From a001bfc3c5fc4fdea026cb6599175fa7b429306c Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Tue, 30 Jul 2024 14:16:20 -0400
Subject: [PATCH] Make nav2_core an INTERFACE library. (#4578)

That is, it exports header files, but it does not have
any implementation itself.  Make sure to make an INTERFACE
library so downstreams can have access to the header files.

Note that this also required a change to nav2_graceful_controller,
since it was erroneously getting a visualization_msgs dependency
from nav2_core.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 nav2_core/CMakeLists.txt                | 66 ++++++++++++++++---------
 nav2_core/package.xml                   | 15 ++----
 nav2_graceful_controller/CMakeLists.txt |  2 +
 nav2_graceful_controller/package.xml    |  1 +
 4 files changed, 52 insertions(+), 32 deletions(-)

diff --git a/nav2_core/CMakeLists.txt b/nav2_core/CMakeLists.txt
index 988f940864..1d0e6b724f 100644
--- a/nav2_core/CMakeLists.txt
+++ b/nav2_core/CMakeLists.txt
@@ -2,36 +2,47 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_core)
 
 find_package(ament_cmake REQUIRED)
-find_package(nav2_common REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
-find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(nav2_behavior_tree REQUIRED)
+find_package(nav2_common REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(tf2_ros REQUIRED)
 find_package(nav2_util REQUIRED)
 find_package(nav_msgs REQUIRED)
-find_package(nav2_behavior_tree REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 nav2_package()
 
-set(dependencies
-  rclcpp
-  rclcpp_lifecycle
-  std_msgs
-  geometry_msgs
-  nav2_costmap_2d
-  pluginlib
-  visualization_msgs
-  nav_msgs
-  tf2_ros
-  nav2_util
-  nav2_behavior_tree
+add_library(nav2_core INTERFACE)
+target_include_directories(nav2_core
+  INTERFACE
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(nav2_core INTERFACE
+  ${geometry_msgs_TARGETS}
+  nav2_behavior_tree::nav2_behavior_tree
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_costmap_2d::nav2_costmap_2d_client
+  nav2_util::nav2_util_core
+  ${nav_msgs_TARGETS}
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  tf2_ros::tf2_ros
+)
+
+install(TARGETS nav2_core
+  EXPORT nav2_core
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
@@ -41,7 +52,18 @@ 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
+  nav2_behavior_tree
+  nav2_costmap_2d
+  nav2_util
+  nav_msgs
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  tf2_ros
+)
+ament_export_targets(nav2_core)
 
 ament_package()
diff --git a/nav2_core/package.xml b/nav2_core/package.xml
index 07a09b2737..55e94f1b9f 100644
--- a/nav2_core/package.xml
+++ b/nav2_core/package.xml
@@ -11,23 +11,18 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>
 
-  <depend>rclcpp</depend>
-  <depend>rclcpp_lifecycle</depend>
-  <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>nav2_behavior_tree</depend>
   <depend>nav2_costmap_2d</depend>
-  <depend>pluginlib</depend>
+  <depend>nav2_util</depend>
   <depend>nav_msgs</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
   <depend>tf2_ros</depend>
-  <depend>nav2_util</depend>
-  <depend>nav2_behavior_tree</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>
-  <test_depend>launch</test_depend>
-  <test_depend>launch_testing</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nav2_graceful_controller/CMakeLists.txt b/nav2_graceful_controller/CMakeLists.txt
index 11a6b89e0b..9cec5b9204 100644
--- a/nav2_graceful_controller/CMakeLists.txt
+++ b/nav2_graceful_controller/CMakeLists.txt
@@ -14,6 +14,7 @@ find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(nav_2d_utils REQUIRED)
 find_package(angles REQUIRED)
+find_package(visualization_msgs REQUIRED)
 
 nav2_package()
 
@@ -33,6 +34,7 @@ set(dependencies
   tf2_geometry_msgs
   nav_2d_utils
   angles
+  visualization_msgs
 )
 
 # Add Smooth Control Law as library
diff --git a/nav2_graceful_controller/package.xml b/nav2_graceful_controller/package.xml
index 4fadf93747..b6deb17b72 100644
--- a/nav2_graceful_controller/package.xml
+++ b/nav2_graceful_controller/package.xml
@@ -21,6 +21,7 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>nav_2d_utils</depend>
   <depend>angles</depend>
+  <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>