From 7ca511ef698340c05551f777ca1f07618849770f Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Mon, 20 May 2024 20:40:06 +0000
Subject: [PATCH] Switch nav2_navfn_planner to modern CMake idioms.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 nav2_navfn_planner/CMakeLists.txt      | 81 ++++++++++++++------------
 nav2_navfn_planner/package.xml         | 17 +++---
 nav2_navfn_planner/test/CMakeLists.txt |  7 ++-
 3 files changed, 54 insertions(+), 51 deletions(-)

diff --git a/nav2_navfn_planner/CMakeLists.txt b/nav2_navfn_planner/CMakeLists.txt
index 624c5168e3..478756e287 100644
--- a/nav2_navfn_planner/CMakeLists.txt
+++ b/nav2_navfn_planner/CMakeLists.txt
@@ -2,66 +2,58 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_navfn_planner)
 
 find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(nav2_common REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(visualization_msgs REQUIRED)
-find_package(nav2_util REQUIRED)
 find_package(nav2_core REQUIRED)
-find_package(nav2_msgs REQUIRED)
-find_package(nav_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(tf2_ros REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 nav2_package()
 
-include_directories(
-  include
-)
-
 set(library_name nav2_navfn_planner)
 
-set(dependencies
-  rclcpp
-  rclcpp_action
-  rclcpp_lifecycle
-  std_msgs
-  visualization_msgs
-  nav2_util
-  nav2_msgs
-  nav_msgs
-  geometry_msgs
-  builtin_interfaces
-  tf2_ros
-  nav2_costmap_2d
-  nav2_core
-  pluginlib
-)
-
 add_library(${library_name} SHARED
   src/navfn_planner.cpp
   src/navfn.cpp
 )
-
-ament_target_dependencies(${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
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_util::nav2_util_core
+  ${nav_msgs_TARGETS}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  tf2_ros::tf2_ros
+)
+target_link_libraries(${library_name} PRIVATE
+  ${builtin_interfaces_TARGETS}
+  pluginlib::pluginlib
 )
 
 pluginlib_export_plugin_description_file(nav2_core global_planner_plugin.xml)
 
 install(TARGETS ${library_name}
+  EXPORT ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(FILES global_planner_plugin.xml
@@ -72,10 +64,23 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest 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})
-ament_export_dependencies(${dependencies})
+ament_export_dependencies(
+  geometry_msgs
+  nav2_core
+  nav2_costmap_2d
+  nav2_util
+  nav_msgs
+  rclcpp
+  rclcpp_lifecycle
+  rcl_interfaces
+  tf2_ros
+)
+ament_export_targets(${library_name})
 ament_package()
diff --git a/nav2_navfn_planner/package.xml b/nav2_navfn_planner/package.xml
index 2a9d1ce66a..9ad576e5ab 100644
--- a/nav2_navfn_planner/package.xml
+++ b/nav2_navfn_planner/package.xml
@@ -10,21 +10,18 @@
   <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
-  <depend>rclcpp</depend>
-  <depend>rclcpp_action</depend>
-  <depend>rclcpp_lifecycle</depend>
-  <depend>visualization_msgs</depend>
-  <depend>nav2_util</depend>
-  <depend>nav2_msgs</depend>
-  <depend>nav_msgs</depend>
-  <depend>geometry_msgs</depend>
   <depend>builtin_interfaces</depend>
-  <depend>nav2_common</depend>
-  <depend>tf2_ros</depend>
+  <depend>geometry_msgs</depend>
   <depend>nav2_costmap_2d</depend>
   <depend>nav2_core</depend>
+  <depend>nav2_util</depend>
+  <depend>nav_msgs</depend>
   <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>tf2_ros</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/nav2_navfn_planner/test/CMakeLists.txt b/nav2_navfn_planner/test/CMakeLists.txt
index d415d906ef..5ce1aa12f9 100644
--- a/nav2_navfn_planner/test/CMakeLists.txt
+++ b/nav2_navfn_planner/test/CMakeLists.txt
@@ -2,9 +2,10 @@
 ament_add_gtest(test_dynamic_parameters
   test_dynamic_parameters.cpp
 )
-ament_target_dependencies(test_dynamic_parameters
-  ${dependencies}
-)
 target_link_libraries(test_dynamic_parameters
   ${library_name}
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )