From ce2e6b66e94fbb73a7d5bff3a42e23fc4137f642 Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Mon, 20 May 2024 12:53:39 +0000
Subject: [PATCH] Update nav2_behaviors to use modern CMake idioms.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 nav2_behaviors/CMakeLists.txt      | 210 ++++++++++++++++++++---------
 nav2_behaviors/package.xml         |  39 ++----
 nav2_behaviors/test/CMakeLists.txt |   5 +-
 3 files changed, 159 insertions(+), 95 deletions(-)

diff --git a/nav2_behaviors/CMakeLists.txt b/nav2_behaviors/CMakeLists.txt
index df200309d9..d1085c038a 100644
--- a/nav2_behaviors/CMakeLists.txt
+++ b/nav2_behaviors/CMakeLists.txt
@@ -2,89 +2,140 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_behaviors)
 
 find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(nav2_common REQUIRED)
+find_package(nav2_core REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
 find_package(rclcpp_components REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(nav2_behavior_tree REQUIRED)
-find_package(nav2_util REQUIRED)
-find_package(nav2_msgs REQUIRED)
-find_package(nav_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(nav2_costmap_2d REQUIRED)
-find_package(nav2_core REQUIRED)
-find_package(pluginlib REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 nav2_package()
 
-include_directories(
-  include
-)
-
 set(library_name behavior_server_core)
 set(executable_name behavior_server)
 
-set(dependencies
-  rclcpp
-  rclcpp_action
-  rclcpp_lifecycle
-  rclcpp_components
-  std_msgs
-  nav2_util
-  nav2_behavior_tree
-  nav2_msgs
-  nav_msgs
-  tf2
-  tf2_geometry_msgs
-  geometry_msgs
-  nav2_costmap_2d
-  nav2_core
-  pluginlib
-)
-
 # plugins
 add_library(nav2_spin_behavior SHARED
   plugins/spin.cpp
 )
-
-ament_target_dependencies(nav2_spin_behavior
-  ${dependencies}
+target_include_directories(nav2_spin_behavior
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(nav2_spin_behavior PUBLIC
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_client
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav2_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  tf2::tf2
+  tf2_ros::tf2_ros
+)
+target_link_libraries(nav2_spin_behavior PRIVATE
+  pluginlib::pluginlib
+  tf2_geometry_msgs::tf2_geometry_msgs
 )
 
 add_library(nav2_wait_behavior SHARED
-plugins/wait.cpp
+  plugins/wait.cpp
 )
-
-ament_target_dependencies(nav2_wait_behavior
-${dependencies}
+target_include_directories(nav2_wait_behavior
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(nav2_wait_behavior PUBLIC
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav2_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  tf2::tf2
+  tf2_ros::tf2_ros
 )
 
 add_library(nav2_drive_on_heading_behavior SHARED
   plugins/drive_on_heading.cpp
 )
-
-ament_target_dependencies(nav2_drive_on_heading_behavior
-  ${dependencies}
+target_include_directories(nav2_drive_on_heading_behavior
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(nav2_drive_on_heading_behavior PUBLIC
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav2_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  tf2::tf2
+  tf2_ros::tf2_ros
+)
+target_link_libraries(nav2_drive_on_heading_behavior PRIVATE
+  pluginlib::pluginlib
 )
 
 add_library(nav2_back_up_behavior SHARED
   plugins/back_up.cpp
 )
-
-ament_target_dependencies(nav2_back_up_behavior
-  ${dependencies}
+target_include_directories(nav2_back_up_behavior
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(nav2_back_up_behavior PUBLIC
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav2_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  tf2::tf2
+  tf2_ros::tf2_ros
+)
+target_link_libraries(nav2_back_up_behavior PRIVATE
+  pluginlib::pluginlib
 )
 
 add_library(nav2_assisted_teleop_behavior SHARED
   plugins/assisted_teleop.cpp
 )
-
-ament_target_dependencies(nav2_assisted_teleop_behavior
-  ${dependencies}
+target_include_directories(nav2_assisted_teleop_behavior
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(nav2_assisted_teleop_behavior PUBLIC
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav2_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${std_msgs_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+)
+target_link_libraries(nav2_assisted_teleop_behavior PRIVATE
+  pluginlib::pluginlib
 )
 
 pluginlib_export_plugin_description_file(nav2_core behavior_plugin.xml)
@@ -93,30 +144,41 @@ pluginlib_export_plugin_description_file(nav2_core behavior_plugin.xml)
 add_library(${library_name} SHARED
   src/behavior_server.cpp
 )
-
-ament_target_dependencies(${library_name}
-  ${dependencies}
+target_include_directories(${library_name}
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(${library_name} PUBLIC
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_client
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_util::nav2_util_core
+  pluginlib::pluginlib
+  rclcpp_lifecycle::rclcpp_lifecycle
+  tf2_ros::tf2_ros
+)
+target_link_libraries(${library_name} PRIVATE
+  rclcpp_components::component
 )
 
