From 02a9e3a6e22f0b8802d5fa28bdef78ba46e302b9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Mon, 4 Mar 2024 21:48:36 +0100
Subject: [PATCH] Use Eigen CMake target (#190)

---
 CMakeLists.txt | 8 +++++---
 package.xml    | 3 ++-
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7d3a2c73..9786821c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,12 +51,11 @@ set(CONTROL_FILTERS_INCLUDE_DEPENDS
   generate_parameter_library
   pluginlib
   geometry_msgs
-  Eigen3
 )
-
 foreach(Dependency IN ITEMS ${CONTROL_FILTERS_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+find_package(Eigen3 REQUIRED NO_MODULE)
 
 generate_parameter_library(
   low_pass_filter_parameters
@@ -72,7 +71,10 @@ target_include_directories(low_pass_filter PUBLIC
     $<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
     $<INSTALL_INTERFACE:include/control_toolbox>
 )
-target_link_libraries(low_pass_filter PUBLIC low_pass_filter_parameters)
+target_link_libraries(low_pass_filter PUBLIC
+  low_pass_filter_parameters
+  Eigen3::Eigen
+)
 ament_target_dependencies(low_pass_filter PUBLIC ${CONTROL_FILTERS_INCLUDE_DEPENDS})
 
 # Install pluginlib xml
diff --git a/package.xml b/package.xml
index bc977f55..b47371a3 100644
--- a/package.xml
+++ b/package.xml
@@ -19,10 +19,11 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>control_msgs</depend>
+  <depend>eigen</depend>
   <depend>filters</depend>
+  <depend>generate_parameter_library</depend>
   <depend>geometry_msgs</depend>
   <depend>pluginlib</depend>
-  <depend>generate_parameter_library</depend>
   <depend>rclcpp</depend>
   <depend>rcutils</depend>
   <depend>realtime_tools</depend>