From a1d383ab725eed8f954ef86efd4ee6067eb8554d Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Mon, 5 Aug 2024 19:53:09 +0000
Subject: [PATCH] Switch nav2_theta_star_planner to modern CMake idioms.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 nav2_theta_star_planner/CMakeLists.txt        | 82 +++++++++++--------
 nav2_theta_star_planner/package.xml           | 15 ++--
 nav2_theta_star_planner/src/theta_star.cpp    |  4 +
 .../src/theta_star_planner.cpp                |  4 +
 4 files changed, 63 insertions(+), 42 deletions(-)

diff --git a/nav2_theta_star_planner/CMakeLists.txt b/nav2_theta_star_planner/CMakeLists.txt
index 8cf8a28c35..de6778fe2b 100644
--- a/nav2_theta_star_planner/CMakeLists.txt
+++ b/nav2_theta_star_planner/CMakeLists.txt
@@ -2,80 +2,94 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_theta_star_planner)
 
 find_package(ament_cmake REQUIRED)
-find_package(builtin_interfaces 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(nav_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
+find_package(rcl_interfaces REQUIRED)
 find_package(tf2_ros REQUIRED)
 
-nav2_package() #Calls the nav2_package.cmake file
-add_compile_options(-O3)
-
-include_directories(
-  include
-)
+nav2_package()
 
 set(library_name ${PROJECT_NAME})
 
-set(dependencies ament_cmake
-  builtin_interfaces
-  nav2_common
-  nav2_core
-  nav2_costmap_2d
-  nav2_msgs
-  nav2_util
-  pluginlib
-  rclcpp
-  rclcpp_action
-  rclcpp_lifecycle
-  tf2_ros
-)
-
-
 add_library(${library_name} SHARED
   src/theta_star.cpp
   src/theta_star_planner.cpp
 )
-
-ament_target_dependencies(${library_name} ${dependencies})
-
-target_compile_definitions(${library_name} PUBLIC "PLUGINLIB_DISABLE_BOOST_FUNCTIONS")
+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
+  pluginlib::pluginlib
+)
+target_compile_options(${library_name} PRIVATE -O3)
 
 pluginlib_export_plugin_description_file(nav2_core theta_star_planner.xml)
 
 install(TARGETS ${library_name}
+  EXPORT ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(FILES theta_star_planner.xml
   DESTINATION share/${PROJECT_NAME}
 )
 
-
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   set(gtest_disable_pthreads OFF)
   ament_lint_auto_find_test_dependencies()
+
   find_package(ament_cmake_gtest REQUIRED)
+
+  ament_find_gtest()
+
   ament_add_gtest(test_theta_star test/test_theta_star.cpp)
-  ament_target_dependencies(test_theta_star ${dependencies})
-  target_link_libraries(test_theta_star ${library_name})
+  target_link_libraries(test_theta_star
+    ${library_name}
+    ${geometry_msgs_TARGETS}
+    nav2_costmap_2d::nav2_costmap_2d_core
+    rclcpp::rclcpp
+    rclcpp_lifecycle::rclcpp_lifecycle
+  )
 endif()
 
 
-ament_export_include_directories(include)
+ament_export_include_directories(include/${PROJECT_NAME})
 ament_export_libraries(${library_name})
-ament_export_dependencies(${dependencies})
+ament_export_dependencies(
+  geometry_msgs
+  nav2_core
+  nav2_costmap_2dnav2_util
+  nav_msgs
+  rclcpp
+  rclcpp_lifecycle
+  rcl_interfaces
+  tf2_ros
+)
+ament_export_targets(${library_name})
 ament_package()
diff --git a/nav2_theta_star_planner/package.xml b/nav2_theta_star_planner/package.xml
index 0fcbd0e288..0da357b581 100644
--- a/nav2_theta_star_planner/package.xml
+++ b/nav2_theta_star_planner/package.xml
@@ -9,26 +9,25 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
-  <depend>builtin_interfaces</depend>
-  <depend>nav2_common</depend>
+  <depend>geometry_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>rclcpp</depend>
-  <depend>rclcpp_action</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>rcl_interfaces</depend>
   <depend>tf2_ros</depend>
-  
+
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
-  
+
   <export>
     <build_type>ament_cmake</build_type>
     <nav2_core plugin="${prefix}/global_planner_plugin.xml"/>
   </export>
 </package>
-
diff --git a/nav2_theta_star_planner/src/theta_star.cpp b/nav2_theta_star_planner/src/theta_star.cpp
index ba3629bcbf..48a3f6c1bd 100644
--- a/nav2_theta_star_planner/src/theta_star.cpp
+++ b/nav2_theta_star_planner/src/theta_star.cpp
@@ -12,7 +12,11 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
+#include <functional>
 #include <vector>
+
+#include "geometry_msgs/msg/pose_stamped.hpp"
+
 #include "nav2_core/planner_exceptions.hpp"
 #include "nav2_theta_star_planner/theta_star.hpp"
 
diff --git a/nav2_theta_star_planner/src/theta_star_planner.cpp b/nav2_theta_star_planner/src/theta_star_planner.cpp
index 24f2b81000..5d14368cc0 100644
--- a/nav2_theta_star_planner/src/theta_star_planner.cpp
+++ b/nav2_theta_star_planner/src/theta_star_planner.cpp
@@ -15,6 +15,10 @@
 #include <vector>
 #include <memory>
 #include <string>
+
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "rclcpp/rclcpp.hpp"
+
 #include "nav2_theta_star_planner/theta_star_planner.hpp"
 #include "nav2_theta_star_planner/theta_star.hpp"