 # Executable
 add_executable(${executable_name}
   src/main.cpp
 )
-
-target_link_libraries(${executable_name} ${library_name})
-
-ament_target_dependencies(${executable_name}
-  ${dependencies}
-)
+target_link_libraries(${executable_name} PRIVATE rclcpp::rclcpp ${library_name})
 
 rclcpp_components_register_nodes(${library_name} "behavior_server::BehaviorServer")
 
-install(TARGETS ${library_name}
-                nav2_spin_behavior
-                nav2_wait_behavior
-                nav2_assisted_teleop_behavior
-                nav2_drive_on_heading_behavior
-                nav2_back_up_behavior
+install(
+  TARGETS
+    ${library_name}
+    nav2_spin_behavior
+    nav2_wait_behavior
+    nav2_assisted_teleop_behavior
+    nav2_drive_on_heading_behavior
+    nav2_back_up_behavior
+  EXPORT ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -127,7 +189,7 @@ install(TARGETS ${executable_name}
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(FILES behavior_plugin.xml
@@ -142,10 +204,13 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
   find_package(ament_cmake_gtest REQUIRED)
+  find_package(rclcpp_action 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}
   nav2_spin_behavior
   nav2_wait_behavior
@@ -153,5 +218,18 @@ ament_export_libraries(${library_name}
   nav2_drive_on_heading_behavior
   nav2_back_up_behavior
 )
-ament_export_dependencies(${dependencies})
+ament_export_dependencies(
+  geometry_msgs
+  nav2_core
+  nav2_costmap_2d
+  nav2_msgs
+  nav2_util
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  std_msgs
+  tf2
+  tf2_ros
+)
+ament_export_targets(${library_name})
 ament_package()
diff --git a/nav2_behaviors/package.xml b/nav2_behaviors/package.xml
index 7d33a91a05..2ef8566947 100644
--- a/nav2_behaviors/package.xml
+++ b/nav2_behaviors/package.xml
@@ -11,35 +11,24 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>
 
-  <build_depend>rclcpp</build_depend>
-  <build_depend>rclcpp_action</build_depend>
-  <build_depend>rclcpp_lifecycle</build_depend>
-  <build_depend>nav2_behavior_tree</build_depend>
-  <build_depend>nav2_util</build_depend>
-  <build_depend>nav2_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>tf2_geometry_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>nav2_costmap_2d</build_depend>
-  <build_depend>nav2_core</build_depend>
-  <build_depend>pluginlib</build_depend>
-
-  <exec_depend>rclcpp</exec_depend>
-  <exec_depend>rclcpp_action</exec_depend>
-  <exec_depend>rclcpp_lifecycle</exec_depend>
-  <exec_depend>nav2_behavior_tree</exec_depend>
-  <exec_depend>nav2_util</exec_depend>
-  <exec_depend>nav2_msgs</exec_depend>
-  <exec_depend>nav_msgs</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>nav2_costmap_2d</exec_depend>
-  <exec_depend>nav2_core</exec_depend>
-  <exec_depend>pluginlib</exec_depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav2_core</depend>
+  <depend>nav2_costmap_2d</depend>
+  <depend>nav2_msgs</depend>
+  <depend>nav2_util</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_geometry_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>rclcpp_action</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nav2_behaviors/test/CMakeLists.txt b/nav2_behaviors/test/CMakeLists.txt
index 9418db1571..6e170d7c80 100644
--- a/nav2_behaviors/test/CMakeLists.txt
+++ b/nav2_behaviors/test/CMakeLists.txt
@@ -1,7 +1,4 @@
 ament_add_gtest(test_behaviors
   test_behaviors.cpp
 )
-
-ament_target_dependencies(test_behaviors
-  ${dependencies}
-)
+target_link_libraries(test_behaviors rclcpp::rclcpp rclcpp_action::rclcpp_action ${nav2_msgs_TARGETS} ${library_name})