From 78e1a56ce3708020a6bc10fc27ac2d33f4107bfd Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 01:37:01 +0530 Subject: [PATCH 01/16] Modernize CMakeLists.txt in controller_interface #1661 --- controller_interface/CMakeLists.txt | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt index 069f968528..96748f82ad 100644 --- a/controller_interface/CMakeLists.txt +++ b/controller_interface/CMakeLists.txt @@ -27,7 +27,11 @@ target_include_directories(controller_interface PUBLIC $ $ ) -ament_target_dependencies(controller_interface PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(controller_interface PUBLIC + hardware_interface::hardware_interface + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools +) if(BUILD_TESTING) find_package(ament_cmake_gmock REQUIRED) @@ -70,8 +74,8 @@ if(BUILD_TESTING) controller_interface hardware_interface::hardware_interface ) - ament_target_dependencies(test_imu_sensor - sensor_msgs + target_link_libraries(test_imu_sensor + sensor_msgs::sensor_msgs ) ament_add_gmock(test_pose_sensor test/test_pose_sensor.cpp) @@ -79,8 +83,8 @@ if(BUILD_TESTING) controller_interface hardware_interface::hardware_interface ) - ament_target_dependencies(test_pose_sensor - geometry_msgs + target_link_libraries(test_pose_sensor + geometry_msgs::geometry_msgs ) ament_add_gmock(test_gps_sensor test/test_gps_sensor.cpp) target_link_libraries(test_gps_sensor @@ -105,6 +109,8 @@ if(BUILD_TESTING) ) ament_target_dependencies(test_led_rgb_device std_msgs + )target_link_libraries(test_led_rgb_device + std_msgs::std_msgs ) endif() From c36430db46b19ce9da7191ef454a960857b39781 Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 01:56:57 +0530 Subject: [PATCH 02/16] Modernize CMakeLists.txt in controller_manager #1661 --- controller_manager/CMakeLists.txt | 64 +++++++++++++++++++------------ 1 file changed, 40 insertions(+), 24 deletions(-) diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt index 0a2b103fbc..edcd480f06 100644 --- a/controller_manager/CMakeLists.txt +++ b/controller_manager/CMakeLists.txt @@ -5,27 +5,19 @@ find_package(ros2_control_cmake REQUIRED) set_compiler_options() export_windows_symbols() -set(THIS_PACKAGE_INCLUDE_DEPENDS - controller_interface - controller_manager_msgs - diagnostic_updater - hardware_interface - pluginlib - rclcpp - realtime_tools - std_msgs - libstatistics_collector - generate_parameter_library -) -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_python REQUIRED) -find_package(ament_cmake_core REQUIRED) -find_package(ament_cmake_gen_version_h REQUIRED) + +find_package(controller_interface REQUIRED) +find_package(controller_manager_msgs REQUIRED) +find_package(diagnostic_updater REQUIRED) +find_package(hardware_interface REQUIRED) +find_package(pluginlib REQUIRED) +find_package(rclcpp REQUIRED) +find_package(realtime_tools REQUIRED) +find_package(std_msgs REQUIRED) +find_package(libstatistics_collector REQUIRED) +find_package(generate_parameter_library REQUIRED) find_package(backward_ros REQUIRED) -foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) - find_package(${Dependency} REQUIRED) -endforeach() generate_parameter_library(controller_manager_parameters src/controller_manager_parameters.yaml @@ -41,8 +33,16 @@ target_include_directories(controller_manager PUBLIC ) target_link_libraries(controller_manager PUBLIC controller_manager_parameters + controller_interface::controller_interface + controller_manager_msgs::controller_manager_msgs + diagnostic_updater::diagnostic_updater + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + realtime_tools::realtime_tools + std_msgs::std_msgs + libstatistics_collector::libstatistics_collector ) -ament_target_dependencies(controller_manager PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) add_executable(ros2_control_node src/ros2_control_node.cpp) target_link_libraries(ros2_control_node PRIVATE @@ -57,7 +57,10 @@ if(BUILD_TESTING) # Plugin Libraries that are built and installed for use in testing add_library(test_controller SHARED test/test_controller/test_controller.cpp) target_link_libraries(test_controller PUBLIC controller_manager) - ament_target_dependencies(test_controller PUBLIC