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Modernize CMakeLists.txt to remove deprecated ament_target_dependencies (Fixes #2210) #2210

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Modernize CMakeLists.txt to remove deprecated ament_target_dependencies (Fixes #2210) #2210

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78e1a56
Modernize CMakeLists.txt in controller_interface #1661
LalitNarayanYadav Apr 29, 2025
c36430d
Modernize CMakeLists.txt in controller_manager #1661
LalitNarayanYadav Apr 29, 2025
7cb6aa7
modernize CMakeLists.txt in hardware_interface
LalitNarayanYadav Apr 29, 2025
a039933
modernize CMakeLists.txt in hardware_interface_testing #1661
LalitNarayanYadav Apr 29, 2025
7112aaa
Modernize CMakeLists.txt in joint_limits #1661
LalitNarayanYadav Apr 29, 2025
496932b
Update controller_interface/CMakeLists.txt
LalitNarayanYadav Apr 29, 2025
73dda37
Update controller_interface/CMakeLists.txt
LalitNarayanYadav Apr 29, 2025
3999b2d
Update controller_interface/CMakeLists.txt
LalitNarayanYadav Apr 29, 2025
44f056d
Update controller_manager/CMakeLists.txt
LalitNarayanYadav Apr 29, 2025
ee987c9
Update hardware_interface/CMakeLists.txt
LalitNarayanYadav Apr 29, 2025
6b45803
Update hardware_interface/CMakeLists.txt
LalitNarayanYadav Apr 29, 2025
8197576
Update CMakeLists.txt
LalitNarayanYadav Apr 29, 2025
ea31035
Update controller_manager/CMakeLists.txt
LalitNarayanYadav Apr 29, 2025
4993086
Add the line seperation back
saikishor Apr 29, 2025
06fef55
Use Targets for the trajectory_msgs
saikishor Apr 29, 2025
6e587bf
Modifying loccally to modernize cmakeLists.txt
LalitNarayanYadav Apr 29, 2025
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18 changes: 11 additions & 7 deletions controller_interface/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,11 @@ target_include_directories(controller_interface PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/controller_interface>
)
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)
Expand Down Expand Up @@ -70,17 +74,17 @@ 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_TARGETS}
)

ament_add_gmock(test_pose_sensor test/test_pose_sensor.cpp)
target_link_libraries(test_pose_sensor
controller_interface
hardware_interface::hardware_interface
)
ament_target_dependencies(test_pose_sensor
geometry_msgs
target_link_libraries(test_pose_sensor
${geometry_msgs_TARGETS}
)
ament_add_gmock(test_gps_sensor test/test_gps_sensor.cpp)
target_link_libraries(test_gps_sensor
Expand All @@ -103,8 +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_TARGETS}
)
endif()

Expand Down
23 changes: 18 additions & 5 deletions controller_manager/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,6 @@ find_package(backward_ros REQUIRED)
foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()

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Can you add this link back?

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done

generate_parameter_library(controller_manager_parameters
src/controller_manager_parameters.yaml
)
Expand All @@ -41,8 +40,16 @@ 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
Expand All @@ -57,7 +64,10 @@ 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_TARGETS}
)
pluginlib_export_plugin_description_file(controller_interface test/test_controller/test_controller.xml)
install(
TARGETS test_controller
Expand All @@ -78,8 +88,11 @@ 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(
Expand Down
75 changes: 48 additions & 27 deletions hardware_interface/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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()
Expand All @@ -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()
Expand All @@ -40,8 +40,20 @@ target_include_directories(hardware_interface PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/hardware_interface>
)
ament_target_dependencies(hardware_interface PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})

target_link_libraries(hardware_interface PUBLIC
{control_msgs_TARGETS}
{lifecycle_msgs_TARGETS}
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
)
Expand All @@ -50,8 +62,21 @@ target_include_directories(mock_components PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/hardware_interface>
)
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_TARGETS}
{lifecycle_msgs_TARGETS}
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)
Expand All @@ -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
Expand All @@ -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
)
Expand All @@ -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(
Expand Down
17 changes: 13 additions & 4 deletions hardware_interface_testing/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
)
Expand All @@ -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})
Expand Down
57 changes: 37 additions & 20 deletions joint_limits/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,14 @@ target_include_directories(joint_limiter_interface PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/joint_limits>
)
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
Expand All @@ -47,8 +54,14 @@ target_include_directories(joint_limits_helpers PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/joint_limits>
)
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
Expand All @@ -59,9 +72,16 @@ target_include_directories(joint_saturation_limiter PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/joint_limits>
)
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)

Expand Down Expand Up @@ -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()
Expand Down