From a366ca2e784ba5091511a7d9c14be5c131b8f2eb Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Thu, 1 Aug 2024 16:39:30 -0400
Subject: [PATCH] Switch nav2_lifecycle_manager to modern CMake idioms. (#4588)

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 nav2_lifecycle_manager/CMakeLists.txt         | 74 +++++++++----------
 nav2_lifecycle_manager/package.xml            | 34 +++------
 .../src/lifecycle_manager_client.cpp          |  1 -
 nav2_lifecycle_manager/test/CMakeLists.txt    | 15 ++--
 4 files changed, 51 insertions(+), 73 deletions(-)

diff --git a/nav2_lifecycle_manager/CMakeLists.txt b/nav2_lifecycle_manager/CMakeLists.txt
index 5f4b3f3c23..85179764ee 100644
--- a/nav2_lifecycle_manager/CMakeLists.txt
+++ b/nav2_lifecycle_manager/CMakeLists.txt
@@ -2,70 +2,62 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_lifecycle_manager)
 
 find_package(ament_cmake REQUIRED)
+find_package(bondcpp REQUIRED)
+find_package(diagnostic_updater REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
 find_package(nav2_common REQUIRED)
 find_package(nav2_msgs REQUIRED)
 find_package(nav2_util REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
 find_package(rclcpp_components REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-find_package(bondcpp REQUIRED)
-find_package(diagnostic_updater REQUIRED)
 
 nav2_package()
 
-include_directories(
-  include
-)
-
 set(library_name ${PROJECT_NAME}_core)
 
 add_library(${library_name} SHARED
   src/lifecycle_manager.cpp
   src/lifecycle_manager_client.cpp
 )
-
-set(dependencies
-  geometry_msgs
-  lifecycle_msgs
-  nav2_msgs
-  nav2_util
-  rclcpp
-  rclcpp_action
-  rclcpp_lifecycle
-  rclcpp_components
-  std_msgs
-  std_srvs
-  tf2_geometry_msgs
-  bondcpp
-  diagnostic_updater
+target_include_directories(${library_name}
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
-
-ament_target_dependencies(${library_name}
-  ${dependencies}
+target_link_libraries(${library_name} PUBLIC
+  bondcpp::bondcpp
+  diagnostic_updater::diagnostic_updater
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+  rclcpp_action::rclcpp_action
+  ${std_srvs_TARGETS}
+)
+target_link_libraries(${library_name} PRIVATE
+  ${diagnostic_msgs_TARGETS}
+  ${lifecycle_msgs_TARGETS}
+  rclcpp_components::component
 )
 
 add_executable(lifecycle_manager
   src/main.cpp
 )
-
-target_link_libraries(lifecycle_manager
-  ${library_name}
+target_include_directories(lifecycle_manager
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
-
-ament_target_dependencies(lifecycle_manager
-  ${dependencies}
+target_link_libraries(lifecycle_manager PRIVATE
+  ${library_name}
+  rclcpp::rclcpp
 )
 
 rclcpp_components_register_nodes(${library_name} "nav2_lifecycle_manager::LifecycleManager")
 
-install(TARGETS
-  ${library_name}
+install(TARGETS ${library_name}
+  EXPORT ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -76,7 +68,7 @@ install(TARGETS
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
-install(DIRECTORY include/ DESTINATION include/)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -84,12 +76,16 @@ if(BUILD_TESTING)
 
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
+  find_package(rclcpp_lifecycle REQUIRED)
+
+  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(${dependencies})
+ament_export_dependencies(bondcpp diagnostic_updater nav2_util rclcpp rclcpp_action std_srvs)
+ament_export_targets(${library_name})
 
 ament_package()
diff --git a/nav2_lifecycle_manager/package.xml b/nav2_lifecycle_manager/package.xml
index 85dae758aa..f5c010075f 100644
--- a/nav2_lifecycle_manager/package.xml
+++ b/nav2_lifecycle_manager/package.xml
@@ -8,36 +8,24 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>lifecycle_msgs</build_depend>
-  <build_depend>nav2_msgs</build_depend>
-  <build_depend>nav2_util</build_depend>
-  <build_depend>rclcpp_action</build_depend>
-  <build_depend>rclcpp_lifecycle</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>std_srvs</build_depend>
-  <build_depend>tf2_geometry_msgs</build_depend>
-  <build_depend>bondcpp</build_depend>
   <build_depend>nav2_common</build_depend>
-  <build_depend>diagnostic_updater</build_depend>
 
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>lifecycle_msgs</exec_depend>
-  <exec_depend>nav2_msgs</exec_depend>
-  <exec_depend>nav2_util</exec_depend>
-  <exec_depend>rclcpp_action</exec_depend>
-  <exec_depend>rclcpp_lifecycle</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>std_srvs</exec_depend>
-  <exec_depend>bondcpp</exec_depend>
-  <exec_depend>tf2_geometry_msgs</exec_depend>
-  <exec_depend>diagnostic_updater</exec_depend>
+  <depend>bondcpp</depend>
+  <depend>diagnostic_updater</depend>
+  <depend>geometry_msgs</depend>
+  <depend>lifecycle_msgs</depend>
+  <depend>nav2_msgs</depend>
+  <depend>nav2_util</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_components</depend>
+  <depend>std_srvs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>rclcpp_lifecycle</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp b/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
index 123c69b58e..4f2f14ed54 100644
--- a/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
+++ b/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
@@ -19,7 +19,6 @@
 #include <string>
 #include <utility>
 
-#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "nav2_util/geometry_utils.hpp"
 
 namespace nav2_lifecycle_manager
diff --git a/nav2_lifecycle_manager/test/CMakeLists.txt b/nav2_lifecycle_manager/test/CMakeLists.txt
index 96cbaa5f7a..43692d9bf0 100644
--- a/nav2_lifecycle_manager/test/CMakeLists.txt
+++ b/nav2_lifecycle_manager/test/CMakeLists.txt
@@ -1,13 +1,11 @@
 ament_add_gtest_executable(test_lifecycle_gtest
   test_lifecycle_manager.cpp
 )
-
 target_link_libraries(test_lifecycle_gtest
   ${library_name}
-)
-
-ament_target_dependencies(test_lifecycle_gtest
-  ${dependencies}
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 ament_add_test(test_lifecycle
@@ -22,13 +20,10 @@ ament_add_test(test_lifecycle
 ament_add_gtest_executable(test_bond_gtest
   test_bond.cpp
 )
-
 target_link_libraries(test_bond_gtest
   ${library_name}
-)
-
-ament_target_dependencies(test_bond_gtest
-  ${dependencies}
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
 )
 
 ament_add_test(test_bond