set_target_properties(chomp_motion_planner
2525
PROPERTIES VERSION "${chomp_motion_planner_VERSION}")
26-
ament_target_dependencies(chomp_motion_planner ${THIS_PACKAGE_INCLUDE_DEPENDS})
27-
26+
target_link_libraries(chomp_motion_planner PUBLIC
27+
${trajectory_msgs_TARGETS}
28+
${visualization_msgs_TARGETS}
29+
moveit_core::moveit_collision_detection
30+
moveit_core::moveit_collision_detection_bullet
31+
moveit_core::moveit_collision_detection_fcl
32+
moveit_core::moveit_collision_distance_field
33+
moveit_core::moveit_constraint_samplers
34+
moveit_core::moveit_distance_field
35+
moveit_core::moveit_dynamics_solver
36+
moveit_core::moveit_exceptions
37+
moveit_core::moveit_kinematic_constraints
38+
moveit_core::moveit_kinematics_base
39+
moveit_core::moveit_kinematics_metrics
40+
moveit_core::moveit_macros
41+
moveit_core::moveit_planning_interface
42+
moveit_core::moveit_planning_scene
43+
moveit_core::moveit_robot_model
44+
moveit_core::moveit_robot_state
45+
moveit_core::moveit_robot_trajectory
46+
moveit_core::moveit_smoothing_base
47+
moveit_core::moveit_test_utils
48+
moveit_core::moveit_trajectory_processing
49+
moveit_core::moveit_transforms
50+
moveit_core::moveit_utils
51+
rclcpp::rclcpp
52+
rsl::rsl
53+
)
2854
install(
2955
TARGETS chomp_motion_planner
3056
EXPORT chomp_motion_plannerTargets
@@ -35,7 +61,6 @@ install(
3561
DESTINATION include/chomp_motion_planner)
3662
install(DIRECTORY include/ DESTINATION include/chomp_motion_planner)
3763

38-
ament_export_targets(chomp_motion_plannerTargets HAS_LIBRARY_TARGET)
39-
ament_export_dependencies(${THIS_PACKAGE_EXPORT_DEPENDS})
64+
ament_export_targets(chomp_motion_plannerTargets)
4065

4166
ament_package()

‎moveit_planners/ompl/CMakeLists.txt‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -16,6 +16,7 @@ find_package(
1616
find_package(moveit_core REQUIRED)
1717
find_package(moveit_msgs REQUIRED)
1818
find_package(moveit_ros_planning REQUIRED)
19+
find_package(moveit_ros_occupancy_map_monitor REQUIRED)
1920
find_package(rclcpp REQUIRED)
2021
find_package(pluginlib REQUIRED)
2122
find_package(tf2_eigen REQUIRED)

‎moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt‎

Lines changed: 17 additions & 21 deletions
Original file line numberDiff line numberDiff line change
@@ -67,65 +67,62 @@ add_library(
6767
joint_limits_common SHARED
6868
src/joint_limits_aggregator.cpp src/joint_limits_container.cpp
6969
src/joint_limits_validator.cpp src/limits_container.cpp)
70-
target_link_libraries(joint_limits_common cartesian_limits_parameters)
71-
ament_target_dependencies(joint_limits_common ${THIS_PACKAGE_INCLUDE_DEPENDS})
70+
target_link_libraries(joint_limits_common cartesian_limits_parameters
71+
moveit_ros_planning::moveit_robot_model_loader
72+
moveit_ros_move_group::moveit_move_group_capabilities_base)
7273

7374
add_library(planning_context_loader_base SHARED src/planning_context_loader.cpp)
7475
target_link_libraries(planning_context_loader_base cartesian_limits_parameters
75-
joint_limits_common)
76-
ament_target_dependencies(planning_context_loader_base
77-
${THIS_PACKAGE_INCLUDE_DEPENDS})
76+
joint_limits_common
77+
tf2_kdl::tf2_kdl)
7878

