From c9878ca0593c875ffdb3099f516e4e7dee2460f0 Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Thu, 8 Aug 2024 17:28:06 -0400
Subject: [PATCH] Switch dwb_core to modern CMake idioms. (#4610)

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
Signed-off-by: Joseph Duchesne <josephgeek@gmail.com>
---
 nav2_dwb_controller/dwb_core/CMakeLists.txt   | 93 +++++++++++--------
 nav2_dwb_controller/dwb_core/package.xml      | 45 ++++-----
 .../dwb_core/test/CMakeLists.txt              |  5 +-
 3 files changed, 76 insertions(+), 67 deletions(-)

diff --git a/nav2_dwb_controller/dwb_core/CMakeLists.txt b/nav2_dwb_controller/dwb_core/CMakeLists.txt
index 58c6323b650..e689b318058 100644
--- a/nav2_dwb_controller/dwb_core/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_core/CMakeLists.txt
@@ -2,64 +2,64 @@ cmake_minimum_required(VERSION 3.5)
 project(dwb_core)
 
 find_package(ament_cmake REQUIRED)
-find_package(nav2_common REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(nav_2d_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
 find_package(dwb_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(nav2_core REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(visualization_msgs REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav_2d_msgs REQUIRED)
 find_package(nav_2d_utils REQUIRED)
 find_package(nav_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
-find_package(nav2_util REQUIRED)
-find_package(nav2_core REQUIRED)
+find_package(visualization_msgs REQUIRED)
 
 nav2_package()
 
-include_directories(
-  include
-)
-
-set(dependencies
-  rclcpp
-  std_msgs
-  geometry_msgs
-  nav_2d_msgs
-  dwb_msgs
-  nav2_costmap_2d
-  pluginlib
-  sensor_msgs
-  visualization_msgs
-  nav_2d_utils
-  nav_msgs
-  tf2_ros
-  nav2_util
-  nav2_core
-)
-
 add_library(dwb_core SHARED
   src/dwb_local_planner.cpp
   src/publisher.cpp
   src/illegal_trajectory_tracker.cpp
   src/trajectory_utils.cpp
 )
-
-ament_target_dependencies(dwb_core
-  ${dependencies}
+target_include_directories(dwb_core PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(dwb_core PUBLIC
+  ${builtin_interfaces_TARGETS}
+  ${dwb_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_util::nav2_util_core
+  ${nav_2d_msgs_TARGETS}
+  nav_2d_utils::conversions
+  nav_2d_utils::tf_help
+  ${nav_msgs_TARGETS}
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${sensor_msgs_TARGETS}
+  tf2_ros::tf2_ros
+  ${visualization_msgs_TARGETS}
 )
 
 install(TARGETS dwb_core
+  EXPORT dwb_core
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
@@ -69,12 +69,31 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
+  ament_find_gtest()
+
   add_subdirectory(test)
 endif()
 
-ament_export_include_directories(include)
+ament_export_include_directories(include/${PROJECT_NAME})
 ament_export_libraries(dwb_core)
-ament_export_dependencies(${dependencies})
+ament_export_dependencies(
+  builtin_interfaces
+  dwb_msgs
+  geometry_msgs
+  nav2_core
+  nav2_costmap_2d
+  nav2_util
+  nav_2d_msgs
+  nav_2d_utils
+  nav_msgs
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  sensor_msgs
+  tf2_ros
+  visualization_msgs
+)
+ament_export_targets(dwb_core)
 
 pluginlib_export_plugin_description_file(nav2_core local_planner_plugin.xml)
 
diff --git a/nav2_dwb_controller/dwb_core/package.xml b/nav2_dwb_controller/dwb_core/package.xml
index 01f8e64b1cb..ea3e167a2bb 100644
--- a/nav2_dwb_controller/dwb_core/package.xml
+++ b/nav2_dwb_controller/dwb_core/package.xml
@@ -10,38 +10,25 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>
 
-  <build_depend>rclcpp</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>nav_2d_msgs</build_depend>
-  <build_depend>dwb_msgs</build_depend>
-  <build_depend>nav2_costmap_2d</build_depend>
-  <build_depend>pluginlib</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>visualization_msgs</build_depend>
-  <build_depend>nav_2d_utils</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>tf2_ros</build_depend>
-  <build_depend>nav2_util</build_depend>
-  <build_depend>nav2_core</build_depend>
-
-  <exec_depend>rclcpp</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>rclcpp</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>dwb_msgs</exec_depend>
-  <exec_depend>nav2_costmap_2d</exec_depend>
-  <exec_depend>nav_2d_utils</exec_depend>
-  <exec_depend>pluginlib</exec_depend>
-  <exec_depend>nav_msgs</exec_depend>
-  <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>nav2_util</exec_depend>
-  <exec_depend>nav2_core</exec_depend>
+  <depend>builtin_interfaces</depend>
+  <depend>dwb_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav2_core</depend>
+  <depend>nav2_costmap_2d</depend>
+  <depend>nav2_util</depend>
+  <depend>nav_2d_msgs</depend>
+  <depend>nav_2d_utils</depend>
+  <depend>nav_msgs</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>visualization_msgs</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nav2_dwb_controller/dwb_core/test/CMakeLists.txt b/nav2_dwb_controller/dwb_core/test/CMakeLists.txt
index 4c009a9416b..ad76143f03a 100644
--- a/nav2_dwb_controller/dwb_core/test/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_core/test/CMakeLists.txt
@@ -1,2 +1,5 @@
 ament_add_gtest(utils_test utils_test.cpp)
-target_link_libraries(utils_test dwb_core)
+target_link_libraries(utils_test
+  dwb_core
+  ${dwb_msgs_TARGETS}
+)