From 8a9ef297bedbe825963e05d098d0d1a152c6445f Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Mon, 19 Aug 2024 20:41:00 +0000
Subject: [PATCH] Switch opennav_docking_core to modern CMake idioms.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 .../opennav_docking_core/CMakeLists.txt       | 38 +++++++++++++------
 .../opennav_docking_core/charging_dock.hpp    |  3 +-
 nav2_docking/opennav_docking_core/package.xml |  8 ++--
 3 files changed, 31 insertions(+), 18 deletions(-)

diff --git a/nav2_docking/opennav_docking_core/CMakeLists.txt b/nav2_docking/opennav_docking_core/CMakeLists.txt
index 639319bc5e..3d62476eff 100644
--- a/nav2_docking/opennav_docking_core/CMakeLists.txt
+++ b/nav2_docking/opennav_docking_core/CMakeLists.txt
@@ -2,23 +2,34 @@ cmake_minimum_required(VERSION 3.5)
 project(opennav_docking_core)
 
 find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(nav2_common REQUIRED)
-find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
-find_package(nav2_util REQUIRED)
-find_package(nav2_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 nav2_package()
 
-set(dependencies
-  rclcpp
-  rclcpp_lifecycle
-  nav2_msgs
-  nav2_util
+add_library(opennav_docking_core INTERFACE)
+target_include_directories(opennav_docking_core
+  INTERFACE
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(opennav_docking_core INTERFACE
+  ${geometry_msgs_TARGETS}
+  rclcpp_lifecycle::rclcpp_lifecycle
+  tf2_ros::tf2_ros
+)
+
+install(TARGETS opennav_docking_core
+  EXPORT opennav_docking_core
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
@@ -28,7 +39,12 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_export_include_directories(include)
-ament_export_dependencies(${dependencies})
+ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_dependencies(
+  geometry_msgs
+  rclcpp_lifecycle
+  tf2_ros
+)
+ament_export_targets(opennav_docking_core)
 
 ament_package()
diff --git a/nav2_docking/opennav_docking_core/include/opennav_docking_core/charging_dock.hpp b/nav2_docking/opennav_docking_core/include/opennav_docking_core/charging_dock.hpp
index b58f9408fb..d4566e5836 100644
--- a/nav2_docking/opennav_docking_core/include/opennav_docking_core/charging_dock.hpp
+++ b/nav2_docking/opennav_docking_core/include/opennav_docking_core/charging_dock.hpp
@@ -18,9 +18,8 @@
 #include <string>
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
-#include "nav2_util/lifecycle_node.hpp"
 #include "tf2_ros/buffer.h"
 
 
diff --git a/nav2_docking/opennav_docking_core/package.xml b/nav2_docking/opennav_docking_core/package.xml
index bcd03d786b..2df639d516 100644
--- a/nav2_docking/opennav_docking_core/package.xml
+++ b/nav2_docking/opennav_docking_core/package.xml
@@ -8,16 +8,14 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
-  <depend>rclcpp</depend>
+  <depend>geometry_msgs</depend>
   <depend>rclcpp_lifecycle</depend>
-  <depend>nav2_util</depend>
-  <depend>nav2_msgs</depend>
+  <depend>tf2_ros</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_cmake_pytest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>