7979
add_library(
8080
trajectory_generation_common SHARED
8181
src/trajectory_functions.cpp src/trajectory_generator.cpp
8282
src/trajectory_blender_transition_window.cpp)
8383
target_link_libraries(trajectory_generation_common cartesian_limits_parameters
84-
joint_limits_common)
85-
ament_target_dependencies(trajectory_generation_common
86-
${THIS_PACKAGE_INCLUDE_DEPENDS})
84+
joint_limits_common
85+
tf2_eigen_kdl::tf2_eigen_kdl
86+
tf2_kdl::tf2_kdl)
87+
8788

8889
add_library(command_list_manager SHARED src/command_list_manager.cpp
8990
src/plan_components_builder.cpp)
9091
target_link_libraries(command_list_manager trajectory_generation_common
9192
joint_limits_common)
92-
ament_target_dependencies(command_list_manager ${THIS_PACKAGE_INCLUDE_DEPENDS})
9393

9494
# ##############################################################################
9595
# Plugins ##
9696
# ##############################################################################
9797

9898
add_library(pilz_industrial_motion_planner SHARED
9999
src/pilz_industrial_motion_planner.cpp)
100-
ament_target_dependencies(pilz_industrial_motion_planner
101-
${THIS_PACKAGE_INCLUDE_DEPENDS})
100+
102101
target_link_libraries(pilz_industrial_motion_planner
103-
planning_context_loader_base joint_limits_common)
102+
planning_context_loader_base joint_limits_common
103+
moveit_core::moveit_robot_model)
104104

105105
add_library(
106106
planning_context_loader_ptp SHARED
107107
src/planning_context_loader_ptp.cpp src/trajectory_generator_ptp.cpp
108108
src/velocity_profile_atrap.cpp)
109-
ament_target_dependencies(planning_context_loader_ptp
110-
${THIS_PACKAGE_INCLUDE_DEPENDS})
109+
111110
target_link_libraries(planning_context_loader_ptp planning_context_loader_base
112111
joint_limits_common trajectory_generation_common)
113112

114113
add_library(
115114
planning_context_loader_lin SHARED
116115
src/planning_context_loader_lin.cpp src/trajectory_generator_lin.cpp
117116
src/velocity_profile_atrap.cpp)
118-
ament_target_dependencies(planning_context_loader_lin
119-
${THIS_PACKAGE_INCLUDE_DEPENDS})
117+
120118
target_link_libraries(planning_context_loader_lin planning_context_loader_base
121119
joint_limits_common trajectory_generation_common)
122120

123121
add_library(
124122
planning_context_loader_circ SHARED
125123
src/planning_context_loader_circ.cpp src/trajectory_generator_circ.cpp
126124
src/path_circle_generator.cpp)
127-
ament_target_dependencies(planning_context_loader_circ
128-
${THIS_PACKAGE_INCLUDE_DEPENDS})
125+
129126
target_link_libraries(planning_context_loader_circ planning_context_loader_base
130127
joint_limits_common trajectory_generation_common)
131128

@@ -134,15 +131,14 @@ add_library(
134131
src/planning_context_loader_polyline.cpp
135132
src/trajectory_generator_polyline.cpp src/velocity_profile_atrap.cpp
136133
src/path_polyline_generator.cpp)
137-
ament_target_dependencies(planning_context_loader_polyline
138-
${THIS_PACKAGE_INCLUDE_DEPENDS})
134+
139135
target_link_libraries(
140136
planning_context_loader_polyline planning_context_loader_base
141137
joint_limits_common trajectory_generation_common)
142138

143139
add_library(sequence_capability SHARED src/move_group_sequence_action.cpp
144140
src/move_group_sequence_service.cpp)
145-
ament_target_dependencies(sequence_capability ${THIS_PACKAGE_INCLUDE_DEPENDS})
141+
146142
target_link_libraries(sequence_capability joint_limits_common
147143
command_list_manager trajectory_generation_common)
148144

