Switch nav2_rotation_shim_controller to modern CMake idioms. (ros-nav…

…igation#4599) Signed-off-by: Chris Lalancette <[email protected]> Signed-off-by: Joseph Duchesne <[email protected]>
josephduchesne · Dec 10, 2024 · edac1b5 · edac1b5
1 parent db4ce09
commit edac1b5
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Showing 5 changed files with 60 additions and 40 deletions.
diff --git a/nav2_rotation_shim_controller/CMakeLists.txt b/nav2_rotation_shim_controller/CMakeLists.txt
@@ -2,66 +2,81 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_rotation_shim_controller)
 
 find_package(ament_cmake REQUIRED)
+find_package(angles REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(nav2_common REQUIRED)
 find_package(nav2_core REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
 find_package(nav2_util REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rcl_interfaces REQUIRED)
 find_package(tf2 REQUIRED)
-find_package(angles REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 nav2_package()
-set(CMAKE_CXX_STANDARD 17)
-
-include_directories(
-  include
-)
-
-set(dependencies
-  rclcpp
-  geometry_msgs
-  nav2_costmap_2d
-  pluginlib
-  nav_msgs
-  nav2_util
-  nav2_core
-  tf2
-  angles
-)
 
 set(library_name nav2_rotation_shim_controller)
 
 add_library(${library_name} SHARED
-        src/nav2_rotation_shim_controller.cpp)
-
-ament_target_dependencies(${library_name}
-  ${dependencies}
+  src/nav2_rotation_shim_controller.cpp)
+target_include_directories(${library_name}
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(${library_name} PUBLIC
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  tf2_ros::tf2_ros
+)
+target_link_libraries(${library_name} PRIVATE
+  angles::angles
+  nav2_util::nav2_util_core
+  tf2::tf2
 )
 
 install(TARGETS ${library_name}
+  EXPORT ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights
   set(ament_cmake_copyright_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
+
+  ament_find_gtest()
   add_subdirectory(test)
 endif()
 
-ament_export_include_directories(include)
+ament_export_include_directories(include/${PROJECT_NAME})
 ament_export_libraries(${library_name})
-ament_export_dependencies(${dependencies})
+ament_export_dependencies(
+  geometry_msgs
+  nav2_core
+  nav2_costmap_2d
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  rcl_interfaces
+  tf2_ros
+)
+ament_export_targets(${library_name})
 
 pluginlib_export_plugin_description_file(nav2_core nav2_rotation_shim_controller.xml)
 

diff --git a/...n_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp b/...n_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp
@@ -24,13 +24,9 @@
 #include "rclcpp/rclcpp.hpp"
 #include "pluginlib/class_loader.hpp"
 #include "pluginlib/class_list_macros.hpp"
-#include "nav2_util/geometry_utils.hpp"
-#include "nav2_util/robot_utils.hpp"
 #include "nav2_core/controller.hpp"
 #include "nav2_core/controller_exceptions.hpp"
-#include "nav2_util/node_utils.hpp"
 #include "nav2_costmap_2d/footprint_collision_checker.hpp"
-#include "angles/angles.h"
 
 namespace nav2_rotation_shim_controller
 {

diff --git a/nav2_rotation_shim_controller/package.xml b/nav2_rotation_shim_controller/package.xml
@@ -8,17 +8,20 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
-  <depend>nav2_common</depend>
+  <depend>angles</depend>
+  <depend>geometry_msgs</depend>
   <depend>nav2_core</depend>
-  <depend>nav2_util</depend>
   <depend>nav2_costmap_2d</depend>
-  <depend>rclcpp</depend>
-  <depend>geometry_msgs</depend>
   <depend>nav2_msgs</depend>
-  <depend>angles</depend>
+  <depend>nav2_util</depend>
   <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>rcl_interfaces</depend>
   <depend>tf2</depend>
+  <depend>tf2_ros</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
@@ -18,6 +18,11 @@
 #include <vector>
 #include <utility>
 
+#include "angles/angles.h"
+#include "nav2_util/geometry_utils.hpp"
+#include "nav2_util/node_utils.hpp"
+#include "nav2_util/robot_utils.hpp"
+
 #include "nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp"
 #include "nav2_rotation_shim_controller/tools/utils.hpp"
 

diff --git a/nav2_rotation_shim_controller/test/CMakeLists.txt b/nav2_rotation_shim_controller/test/CMakeLists.txt
@@ -4,10 +4,11 @@ find_package(nav2_controller REQUIRED)
 ament_add_gtest(test_shim_controller
   test_shim_controller.cpp
 )
-ament_target_dependencies(test_shim_controller
-  ${dependencies}
-  nav2_controller
-)
 target_link_libraries(test_shim_controller
   ${library_name}
+  rclcpp::rclcpp
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_controller::simple_goal_checker
+  nav2_util::nav2_util_core
+  tf2_ros::tf2_ros
 )