example_interfaces) + ament_target_dependencies(test_controller + PUBLIC + example_interfaces::example_interfaces + ) pluginlib_export_plugin_description_file(controller_interface test/test_controller/test_controller.xml) install( TARGETS test_controller @@ -78,8 +81,11 @@ if(BUILD_TESTING) add_library(test_chainable_controller SHARED test/test_chainable_controller/test_chainable_controller.cpp ) - ament_target_dependencies(test_chainable_controller PUBLIC realtime_tools) - target_link_libraries(test_chainable_controller PUBLIC controller_manager) + target_link_libraries(test_chainable_controller + PUBLIC + controller_manager + realtime_tools::realtime_tools + ) pluginlib_export_plugin_description_file( controller_interface test/test_chainable_controller/test_chainable_controller.xml) install( @@ -248,6 +254,16 @@ ament_python_install_package(controller_manager SCRIPTS_DESTINATION lib/controller_manager ) ament_export_targets(export_controller_manager HAS_LIBRARY_TARGET) -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) +ament_export_dependencies( +controller_interface +controller_manager_msgs +diagnostic_updater +hardware_interface +pluginlib +rclcpp +realtime_tools +std_msgs +libstatistics_collector +) ament_package() ament_generate_version_header(${PROJECT_NAME}) From 7cb6aa722f1b89794c4f797a91180bcf64b608f2 Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 02:08:40 +0530 Subject: [PATCH 03/16] modernize CMakeLists.txt in hardware_interface --- hardware_interface/CMakeLists.txt | 75 ++++++++++++++++++++----------- 1 file changed, 48 insertions(+), 27 deletions(-) diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt index 682427bdc6..10090243ac 100644 --- a/hardware_interface/CMakeLists.txt +++ b/hardware_interface/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required(VERSION 3.16) project(hardware_interface LANGUAGES CXX) +find_package(ament_cmake REQUIRED) +find_package(ament_cmake_gen_version_h REQUIRED) +find_package(backward_ros REQUIRED) find_package(ros2_control_cmake REQUIRED) set_compiler_options() export_windows_symbols() @@ -20,9 +23,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS pal_statistics ) -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_gen_version_h REQUIRED) -find_package(backward_ros REQUIRED) foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() @@ -40,8 +40,20 @@ target_include_directories(hardware_interface PUBLIC $ $ ) -ament_target_dependencies(hardware_interface PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) - +target_link_libraries(hardware_interface PUBLIC + control_msgs::control_msgs + lifecycle_msgs::lifecycle_msgs + pluginlib::pluginlib + rclcpp_lifecycle::rclcpp_lifecycle + rcpputils::rcpputils + rcutils::rcutils + realtime_tools::realtime_tools + TinyXML2::TinyXML2 + tinyxml2_vendor::tinyxml2_vendor + joint_limits::joint_limits + urdf::urdf + pal_statistics::pal_statistics +) add_library(mock_components SHARED src/mock_components/generic_system.cpp ) @@ -50,8 +62,21 @@ target_include_directories(mock_components PUBLIC $ $ ) -target_link_libraries(mock_components PUBLIC hardware_interface) -ament_target_dependencies(mock_components PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(mock_components +PUBLIC hardware_interface +control_msgs::control_msgs + lifecycle_msgs::lifecycle_msgs + pluginlib::pluginlib + rclcpp_lifecycle::rclcpp_lifecycle + rcpputils::rcpputils + rcutils::rcutils + realtime_tools::realtime_tools + TinyXML2::TinyXML2 + tinyxml2_vendor::tinyxml2_vendor + joint_limits::joint_limits + urdf::urdf + pal_statistics::pal_statistics +) pluginlib_export_plugin_description_file( hardware_interface mock_components_plugin_description.xml) @@ -63,27 +88,22 @@ if(BUILD_TESTING) ament_add_gmock(test_macros test/test_macros.cpp) target_include_directories(test_macros PRIVATE include) - ament_target_dependencies(test_macros rcpputils) + target_link_libraries(test_macros rcpputils::rcpputils) ament_add_gmock(test_inst_hardwares test/test_inst_hardwares.cpp) - target_link_libraries(test_inst_hardwares hardware_interface) - ament_target_dependencies(test_inst_hardwares rcpputils) + target_link_libraries(test_inst_hardwares