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Use target_link_libraries instead of ament_target_dependencies #1697

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Merged
merged 1 commit into from
May 24, 2025
Merged

Use target_link_libraries instead of ament_target_dependencies #1697

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29 changes: 13 additions & 16 deletions ackermann_steering_controller/CMakeLists.txt
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,8 +40,15 @@ target_include_directories(ackermann_steering_controller PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
target_link_libraries(ackermann_steering_controller PUBLIC
ackermann_steering_controller_parameters)
ament_target_dependencies(ackermann_steering_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
ackermann_steering_controller_parameters
steering_controllers_library::steering_controllers_library
controller_interface::controller_interface
hardware_interface::hardware_interface
pluginlib::pluginlib
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
realtime_tools::realtime_tools
${std_srvs_TARGETS})

pluginlib_export_plugin_description_file(
controller_interface ackermann_steering_controller.xml)
Expand All @@ -55,10 +62,10 @@ if(BUILD_TESTING)

add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_ackermann_steering_controller test/test_load_ackermann_steering_controller.cpp)
ament_target_dependencies(test_load_ackermann_steering_controller
controller_manager
hardware_interface
ros2_control_test_assets
target_link_libraries(test_load_ackermann_steering_controller
controller_manager::controller_manager
hardware_interface::hardware_interface
ros2_control_test_assets::ros2_control_test_assets
)

add_rostest_with_parameters_gmock(test_ackermann_steering_controller
Expand All @@ -67,22 +74,12 @@ if(BUILD_TESTING)
)
target_include_directories(test_ackermann_steering_controller PRIVATE include)
target_link_libraries(test_ackermann_steering_controller ackermann_steering_controller)
ament_target_dependencies(
test_ackermann_steering_controller
controller_interface
hardware_interface
)

add_rostest_with_parameters_gmock(
test_ackermann_steering_controller_preceding test/test_ackermann_steering_controller_preceding.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_preceding_params.yaml)
target_include_directories(test_ackermann_steering_controller_preceding PRIVATE include)
target_link_libraries(test_ackermann_steering_controller_preceding ackermann_steering_controller)
ament_target_dependencies(
test_ackermann_steering_controller_preceding
controller_interface
hardware_interface
)
endif()

install(
Expand Down
42 changes: 27 additions & 15 deletions admittance_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -46,10 +46,26 @@ target_include_directories(admittance_controller PUBLIC
$<INSTALL_INTERFACE:include/admittance_controller>
)
target_link_libraries(admittance_controller PUBLIC
admittance_controller_parameters
Eigen3::Eigen
)
ament_target_dependencies(admittance_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
admittance_controller_parameters
Eigen3::Eigen
control_toolbox::control_toolbox
controller_interface::controller_interface
hardware_interface::hardware_interface
kinematics_interface::kinematics_interface
pluginlib::pluginlib
rclcpp::rclcpp
angles::angles
rclcpp_lifecycle::rclcpp_lifecycle
realtime_tools::realtime_tools
tf2::tf2
tf2_eigen::tf2_eigen
tf2_geometry_msgs::tf2_geometry_msgs
tf2_kdl::tf2_kdl
tf2_ros::tf2_ros
${geometry_msgs_TARGETS}
${trajectory_msgs_TARGETS}
${control_msgs_TARGETS}
${tf2_geometry_msgs_TARGETS})

pluginlib_export_plugin_description_file(controller_interface admittance_controller.xml)

Expand All @@ -64,24 +80,20 @@ if(BUILD_TESTING)
# test loading admittance controller
add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_admittance_controller test/test_load_admittance_controller.cpp)
ament_target_dependencies(test_load_admittance_controller
controller_manager
hardware_interface
ros2_control_test_assets
target_link_libraries(test_load_admittance_controller
controller_manager::controller_manager
hardware_interface::hardware_interface
ros2_control_test_assets::ros2_control_test_assets
)

