From eec5367d40edde8e12e97fa5cbb428e7778195e0 Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Mon, 20 May 2024 20:47:41 +0000
Subject: [PATCH] Switch nav2_planner to modern CMake idioms.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 nav2_planner/CMakeLists.txt                   | 97 ++++++++++---------
 .../include/nav2_planner/planner_server.hpp   |  1 -
 nav2_planner/package.xml                      | 23 ++---
 nav2_planner/src/planner_server.cpp           |  1 -
 nav2_planner/test/CMakeLists.txt              |  6 +-
 nav2_planner/test/test_dynamic_parameters.cpp |  4 +-
 6 files changed, 68 insertions(+), 64 deletions(-)

diff --git a/nav2_planner/CMakeLists.txt b/nav2_planner/CMakeLists.txt
index 197150837c..a5bce30e77 100644
--- a/nav2_planner/CMakeLists.txt
+++ b/nav2_planner/CMakeLists.txt
@@ -2,71 +2,62 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_planner)
 
 find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(lifecycle_msgs REQUIRED)
 find_package(nav2_common REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(visualization_msgs REQUIRED)
-find_package(nav2_util REQUIRED)
+find_package(nav2_core REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
 find_package(nav2_msgs REQUIRED)
+find_package(nav2_util 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(pluginlib REQUIRED)
-find_package(nav2_core REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 nav2_package()
 
-include_directories(
-  include
-)
-
 set(executable_name planner_server)
 set(library_name ${executable_name}_core)
 
-set(dependencies
-  rclcpp
-  rclcpp_action
-  rclcpp_lifecycle
-  rclcpp_components
-  std_msgs
-  visualization_msgs
-  nav2_util
-  nav2_msgs
-  nav_msgs
-  geometry_msgs
-  builtin_interfaces
-  tf2_ros
-  nav2_costmap_2d
-  pluginlib
-  nav2_core
-)
-
 add_library(${library_name} SHARED
   src/planner_server.cpp
 )
-
-ament_target_dependencies(${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
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav2_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  ${nav_msgs_TARGETS}
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  tf2_ros::tf2_ros
+)
+target_link_libraries(${library_name} PRIVATE
+  ${lifecycle_msgs_TARGETS}
+  rclcpp_components::component
+  tf2::tf2
 )
 
 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 ${library_name} rclcpp::rclcpp)
 
 rclcpp_components_register_nodes(${library_name} "nav2_planner::PlannerServer")
 
 install(TARGETS ${library_name}
+  EXPORT ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -77,17 +68,31 @@ install(TARGETS ${executable_name}
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 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(${dependencies})
+ament_export_dependencies(
+  geometry_msgs
+  nav2_core
+  nav2_costmap_2d
+  nav2_msgs
+  nav2_util
+  nav_msgs
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  tf2_ros
+)
+ament_export_targets(${library_name})
 ament_package()
diff --git a/nav2_planner/include/nav2_planner/planner_server.hpp b/nav2_planner/include/nav2_planner/planner_server.hpp
index bdffda281a..12e364c710 100644
--- a/nav2_planner/include/nav2_planner/planner_server.hpp
+++ b/nav2_planner/include/nav2_planner/planner_server.hpp
@@ -31,7 +31,6 @@
 #include "nav2_msgs/msg/costmap.hpp"
 #include "nav2_util/robot_utils.hpp"
 #include "nav2_util/simple_action_server.hpp"
-#include "visualization_msgs/msg/marker.hpp"
 #include "tf2_ros/transform_listener.h"
 #include "tf2_ros/create_timer_ros.h"
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
diff --git a/nav2_planner/package.xml b/nav2_planner/package.xml
index 397dd8ae1d..26de6cfa13 100644
--- a/nav2_planner/package.xml
+++ b/nav2_planner/package.xml
@@ -8,22 +8,23 @@
   <license>Apache-2.0</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>lifecycle_msgs</depend>
+  <depend>nav2_core</depend>
   <depend>nav2_costmap_2d</depend>
+  <depend>nav2_msgs</depend>
+  <depend>nav2_util</depend>
+  <depend>nav_msgs</depend>
   <depend>pluginlib</depend>
-  <depend>nav2_core</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
 
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index 6abeddd29b..d572360fc9 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -24,7 +24,6 @@
 #include <vector>
 #include <utility>
 
-#include "builtin_interfaces/msg/duration.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "nav2_util/costmap.hpp"
 #include "nav2_util/node_utils.hpp"
diff --git a/nav2_planner/test/CMakeLists.txt b/nav2_planner/test/CMakeLists.txt
index d415d906ef..a551d1208f 100644
--- a/nav2_planner/test/CMakeLists.txt
+++ b/nav2_planner/test/CMakeLists.txt
@@ -2,9 +2,9 @@
 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_util::nav2_util_core
+  rclcpp::rclcpp
+  ${rcl_interfaces_TARGETS}
 )
diff --git a/nav2_planner/test/test_dynamic_parameters.cpp b/nav2_planner/test/test_dynamic_parameters.cpp
index 8215e80e43..3dc3ab2b55 100644
--- a/nav2_planner/test/test_dynamic_parameters.cpp
+++ b/nav2_planner/test/test_dynamic_parameters.cpp
@@ -12,8 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License. Reserved.
 
-#include <math.h>
-
+#include <cmath>
 #include <memory>
 #include <string>
 #include <vector>
@@ -22,6 +21,7 @@
 #include "nav2_util/lifecycle_node.hpp"
 #include "nav2_planner/planner_server.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "rcl_interfaces/msg/set_parameters_result.hpp"
 
 class PlannerShim : public nav2_planner::PlannerServer
 {