hardware_interface rcpputils::rcpputils) ament_add_gmock(test_joint_handle test/test_handle.cpp) - target_link_libraries(test_joint_handle hardware_interface) - ament_target_dependencies(test_joint_handle rcpputils) + target_link_libraries(test_joint_handle hardware_interface rcpputils::rcpputils) ament_add_gmock(test_component_interfaces test/test_component_interfaces.cpp) - target_link_libraries(test_component_interfaces hardware_interface) - ament_target_dependencies(test_component_interfaces ros2_control_test_assets) + target_link_libraries(test_component_interfaces hardware_interface ros2_control_test_assets::ros2_control_test_assets) ament_add_gmock(test_component_interfaces_custom_export test/test_component_interfaces_custom_export.cpp) - target_link_libraries(test_component_interfaces_custom_export hardware_interface) - ament_target_dependencies(test_component_interfaces_custom_export ros2_control_test_assets) - + target_link_libraries(test_component_interfaces_custom_export hardware_interface ros2_control_test_assets::ros2_control_test_assets) + ament_add_gmock(test_component_parser test/test_component_parser.cpp) - target_link_libraries(test_component_parser hardware_interface) - ament_target_dependencies(test_component_parser ros2_control_test_assets) + target_link_libraries(test_component_parser hardware_interface ros2_control_test_assets::ros2_control_test_assets) add_library(test_hardware_components SHARED test/test_hardware_components/test_single_joint_actuator.cpp @@ -92,9 +112,10 @@ if(BUILD_TESTING) test/test_hardware_components/test_two_joint_system.cpp test/test_hardware_components/test_system_with_command_modes.cpp ) - target_link_libraries(test_hardware_components hardware_interface) - ament_target_dependencies(test_hardware_components - pluginlib) + target_link_libraries(test_hardware_components + hardware_interface + pluginlib::pluginlib + ) install(TARGETS test_hardware_components DESTINATION lib ) @@ -104,11 +125,11 @@ if(BUILD_TESTING) ament_add_gmock(test_generic_system test/mock_components/test_generic_system.cpp) target_include_directories(test_generic_system PRIVATE include) - target_link_libraries(test_generic_system hardware_interface) - ament_target_dependencies(test_generic_system - pluginlib - ros2_control_test_assets - ) + target_link_libraries(test_generic_system + hardware_interface + pluginlib::pluginlib + ros2_control_test_assets::ros2_control_test_assets + ) endif() install( From a039933001d8a495d6eb53b7dfdbedf7d039da68 Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 02:13:08 +0530 Subject: [PATCH 04/16] modernize CMakeLists.txt in hardware_interface_testing #1661 --- hardware_interface_testing/CMakeLists.txt | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/hardware_interface_testing/CMakeLists.txt b/hardware_interface_testing/CMakeLists.txt index 2345f0af88..f5f479f8d0 100644 --- a/hardware_interface_testing/CMakeLists.txt +++ b/hardware_interface_testing/CMakeLists.txt @@ -24,7 +24,11 @@ test/test_components/test_actuator.cpp test/test_components/test_sensor.cpp test/test_components/test_system.cpp test/test_components/test_actuator_exclusive_interfaces.cpp) -ament_target_dependencies(test_components hardware_interface pluginlib ros2_control_test_assets) +target_link_libraries(test_components PUBLIC + hardware_interface::hardware_interface + pluginlib::pluginlib + ros2_control_test_assets::ros2_control_test_assets +) install(TARGETS test_components DESTINATION lib ) @@ -36,11 +40,16 @@ if(BUILD_TESTING) find_package(ament_cmake_gmock REQUIRED) ament_add_gmock(test_resource_manager test/test_resource_manager.cpp) - ament_target_dependencies(test_resource_manager hardware_interface ros2_control_test_assets) + target_link_libraries(test_resource_manager PUBLIC + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets + ) ament_add_gmock(test_resource_manager_prepare_perform_switch test/test_resource_manager_prepare_perform_switch.cpp) - ament_target_dependencies(test_resource_manager_prepare_perform_switch hardware_interface ros2_control_test_assets) - + target_link_libraries(test_resource_manager_prepare_perform_switch PUBLIC + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets + ) endif() ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) From 7112aaafe2f68feec0e8e9b0f33b54bf0a309e4f Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 02:24:22 +0530 Subject: [PATCH 05/16] Modernize CMakeLists.txt in joint_limits #1661 --- joint_limits/CMakeLists.txt | 57 ++++++++++++++++++++++++------------- 1 file changed, 37 insertions(+), 20 deletions(-) diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt index 762d9a0ee8..24848cc573 100644 --- a/joint_limits/CMakeLists.txt +++ b/joint_limits/CMakeLists.txt @@ -37,7 +37,14 @@ target_include_directories(joint_limiter_interface PUBLIC $ $ ) -ament_target_dependencies(joint_limiter_interface PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(joint_limiter_interface PUBLIC + pluginlib::pluginlib + realtime_tools::realtime_tools + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + trajectory_msgs::trajectory_msgs + urdf::urdf +) add_library(joint_limits_helpers SHARED src/joint_limits_helpers.cpp @@ -47,8 +54,14 @@ target_include_directories(joint_limits_helpers PUBLIC $ $ ) -ament_target_dependencies(joint_limits_helpers PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) - +target_link_libraries(joint_limits_helpers PUBLIC + pluginlib::pluginlib + realtime_tools::realtime_tools + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + trajectory_msgs::trajectory_msgs + urdf::urdf +) add_library(joint_saturation_limiter SHARED src/joint_saturation_limiter.cpp src/joint_range_limiter.cpp @@ -59,9 +72,16 @@ target_include_directories(joint_saturation_limiter PUBLIC $ $ ) -target_link_libraries(joint_saturation_limiter PUBLIC joint_limits_helpers) +target_link_libraries(joint_saturation_limiter PUBLIC + joint_limits_helpers + pluginlib::pluginlib + realtime_tools::realtime_tools + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + trajectory_msgs::trajectory_msgs + urdf::urdf + ) -ament_target_dependencies(joint_saturation_limiter PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) pluginlib_export_plugin_description_file(joint_limits joint_limiters.xml) @@ -95,29 +115,26 @@ if(BUILD_TESTING) ${CMAKE_CURRENT_SOURCE_DIR}/test/joint_saturation_limiter_param.yaml ) target_include_directories(test_joint_saturation_limiter PRIVATE include) - target_link_libraries(test_joint_saturation_limiter joint_limiter_interface) - ament_target_dependencies( - test_joint_saturation_limiter - pluginlib - rclcpp + target_link_libraries(test_joint_saturation_limiter + joint_limiter_interface + pluginlib::pluginlib + rclcpp::rclcpp ) ament_add_gmock(test_joint_range_limiter test/test_joint_range_limiter.cpp) target_include_directories(test_joint_range_limiter PRIVATE include) - target_link_libraries(test_joint_range_limiter joint_limiter_interface) - ament_target_dependencies( - test_joint_range_limiter - pluginlib - rclcpp + target_link_libraries(test_joint_range_limiter + joint_limiter_interface + pluginlib::pluginlib + rclcpp::rclcpp ) ament_add_gmock(test_joint_soft_limiter test/test_joint_soft_limiter.cpp) target_include_directories(test_joint_soft_limiter PRIVATE include) - target_link_libraries(test_joint_soft_limiter joint_limiter_interface) - ament_target_dependencies( - test_joint_soft_limiter - pluginlib - rclcpp + target_link_libraries(test_joint_soft_limiter + joint_limiter_interface + pluginlib::pluginlib + rclcpp::rclcpp ) endif() From 496932b18972370e71cfe4449b59b619fcc08bb8 Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 02:50:29 +0530 Subject: [PATCH 06/16] Update controller_interface/CMakeLists.txt Co-authored-by: Sai Kishor Kothakota --- controller_interface/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt index 96748f82ad..96778fae6d 100644 --- a/controller_interface/CMakeLists.txt +++ b/controller_interface/CMakeLists.txt @@ -75,7 +75,7 @@ if(BUILD_TESTING) hardware_interface::hardware_interface ) target_link_libraries(test_imu_sensor - sensor_msgs::sensor_msgs + ${sensor_msgs_TARGETS} ) ament_add_gmock(test_pose_sensor test/test_pose_sensor.cpp) From 73dda379c677cb9ca021a3fc4ee6506362eafc03 Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 02:50:38 +0530 Subject: [PATCH 07/16] Update