From 9527d4037db8dcba31a61261c009f17767c49bc3 Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Mon, 20 May 2024 21:02:22 +0000
Subject: [PATCH] Switch nav2_regulated_pure_pursuit_controller to modern CMake
 idioms.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 .../CMakeLists.txt                            | 85 ++++++++++++-------
 .../package.xml                               | 14 +--
 .../test/CMakeLists.txt                       | 17 +++-
 3 files changed, 75 insertions(+), 41 deletions(-)

diff --git a/nav2_regulated_pure_pursuit_controller/CMakeLists.txt b/nav2_regulated_pure_pursuit_controller/CMakeLists.txt
index e0340a131c..91364c36bc 100644
--- a/nav2_regulated_pure_pursuit_controller/CMakeLists.txt
+++ b/nav2_regulated_pure_pursuit_controller/CMakeLists.txt
@@ -3,57 +3,61 @@ project(nav2_regulated_pure_pursuit_controller)
 
 find_package(ament_cmake REQUIRED)
 find_package(angles 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_util REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(std_msgs REQUIRED)
 find_package(tf2 REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 nav2_package()
-set(CMAKE_CXX_STANDARD 17)
-
-include_directories(
-  include
-)
-
-set(dependencies
-  rclcpp
-  geometry_msgs
-  nav2_costmap_2d
-  pluginlib
-  nav_msgs
-  angles
-  nav2_util
-  nav2_core
-  tf2
-  tf2_geometry_msgs
-)
 
 set(library_name nav2_regulated_pure_pursuit_controller)
 
 add_library(${library_name} SHARED
-        src/regulated_pure_pursuit_controller.cpp
-        src/collision_checker.cpp
-        src/parameter_handler.cpp
-        src/path_handler.cpp)
-
-ament_target_dependencies(${library_name}
-  ${dependencies}
+  src/regulated_pure_pursuit_controller.cpp
+  src/collision_checker.cpp
+  src/parameter_handler.cpp
+  src/path_handler.cpp)
+target_include_directories(${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}
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  ${std_msgs_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+)
+target_link_libraries(${library_name} PRIVATE
+  angles::angles
 )
 
 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}
 )
 
 if(BUILD_TESTING)
@@ -61,14 +65,31 @@ if(BUILD_TESTING)
   # the following line skips the linter which checks for copyrights
   set(ament_cmake_copyright_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
+
+  find_package(tf2_geometry_msgs 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(${dependencies})
+ament_export_dependencies(
+  geometry_msgs
+  nav2_core
+  nav2_costmap_2d
+  nav2_util
+  nav_msgs
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  rcl_interfaces
+  std_msgs
+  tf2
+  tf2_ros
+)
+ament_export_targets(${library_name})
 
 pluginlib_export_plugin_description_file(nav2_core nav2_regulated_pure_pursuit_controller.xml)
 
 ament_package()
-
diff --git a/nav2_regulated_pure_pursuit_controller/package.xml b/nav2_regulated_pure_pursuit_controller/package.xml
index e690351e19..ff4105b62e 100644
--- a/nav2_regulated_pure_pursuit_controller/package.xml
+++ b/nav2_regulated_pure_pursuit_controller/package.xml
@@ -9,22 +9,26 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
   <depend>angles</depend>
-  <depend>nav2_common</depend>
+  <depend>geometry_msgs</depend>
   <depend>nav2_core</depend>
-  <depend>nav2_util</depend>
   <depend>nav2_costmap_2d</depend>
-  <depend>rclcpp</depend>
-  <depend>geometry_msgs</depend>
   <depend>nav2_msgs</depend>
+  <depend>nav2_util</depend>
   <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>rcl_interfaces</depend>
+  <depend>std_msgs</depend>
   <depend>tf2</depend>
-  <depend>tf2_geometry_msgs</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>
+  <test_depend>tf2_geometry_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nav2_regulated_pure_pursuit_controller/test/CMakeLists.txt b/nav2_regulated_pure_pursuit_controller/test/CMakeLists.txt
index 3e8d4c5b0a..81ccfc4d28 100644
--- a/nav2_regulated_pure_pursuit_controller/test/CMakeLists.txt
+++ b/nav2_regulated_pure_pursuit_controller/test/CMakeLists.txt
@@ -3,13 +3,22 @@ ament_add_gtest(test_regulated_pp
   test_regulated_pp.cpp
   path_utils/path_utils.cpp
 )
-ament_target_dependencies(test_regulated_pp
-  ${dependencies}
-)
 target_link_libraries(test_regulated_pp
   ${library_name}
+  ${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
 )
 
 # Path utils test
 ament_add_gtest(test_path_utils path_utils/test_path_utils.cpp path_utils/path_utils.cpp)
-ament_target_dependencies(test_path_utils nav_msgs geometry_msgs tf2_geometry_msgs)
+target_link_libraries(test_path_utils
+  ${nav_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  tf2::tf2
+  tf2_geometry_msgs::tf2_geometry_msgs
+)