Stop using ament_target_dependencies.

point_cloud_transport/CMakeLists.txt

@@ -18,8 +18,9 @@ find_package(message_filters REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
-find_package(sensor_msgs REQUIRED)
 find_package(rcpputils REQUIRED)
+find_package(rmw REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
 # Build libpoint_cloud_transport
 add_library(${PROJECT_NAME}
@@ -40,23 +41,24 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${PROJECT_NAME} PUBLIC
   message_filters::message_filters
+  pluginlib::pluginlib
   rclcpp::rclcpp
+  rcpputils::rcpputils
+  rmw::rmw
   ${sensor_msgs_TARGETS}
-  rcpputils::rcpputils)
-target_link_libraries(${PROJECT_NAME} PRIVATE
-  pluginlib::pluginlib)
-
+)
 target_compile_definitions(${PROJECT_NAME} PRIVATE "POINT_CLOUD_TRANSPORT_BUILDING_DLL")
 
 # Build libpoint_cloud_transport_plugins
 add_library(${PROJECT_NAME}_plugins
   src/manifest.cpp
 )
 add_library(${PROJECT_NAME}::${PROJECT_NAME}_plugins ALIAS ${PROJECT_NAME}_plugins)
-
 target_link_libraries(${PROJECT_NAME}_plugins PRIVATE
   ${PROJECT_NAME}
-  pluginlib::pluginlib)
+  pluginlib::pluginlib
+  ${sensor_msgs_TARGETS}
+)
 
 add_library(pc_republish_node SHARED src/republish.cpp)
 target_link_libraries(pc_republish_node PRIVATE
@@ -106,7 +108,7 @@ ament_export_include_directories("include/${PROJECT_NAME}")
 
 ament_export_targets(export_${PROJECT_NAME})
 
-ament_export_dependencies(message_filters rclcpp sensor_msgs pluginlib rcpputils)
+ament_export_dependencies(message_filters rclcpp sensor_msgs pluginlib rcpputils rmw)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -121,67 +123,43 @@ if(BUILD_TESTING)
 
   ament_add_gtest(${PROJECT_NAME}-publisher test/test_publisher.cpp)
   if(TARGET ${PROJECT_NAME}-publisher)
-    target_link_libraries(${PROJECT_NAME}-publisher ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-publisher
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-publisher ${PROJECT_NAME} rclcpp::rclcpp)
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-codec test/test_point_cloud_codec.cpp)
   if(TARGET ${PROJECT_NAME}-codec)
-    target_link_libraries(${PROJECT_NAME}-codec ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-codec
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-codec ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-subscriber test/test_subscriber.cpp)
   if(TARGET ${PROJECT_NAME}-subscriber)
-    target_link_libraries(${PROJECT_NAME}-subscriber ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-subscriber
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-subscriber ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-message_passing test/test_message_passing.cpp)
   if(TARGET ${PROJECT_NAME}-message_passing)
-    target_link_libraries(${PROJECT_NAME}-message_passing ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-message_passing
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-message_passing ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-qos_override test/test_qos_override.cpp)
   if(TARGET ${PROJECT_NAME}-qos_override)
-    target_link_libraries(${PROJECT_NAME}-qos_override ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-qos_override
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-qos_override ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-remapping test/test_remapping.cpp)
   if(TARGET ${PROJECT_NAME}-remapping)
-    target_link_libraries(${PROJECT_NAME}-remapping ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-remapping
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-remapping ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-message-filter test/test_message_filter.cpp)
   if(TARGET ${PROJECT_NAME}-message-filter)
-    target_link_libraries(${PROJECT_NAME}-message-filter ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-message-filter
-      message_filters
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-message-filter
+      ${PROJECT_NAME} message_filters::message_filters rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-single_subscriber_publisher test/test_single_subscriber_publisher.cpp)
   if(TARGET ${PROJECT_NAME}-single_subscriber_publisher)
-    target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-single_subscriber_publisher
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 endif()
 

point_cloud_transport/include/point_cloud_transport/loader_fwds.hpp

@@ -32,18 +32,9 @@
 #ifndef POINT_CLOUD_TRANSPORT__LOADER_FWDS_HPP_
 #define POINT_CLOUD_TRANSPORT__LOADER_FWDS_HPP_
 
-
 #include <memory>
 
-
-// Forward-declare some classes most users shouldn't care about so that
-// point_cloud_transport.hpp doesn't bring them in.
-
-namespace pluginlib
-{
-template<class T>
-class ClassLoader;
-}  // namespace pluginlib
+#include "pluginlib/class_loader.hpp"
 
 namespace point_cloud_transport
 {
@@ -56,4 +47,5 @@ typedef std::shared_ptr<PubLoader> PubLoaderPtr;
 typedef pluginlib::ClassLoader<SubscriberPlugin> SubLoader;
 typedef std::shared_ptr<SubLoader> SubLoaderPtr;
 }  // namespace point_cloud_transport
+
 #endif  // POINT_CLOUD_TRANSPORT__LOADER_FWDS_HPP_

point_cloud_transport/include/point_cloud_transport/publisher.hpp

@@ -32,8 +32,8 @@
 #ifndef POINT_CLOUD_TRANSPORT__PUBLISHER_HPP_
 #define POINT_CLOUD_TRANSPORT__PUBLISHER_HPP_
 
-#include <string>
 #include <memory>
+#include <string>
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"

point_cloud_transport/package.xml

@@ -24,6 +24,7 @@
   <depend>rclcpp_components</depend>
   <depend>rclcpp</depend>
   <depend>rcpputils</depend>
+  <depend>rmw</depend>
   <depend>sensor_msgs</depend>
 
   <test_depend>ament_lint_common</test_depend>

point_cloud_transport/src/republish.cpp

@@ -42,13 +42,29 @@
 #include "point_cloud_transport/point_cloud_transport.hpp"
 #include "point_cloud_transport/publisher.hpp"
 #include "point_cloud_transport/publisher_plugin.hpp"
-#include "point_cloud_transport/republish.hpp"
 #include "point_cloud_transport/subscriber.hpp"
 
 using namespace std::chrono_literals;
 
 namespace point_cloud_transport
 {
+class Republisher : public rclcpp::Node
+{
+public:
+  //! Constructor
+  explicit Republisher(const rclcpp::NodeOptions & options);
+
+private:
+  void initialize();
+
+  std::shared_ptr<point_cloud_transport::PointCloudTransport> pct;
+  rclcpp::TimerBase::SharedPtr timer_;
+  bool initialized_{false};
+  point_cloud_transport::Subscriber sub;
+  std::shared_ptr<point_cloud_transport::PublisherPlugin> pub;
+  std::shared_ptr<point_cloud_transport::Publisher> simple_pub;
+};
+
 Republisher::Republisher(const rclcpp::NodeOptions & options)
 : Node("point_cloud_republisher", options)
 {

point_cloud_transport/test/test_subscriber.cpp

@@ -33,6 +33,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
 #include "point_cloud_transport/point_cloud_transport.hpp"
 
 class TestSubscriber : public ::testing::Test