controller_interface/CMakeLists.txt Co-authored-by: Sai Kishor Kothakota --- controller_interface/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt index 96778fae6d..9796e7937f 100644 --- a/controller_interface/CMakeLists.txt +++ b/controller_interface/CMakeLists.txt @@ -84,7 +84,7 @@ if(BUILD_TESTING) hardware_interface::hardware_interface ) target_link_libraries(test_pose_sensor - geometry_msgs::geometry_msgs + ${geometry_msgs_TARGETS} ) ament_add_gmock(test_gps_sensor test/test_gps_sensor.cpp) target_link_libraries(test_gps_sensor From 3999b2d394a85a91325c2a1a500799562a7838ec Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 02:50:48 +0530 Subject: [PATCH 08/16] Update controller_interface/CMakeLists.txt Co-authored-by: Sai Kishor Kothakota --- controller_interface/CMakeLists.txt | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt index 9796e7937f..a4ff72b16f 100644 --- a/controller_interface/CMakeLists.txt +++ b/controller_interface/CMakeLists.txt @@ -107,10 +107,8 @@ if(BUILD_TESTING) controller_interface hardware_interface::hardware_interface ) - ament_target_dependencies(test_led_rgb_device - std_msgs - )target_link_libraries(test_led_rgb_device - std_msgs::std_msgs +target_link_libraries(test_led_rgb_device + ${std_msgs_TARGETS} ) endif() From 44f056ded7edf11ee20dd60910bfde0d4ee9057f Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 02:51:04 +0530 Subject: [PATCH 09/16] Update controller_manager/CMakeLists.txt Co-authored-by: Sai Kishor Kothakota --- controller_manager/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt index edcd480f06..fa83dbaa11 100644 --- a/controller_manager/CMakeLists.txt +++ b/controller_manager/CMakeLists.txt @@ -59,7 +59,7 @@ if(BUILD_TESTING) target_link_libraries(test_controller PUBLIC controller_manager) ament_target_dependencies(test_controller PUBLIC - example_interfaces::example_interfaces + ${example_interfaces_TARGETS} ) pluginlib_export_plugin_description_file(controller_interface test/test_controller/test_controller.xml) install( From ee987c981c08a8f978b453cfdbd1c4c47d139acc Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 02:51:15 +0530 Subject: [PATCH 10/16] Update hardware_interface/CMakeLists.txt Co-authored-by: Sai Kishor Kothakota --- hardware_interface/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt index 10090243ac..203145456f 100644 --- a/hardware_interface/CMakeLists.txt +++ b/hardware_interface/CMakeLists.txt @@ -41,8 +41,8 @@ target_include_directories(hardware_interface PUBLIC $ ) target_link_libraries(hardware_interface PUBLIC - control_msgs::control_msgs - lifecycle_msgs::lifecycle_msgs + {control_msgs_TARGETS} + {lifecycle_msgs_TARGETS} pluginlib::pluginlib rclcpp_lifecycle::rclcpp_lifecycle rcpputils::rcpputils From 6b4580383e840f8fa9f1c352734445abc7c9d837 Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 02:51:23 +0530 Subject: [PATCH 11/16] Update hardware_interface/CMakeLists.txt Co-authored-by: Sai Kishor Kothakota --- hardware_interface/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt index 203145456f..3b9df3d431 100644 --- a/hardware_interface/CMakeLists.txt +++ b/hardware_interface/CMakeLists.txt @@ -64,8 +64,8 @@ target_include_directories(mock_components PUBLIC ) target_link_libraries(mock_components PUBLIC hardware_interface -control_msgs::control_msgs - lifecycle_msgs::lifecycle_msgs + {control_msgs_TARGETS} + {lifecycle_msgs_TARGETS} pluginlib::pluginlib rclcpp_lifecycle::rclcpp_lifecycle rcpputils::rcpputils From 8197576231c87201a1f73756b2dfb552ec4ce2ef Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 02:57:40 +0530 Subject: [PATCH 12/16] Update CMakeLists.txt --- controller_manager/CMakeLists.txt | 31 +++++++++++++++++++------------ 1 file changed, 19 insertions(+), 12 deletions(-) diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt index fa83dbaa11..d2a59c6d4b 100644 --- a/controller_manager/CMakeLists.txt +++ b/controller_manager/CMakeLists.txt @@ -5,20 +5,27 @@ find_package(ros2_control_cmake REQUIRED) set_compiler_options() export_windows_symbols() +set(THIS_PACKAGE_INCLUDE_DEPENDS + controller_interface + controller_manager_msgs + diagnostic_updater + hardware_interface + pluginlib + rclcpp + realtime_tools + std_msgs + libstatistics_collector + generate_parameter_library +) - -find_package(controller_interface REQUIRED) -find_package(controller_manager_msgs REQUIRED) -find_package(diagnostic_updater REQUIRED) -find_package(hardware_interface REQUIRED) -find_package(pluginlib REQUIRED) -find_package(rclcpp REQUIRED) -find_package(realtime_tools REQUIRED) -find_package(std_msgs REQUIRED) -find_package(libstatistics_collector REQUIRED) -find_package(generate_parameter_library REQUIRED) +find_package(ament_cmake REQUIRED) +find_package(ament_cmake_python REQUIRED) +find_package(ament_cmake_core REQUIRED) +find_package(ament_cmake_gen_version_h REQUIRED) find_package(backward_ros REQUIRED) - +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() generate_parameter_library(controller_manager_parameters src/controller_manager_parameters.yaml ) From ea3103546248dc5a5542df707ec595d727026e45 Mon Sep 17 00:00:00 2001 From: Lalit Narayan Yadav <162928571+LalitNarayanYadav@users.noreply.github.com> Date: Wed, 30 Apr 2025 03:17:51 +0530 Subject: [PATCH 13/16] Update controller_manager/CMakeLists.txt Co-authored-by: Sai Kishor Kothakota --- controller_manager/CMakeLists.txt | 12 +----------- 1 file changed, 1 insertion(+), 11 deletions(-) diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt index d2a59c6d4b..d318a0979e 100644 --- a/controller_manager/CMakeLists.txt +++ b/controller_manager/CMakeLists.txt @@ -261,16 +261,6 @@ ament_python_install_package(controller_manager SCRIPTS_DESTINATION lib/controller_manager ) ament_export_targets(export_controller_manager HAS_LIBRARY_TARGET) -ament_export_dependencies( -controller_interface -controller_manager_msgs -diagnostic_updater -hardware_interface -pluginlib -rclcpp -realtime_tools -std_msgs -libstatistics_collector -) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) ament_package() ament_generate_version_header(${PROJECT_NAME}) From 49930865567b6bfa7ddc04f4f8d0bfc651015867 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Tue, 29 Apr 2025 23:56:13 +0200 Subject: [PATCH 14/16] Add the line seperation back --- controller_manager/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt index d318a0979e..5c01a541c8 100644 --- a/controller_manager/CMakeLists.txt +++ b/controller_manager/CMakeLists.txt @@ -26,6 +26,7 @@ find_package(backward_ros REQUIRED) foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() + generate_parameter_library(controller_manager_parameters src/controller_manager_parameters.yaml ) From 06fef55500d49fe61409989180c584828354c667 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Wed, 30 Apr 2025 00:03:50 +0200 Subject: [PATCH 15/16] Use Targets for the trajectory_msgs --- joint_limits/CMakeLists.txt | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt index 24848cc573..782587e55e 100644 --- a/joint_limits/CMakeLists.txt +++ b/joint_limits/CMakeLists.txt @@ -42,7 +42,7 @@ target_link_libraries(joint_limiter_interface PUBLIC realtime_tools::realtime_tools rclcpp::rclcpp rclcpp_lifecycle::rclcpp_lifecycle - trajectory_msgs::trajectory_msgs + {trajectory_msgs_TARGETS} urdf::urdf ) @@ -59,7 +59,7 @@ target_link_libraries(joint_limits_helpers PUBLIC realtime_tools::realtime_tools rclcpp::rclcpp rclcpp_lifecycle::rclcpp_lifecycle - trajectory_msgs::trajectory_msgs + {trajectory_msgs_TARGETS} urdf::urdf ) add_library(joint_saturation_limiter SHARED @@ -78,7 +78,7 @@ target_link_libraries(joint_saturation_limiter PUBLIC realtime_tools::realtime_tools rclcpp::rclcpp rclcpp_lifecycle::rclcpp_lifecycle - trajectory_msgs::trajectory_msgs + {trajectory_msgs_TARGETS} urdf::urdf ) From 6e587bf95d41b998836db8db3fa1fdac25899b1f Mon Sep 17 00:00:00 2001 From: LalitNarayanYadav Date: Wed, 30 Apr 2025 03:54:20 +0530 Subject: [PATCH 16/16] Modifying loccally to modernize cmakeLists.txt --- .vscode/settings.json | 3 +++ 1 file changed, 3 insertions(+) create mode 100644 .vscode/settings.json diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000000..c7204a817b --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,3 @@ +{ + "cmake.sourceDirectory": "C:/Users/naray/ros2_control/controller_interface" +} \ No newline at end of file