Switch opennav_docking to modern CMake idioms. (#4633)

Signed-off-by: Chris Lalancette <[email protected]>
ros-navigation · Aug 20, 2024 · 2e824e9 · 2e824e9
1 parent 24a28d7
commit 2e824e9
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Showing 5 changed files with 156 additions and 100 deletions.
diff --git a/nav2_docking/opennav_docking/CMakeLists.txt b/nav2_docking/opennav_docking/CMakeLists.txt
@@ -3,113 +3,133 @@ project(opennav_docking)
 
 find_package(ament_cmake REQUIRED)
 find_package(angles REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(visualization_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav2_common REQUIRED)
 find_package(nav2_graceful_controller REQUIRED)
 find_package(nav2_msgs REQUIRED)
 find_package(nav2_util REQUIRED)
 find_package(nav_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(builtin_interfaces REQUIRED)
+find_package(opennav_docking_core REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
-find_package(pluginlib REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 find_package(yaml-cpp REQUIRED)
-find_package(opennav_docking_core REQUIRED)
 
-# potentially replace with nav2_common, nav2_package()
-set(CMAKE_CXX_STANDARD 17)
-add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
-
-include_directories(
-  include
-)
+nav2_package()
 
 set(executable_name opennav_docking)
 set(library_name ${executable_name}_core)
 
-set(dependencies
-  angles
-  rclcpp
-  rclcpp_action
-  rclcpp_lifecycle
-  rclcpp_components
-  std_msgs
-  sensor_msgs
-  visualization_msgs
-  nav2_graceful_controller
-  nav2_util
-  nav2_msgs
-  nav_msgs
-  geometry_msgs
-  builtin_interfaces
-  tf2_ros
-  tf2_geometry_msgs
-  pluginlib
-  yaml_cpp_vendor
-  opennav_docking_core
-)
-
 add_library(controller SHARED
   src/controller.cpp
 )
-
-ament_target_dependencies(controller
-  ${dependencies}
+target_include_directories(controller
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(controller PUBLIC
+  ${geometry_msgs_TARGETS}
+  nav2_graceful_controller::nav2_graceful_controller
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
 )
 
 add_library(${library_name} SHARED
   src/docking_server.cpp
   src/dock_database.cpp
   src/navigator.cpp
 )
-
-ament_target_dependencies(${library_name}
-  ${dependencies}
+target_include_directories(${library_name}
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
-
-target_link_libraries(${library_name}
-  yaml-cpp::yaml-cpp
+target_link_libraries(${library_name} PUBLIC
+  angles::angles
   controller
+  ${geometry_msgs_TARGETS}
+  ${nav2_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  opennav_docking_core::opennav_docking_core
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_action::rclcpp_action
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  tf2_ros::tf2_ros
+  yaml-cpp::yaml-cpp
+)
+target_link_libraries(${library_name} PRIVATE
+  rclcpp_components::component
+  tf2_geometry_msgs::tf2_geometry_msgs
 )
 
 add_library(pose_filter SHARED
   src/pose_filter.cpp
 )
-
-ament_target_dependencies(pose_filter
-  ${dependencies}
+target_include_directories(pose_filter
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(pose_filter PUBLIC
+  ${geometry_msgs_TARGETS}
+)
+target_link_libraries(pose_filter PRIVATE
+  rclcpp::rclcpp
+  tf2_geometry_msgs::tf2_geometry_msgs
 )
 
 add_executable(${executable_name}
   src/main.cpp
 )
-
-target_link_libraries(${executable_name} ${library_name})
-
-ament_target_dependencies(${executable_name}
-  ${dependencies}
+target_include_directories(${executable_name}
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
+target_link_libraries(${executable_name} PRIVATE ${library_name} rclcpp::rclcpp)
 
 rclcpp_components_register_nodes(${library_name} "opennav_docking::DockingServer")
 
 add_library(simple_charging_dock SHARED
   src/simple_charging_dock.cpp
 )
-ament_target_dependencies(simple_charging_dock
-  ${dependencies}
+target_include_directories(simple_charging_dock
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(simple_charging_dock PUBLIC
+  ${geometry_msgs_TARGETS}
+  opennav_docking_core::opennav_docking_core
+  pose_filter
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${sensor_msgs_TARGETS}
+  tf2_geometry_msgs::tf2_geometry_msgs
+  tf2_ros::tf2_ros
+)
+target_link_libraries(simple_charging_dock PRIVATE
+  nav2_util::nav2_util_core
+  pluginlib::pluginlib
+  tf2::tf2
 )
-target_link_libraries(simple_charging_dock pose_filter)
 
 pluginlib_export_plugin_description_file(opennav_docking_core plugins.xml)
 
 install(TARGETS ${library_name} controller pose_filter simple_charging_dock
+  EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -120,7 +140,7 @@ install(TARGETS ${executable_name}
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(FILES test/test_dock_file.yaml
@@ -131,11 +151,28 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
+  find_package(ament_index_cpp REQUIRED)
+
   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} controller pose_filter)
-ament_export_dependencies(${dependencies} yaml-cpp)
+ament_export_dependencies(
+  geometry_msgs
+  nav2_graceful_controller
+  nav2_msgs
+  nav2_util
+  opennav_docking_core
+  pluginlib
+  rclcpp
+  rclcpp_action
+  rclcpp_lifecycle
+  rcl_interfaces
+  tf2_ros
+  yaml-cpp
+)
+ament_export_targets(${PROJECT_NAME})
 ament_package()
diff --git a/nav2_docking/opennav_docking/include/opennav_docking/pose_filter.hpp b/nav2_docking/opennav_docking/include/opennav_docking/pose_filter.hpp
@@ -16,7 +16,6 @@
 #define OPENNAV_DOCKING__POSE_FILTER_HPP_
 
 #include "geometry_msgs/msg/pose_stamped.hpp"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 namespace opennav_docking
 {

diff --git a/nav2_docking/opennav_docking/package.xml b/nav2_docking/opennav_docking/package.xml
@@ -8,25 +8,30 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
   <depend>angles</depend>
-  <depend>rclcpp</depend>
-  <depend>rclcpp_action</depend>
-  <depend>rclcpp_lifecycle</depend>
+  <depend>geometry_msgs</depend>
   <depend>nav2_graceful_controller</depend>
   <depend>nav2_msgs</depend>
   <depend>nav2_util</depend>
   <depend>nav_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>builtin_interfaces</depend>
-  <depend>sensor_msgs</depend>
-  <depend>pluginlib</depend>
-  <depend>yaml_cpp_vendor</depend>
   <depend>opennav_docking_core</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_components</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>rcl_interfaces</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
+  <depend>yaml_cpp_vendor</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_index_cpp</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
 

diff --git a/nav2_docking/opennav_docking/src/pose_filter.cpp b/nav2_docking/opennav_docking/src/pose_filter.cpp
@@ -14,6 +14,7 @@
 
 #include "opennav_docking/pose_filter.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 namespace opennav_docking
 {