From 95ff99bdf1549dda67390ec5c3d98601c1a9c9eb Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@osrfoundation.org>
Date: Wed, 18 Sep 2024 12:51:27 +0200
Subject: [PATCH] Generalize gz vendor use and modernize CMake

Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
---
 .../irobot_create_toolbox/CMakeLists.txt      | 34 +++++++++++--------
 .../irobot_create_gz_plugins/CMakeLists.txt   |  2 +-
 .../Create3Hmi/CMakeLists.txt                 | 16 ++++-----
 3 files changed, 28 insertions(+), 24 deletions(-)

diff --git a/irobot_create_common/irobot_create_toolbox/CMakeLists.txt b/irobot_create_common/irobot_create_toolbox/CMakeLists.txt
index 811a9358..23962bf8 100644
--- a/irobot_create_common/irobot_create_toolbox/CMakeLists.txt
+++ b/irobot_create_common/irobot_create_toolbox/CMakeLists.txt
@@ -11,42 +11,46 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(gz-math7 REQUIRED)
+find_package(gz_math_vendor REQUIRED)
+find_package(gz-math REQUIRED)
 find_package(rclcpp REQUIRED)
 
 #### Libraries
 
-set(dependencies
-  gz-math7
-  rclcpp
-)
-
 add_library(irobot_create_toolbox SHARED)
 target_sources(
   irobot_create_toolbox
   PRIVATE
     src/polar_coordinates.cpp
 )
-target_include_directories(irobot_create_toolbox PUBLIC include)
-ament_target_dependencies(irobot_create_toolbox
-  ${dependencies}
+target_include_directories(irobot_create_toolbox PUBLIC
+ "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+ "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+
+target_link_libraries(irobot_create_toolbox
+  PUBLIC
+    gz-math::gz-math
+    ${rclcpp_TARGETS}
 )
 
 #### Install
 
-install(TARGETS irobot_create_toolbox
+install(TARGETS
+  ${PROJECT_NAME} EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/
-  DESTINATION include
+  DESTINATION include/${PROJECT_NAME}
+)
+ament_export_targets(export_${PROJECT_NAME})
+ament_export_dependencies(
+  gz_math_vendor
+  gz-math
+  rclcpp
 )
-
-ament_export_include_directories(include)
-ament_export_libraries(irobot_create_toolbox)
-ament_export_dependencies(${dependencies})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/irobot_create_gz/irobot_create_gz_plugins/CMakeLists.txt b/irobot_create_gz/irobot_create_gz_plugins/CMakeLists.txt
index 3f86601f..d174d17f 100644
--- a/irobot_create_gz/irobot_create_gz_plugins/CMakeLists.txt
+++ b/irobot_create_gz/irobot_create_gz_plugins/CMakeLists.txt
@@ -11,7 +11,7 @@ find_package(ament_cmake REQUIRED)
 set(OpenGL_GL_PREFERENCE LEGACY)
 
 # Find the Ignition gui library
-find_package(gz-gui8 REQUIRED)
+find_package(gz_gui_vendor REQUIRED)
 add_subdirectory(Create3Hmi)
 
 if(BUILD_TESTING)
diff --git a/irobot_create_gz/irobot_create_gz_plugins/Create3Hmi/CMakeLists.txt b/irobot_create_gz/irobot_create_gz_plugins/Create3Hmi/CMakeLists.txt
index 721c1ca2..34658408 100644
--- a/irobot_create_gz/irobot_create_gz_plugins/Create3Hmi/CMakeLists.txt
+++ b/irobot_create_gz/irobot_create_gz_plugins/Create3Hmi/CMakeLists.txt
@@ -6,7 +6,8 @@ endif()
 
 set(CMAKE_AUTOMOC ON)
 
-# Find Qt5
+find_package(gz_gui_vendor REQUIRED)
+find_package(gz-gui REQUIRED)
 find_package(Qt5
   COMPONENTS
     Core
@@ -15,8 +16,6 @@ find_package(Qt5
   REQUIRED
 )
 
-find_package(gz-gui8 REQUIRED)
-
 qt5_add_resources(resources_rcc Create3Hmi.qrc)
 
 add_library(
@@ -32,16 +31,17 @@ include_directories(
     ${Qt5Quick_INCLUDE_DIRS}
     ${Qt5QuickControls2_INCLUDE_DIRS}
 )
-target_link_libraries(
-  Create3Hmi
+target_link_libraries(Create3Hmi
+  PUBLIC
+    gz-gui::gz-gui
     ${Qt5Core_LIBRARIES}
     ${Qt5Qml_LIBRARIES}
     ${Qt5Quick_LIBRARIES}
     ${Qt5QuickControls2_LIBRARIES}
 )
-ament_target_dependencies(
-  Create3Hmi
-    gz-gui8
+ament_target_dependencies(Create3Hmi
+  gz_gui_vendor
+  gz-gui::gz-gui
 )
 
 install(