# test admittance controller function
add_rostest_with_parameters_gmock(test_admittance_controller
test/test_admittance_controller.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/test_params.yaml
)
target_link_libraries(test_admittance_controller admittance_controller)
ament_target_dependencies(test_admittance_controller
control_msgs
controller_interface
hardware_interface
ros2_control_test_assets
)
target_link_libraries(test_admittance_controller
admittance_controller
ros2_control_test_assets::ros2_control_test_assets)
endif()

install(
Expand Down
29 changes: 13 additions & 16 deletions bicycle_steering_controller/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,8 +40,15 @@ target_include_directories(bicycle_steering_controller PUBLIC
"$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(bicycle_steering_controller PUBLIC
bicycle_steering_controller_parameters)
ament_target_dependencies(bicycle_steering_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
bicycle_steering_controller_parameters
steering_controllers_library::steering_controllers_library
controller_interface::controller_interface
hardware_interface::hardware_interface
pluginlib::pluginlib
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
realtime_tools::realtime_tools
${std_srvs_TARGETS})

pluginlib_export_plugin_description_file(
controller_interface bicycle_steering_controller.xml)
Expand All @@ -54,33 +61,23 @@ if(BUILD_TESTING)

add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_bicycle_steering_controller test/test_load_bicycle_steering_controller.cpp)
ament_target_dependencies(test_load_bicycle_steering_controller
controller_manager
hardware_interface
ros2_control_test_assets
target_link_libraries(test_load_bicycle_steering_controller
controller_manager::controller_manager
hardware_interface::hardware_interface
ros2_control_test_assets::ros2_control_test_assets
)

add_rostest_with_parameters_gmock(
test_bicycle_steering_controller test/test_bicycle_steering_controller.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_params.yaml)
target_include_directories(test_bicycle_steering_controller PRIVATE include)
target_link_libraries(test_bicycle_steering_controller bicycle_steering_controller)
ament_target_dependencies(
test_bicycle_steering_controller
controller_interface
hardware_interface
)

add_rostest_with_parameters_gmock(
test_bicycle_steering_controller_preceding test/test_bicycle_steering_controller_preceding.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_preceding_params.yaml)
target_include_directories(test_bicycle_steering_controller_preceding PRIVATE include)
target_link_libraries(test_bicycle_steering_controller_preceding bicycle_steering_controller)
ament_target_dependencies(
test_bicycle_steering_controller_preceding
controller_interface
hardware_interface
)
endif()

install(
Expand Down
31 changes: 16 additions & 15 deletions diff_drive_controller/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,8 +48,19 @@ target_include_directories(diff_drive_controller PUBLIC
target_link_libraries(diff_drive_controller
PUBLIC
diff_drive_controller_parameters
control_toolbox::rate_limiter_parameters)
ament_target_dependencies(diff_drive_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
control_toolbox::rate_limiter_parameters
control_toolbox::control_toolbox
controller_interface::controller_interface
hardware_interface::hardware_interface
pluginlib::pluginlib
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
rcpputils::rcpputils
realtime_tools::realtime_tools
tf2::tf2
${tf2_msgs_TARGETS}
${geometry_msgs_TARGETS}
${nav_msgs_TARGETS})
pluginlib_export_plugin_description_file(controller_interface diff_drive_plugin.xml)

if(BUILD_TESTING)
Expand All @@ -63,22 +74,12 @@ if(BUILD_TESTING)
target_link_libraries(test_diff_drive_controller
diff_drive_controller
)
ament_target_dependencies(test_diff_drive_controller
geometry_msgs
hardware_interface
nav_msgs
rclcpp
rclcpp_lifecycle
realtime_tools
tf2
tf2_msgs
)

add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
ament_add_gmock(test_load_diff_drive_controller test/test_load_diff_drive_controller.cpp)
ament_target_dependencies(test_load_diff_drive_controller
controller_manager
ros2_control_test_assets
target_link_libraries(test_load_diff_drive_controller
controller_manager::controller_manager
ros2_control_test_assets::ros2_control_test_assets
)
endif()