‎moveit_planners/pilz_industrial_motion_planner/test/CMakeLists.txt‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -12,10 +12,10 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR})
1212

1313
# pilz_industrial_motion_testhelpers
1414
add_library(${PROJECT_NAME}_test_utils test_utils.cpp)
15-
ament_target_dependencies(${PROJECT_NAME}_test_utils
16-
${THIS_PACKAGE_INCLUDE_DEPENDS})
15+
1716
target_link_libraries(${PROJECT_NAME}_test_utils joint_limits_common
18-
trajectory_generation_common)
17+
trajectory_generation_common ${PROJECT_NAME}_testutils::${PROJECT_NAME}_testutils
18+
tf2_kdl::tf2_kdl)
1919

2020
# Unit tests
2121
add_subdirectory(unit_tests)

‎moveit_planners/pilz_industrial_motion_planner/test/unit_tests/CMakeLists.txt‎

Lines changed: 7 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,4 @@
1+
find_package(pilz_industrial_motion_planner_testutils REQUIRED)
12
set(UNIT_TEST_SOURCEFILES
23
unittest_pilz_industrial_motion_planner_direct
34
unittest_velocity_profile_atrap
@@ -38,7 +39,7 @@ target_link_libraries(unittest_trajectory_generator ${PROJECT_NAME})
3839
# Trajectory Functions Unit Test
3940
ament_add_gtest_executable(unittest_trajectory_functions
4041
src/unittest_trajectory_functions.cpp)
41-
ament_target_dependencies(unittest_trajectory_functions Boost)
42+
4243
target_link_libraries(unittest_trajectory_functions ${PROJECT_NAME}_test_utils
4344
trajectory_generation_common joint_limits_common)
4445
add_ros_test(launch/unittest_trajectory_functions.test.py ARGS
@@ -49,8 +50,7 @@ ament_add_gtest_executable(
4950
unittest_trajectory_blender_transition_window
5051
src/unittest_trajectory_blender_transition_window.cpp
5152
${CMAKE_SOURCE_DIR}/src/trajectory_blender_transition_window.cpp)
52-
ament_target_dependencies(unittest_trajectory_blender_transition_window
53-
pilz_industrial_motion_planner_testutils)
53+
5454
target_link_libraries(
5555
unittest_trajectory_blender_transition_window ${PROJECT_NAME}_test_utils
5656
trajectory_generation_common planning_context_loader_lin)
@@ -70,18 +70,17 @@ add_ros_test(launch/unittest_trajectory_generator_common.test.py ARGS
7070
# trajectory generator circ Unit Test
7171
ament_add_gtest_executable(unittest_trajectory_generator_circ
7272
src/unittest_trajectory_generator_circ.cpp)
73-
ament_target_dependencies(unittest_trajectory_generator_circ
74-
pilz_industrial_motion_planner_testutils)
73+
7574
target_link_libraries(unittest_trajectory_generator_circ
76-
${PROJECT_NAME}_test_utils planning_context_loader_circ)
75+
${PROJECT_NAME}_test_utils planning_context_loader_circ
76+
pilz_industrial_motion_planner_testutils::pilz_industrial_motion_planner_testutils)
7777
add_ros_test(launch/unittest_trajectory_generator_circ.test.py ARGS
7878
"test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
7979

8080
# trajectory generator lin Unit Test
8181
ament_add_gtest_executable(unittest_trajectory_generator_lin
8282
src/unittest_trajectory_generator_lin.cpp)
83-
ament_target_dependencies(unittest_trajectory_generator_lin
84-
pilz_industrial_motion_planner_testutils)
83+
8584
target_link_libraries(unittest_trajectory_generator_lin
8685
${PROJECT_NAME}_test_utils planning_context_loader_lin)
8786
add_ros_test(launch/unittest_trajectory_generator_lin.test.py ARGS

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