Expand Down
12 changes: 7 additions & 5 deletions effort_controllers/CMakeLists.txt
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,11 @@ target_include_directories(effort_controllers PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/effort_controllers>
)
ament_target_dependencies(effort_controllers PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(effort_controllers PUBLIC
forward_command_controller::forward_command_controller
pluginlib::pluginlib
rclcpp::rclcpp
)

pluginlib_export_plugin_description_file(controller_interface effort_controllers_plugins.xml)

Expand All @@ -39,10 +43,8 @@ if(BUILD_TESTING)
)
target_link_libraries(test_load_joint_group_effort_controller
effort_controllers
)
ament_target_dependencies(test_load_joint_group_effort_controller
controller_manager
ros2_control_test_assets
controller_manager::controller_manager
ros2_control_test_assets::ros2_control_test_assets
)

ament_add_gmock(test_joint_group_effort_controller
Expand Down
22 changes: 11 additions & 11 deletions force_torque_sensor_broadcaster/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,9 +35,14 @@ target_include_directories(force_torque_sensor_broadcaster PUBLIC
$<INSTALL_INTERFACE:include/force_torque_sensor_broadcaster>
)
target_link_libraries(force_torque_sensor_broadcaster PUBLIC
force_torque_sensor_broadcaster_parameters
)
ament_target_dependencies(force_torque_sensor_broadcaster PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
force_torque_sensor_broadcaster_parameters
controller_interface::controller_interface
hardware_interface::hardware_interface
pluginlib::pluginlib
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
realtime_tools::realtime_tools
${geometry_msgs_TARGETS})

pluginlib_export_plugin_description_file(
controller_interface force_torque_sensor_broadcaster.xml)
Expand All @@ -53,11 +58,9 @@ if(BUILD_TESTING)
target_include_directories(test_load_force_torque_sensor_broadcaster PRIVATE include)
target_link_libraries(test_load_force_torque_sensor_broadcaster
force_torque_sensor_broadcaster
)
ament_target_dependencies(test_load_force_torque_sensor_broadcaster
controller_manager
hardware_interface
ros2_control_test_assets
controller_manager::controller_manager
hardware_interface::hardware_interface
ros2_control_test_assets::ros2_control_test_assets
)

add_rostest_with_parameters_gmock(test_force_torque_sensor_broadcaster
Expand All @@ -67,9 +70,6 @@ if(BUILD_TESTING)
target_link_libraries(test_force_torque_sensor_broadcaster
force_torque_sensor_broadcaster
)
ament_target_dependencies(test_force_torque_sensor_broadcaster
hardware_interface
)
endif()

install(
Expand Down
27 changes: 13 additions & 14 deletions forward_command_controller/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,10 +42,15 @@ target_include_directories(forward_command_controller PUBLIC
$<INSTALL_INTERFACE:include/forward_command_controller>
)
target_link_libraries(forward_command_controller PUBLIC
forward_command_controller_parameters
multi_interface_forward_command_controller_parameters
)
ament_target_dependencies(forward_command_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
forward_command_controller_parameters
multi_interface_forward_command_controller_parameters
controller_interface::controller_interface
hardware_interface::hardware_interface
pluginlib::pluginlib
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
realtime_tools::realtime_tools
${std_msgs_TARGETS})
pluginlib_export_plugin_description_file(controller_interface forward_command_plugin.xml)

if(BUILD_TESTING)
Expand All @@ -58,11 +63,8 @@ if(BUILD_TESTING)
)
target_link_libraries(test_load_forward_command_controller
forward_command_controller
)
ament_target_dependencies(test_load_forward_command_controller
controller_manager
hardware_interface
ros2_control_test_assets
controller_manager::controller_manager
ros2_control_test_assets::ros2_control_test_assets
)

ament_add_gmock(test_forward_command_controller
Expand All @@ -77,11 +79,8 @@ if(BUILD_TESTING)
)
target_link_libraries(test_load_multi_interface_forward_command_controller
forward_command_controller
)
ament_target_dependencies(test_load_multi_interface_forward_command_controller
controller_manager
hardware_interface
ros2_control_test_assets
controller_manager::controller_manager
ros2_control_test_assets::ros2_control_test_assets
)

ament_add_gmock(test_multi_interface_forward_command_controller
Expand Down
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