revert changes

Author: facontidavide

CMakeLists.txt

@@ -63,13 +63,8 @@ endif()
 find_package(Threads)
 find_package(ZMQ)
 
-list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES
-    ${CMAKE_THREAD_LIBS_INIT}
-    ${CMAKE_DL_LIBS}
-)
-
 if( ZMQ_FOUND )
-    message(STATUS "ZeroMQ found.")
+    message(STATUS "ZeroMQ: found.")
     add_definitions( -DZMQ_FOUND )
     list(APPEND BT_SOURCE src/loggers/bt_zmq_publisher.cpp)
 else()
@@ -93,8 +88,6 @@ if ( ament_cmake_FOUND )
     message(STATUS "BehaviourTree is being built using AMENT.")
     message(STATUS "------------------------------------------")
 
-    set(BUILD_TOOL_INCLUDE_DIRS ${ament_INCLUDE_DIRS})
-
 elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
 
     set(catkin_FOUND 1)
@@ -112,9 +105,6 @@ elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
         CATKIN_DEPENDS roslib
         )
 
-    list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${catkin_LIBRARIES})
-    set(BUILD_TOOL_INCLUDE_DIRS ${catkin_INCLUDE_DIRS})
-
 elseif(BTCPP_UNIT_TESTS)
     if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
         find_package(GTest REQUIRED)
@@ -177,11 +167,8 @@ list(APPEND BT_SOURCE
 if(BTCPP_MANUAL_SELECTOR)
     find_package(Curses QUIET)
     if(CURSES_FOUND)
-        list(APPEND BT_SOURCE
-            src/controls/manual_node.cpp
-            )
-        list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${CURSES_LIBRARIES})
-        add_definitions(-DNCURSES_FOUND)
+        message(STATUS "NCurses: found.")
+        list(APPEND BT_SOURCE src/controls/manual_node.cpp )
     else()
         message(WARNING "NCurses NOT found. Skipping the build of manual selector node.")
     endif()
@@ -206,15 +193,11 @@ else()
     add_library(${BEHAVIOR_TREE_LIBRARY} STATIC ${BT_SOURCE})
 endif()
 
-if( ZMQ_FOUND )
-    list(APPEND BUILD_TOOL_INCLUDE_DIRS ${ZMQ_INCLUDE_DIRS})
-endif()
-
 target_link_libraries(${BEHAVIOR_TREE_LIBRARY}
     PUBLIC
-        ${BEHAVIOR_TREE_PUBLIC_LIBRARIES}
+        ${CMAKE_THREAD_LIBS_INIT}
+        ${CMAKE_DL_LIBS}
     PRIVATE
-        $<BUILD_INTERFACE:${ZMQ_LIBRARIES}>
         $<BUILD_INTERFACE:foonathan::lexy>
 )
 
@@ -225,22 +208,35 @@ target_include_directories(${BEHAVIOR_TREE_LIBRARY}
     PRIVATE
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/lexy/include>
-        $<BUILD_INTERFACE:${BUILD_TOOL_INCLUDE_DIRS}>
+        $<BUILD_INTERFACE:${BTCPP_EXTRA_INCLUDE_DIRS}>
     )
 
-if(DEFINED BT_COROUTINES_FOUND)
+if(ZMQ_FOUND)
     target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
-        $<BUILD_INTERFACE:${Boost_LIBRARIES}> )
-target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
-        $<BUILD_INTERFACE:${Boost_INCLUDE_DIRS}> )
+        ${ZMQ_LIBRARIES} )
+    target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${ZMQ_INCLUDE_DIRS} )
+    target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE ZMQ_FOUND)
 endif()
 
-target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
+if(BT_COROUTINES_FOUND)
+    target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${Boost_LIBRARIES} )
+    target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${Boost_INCLUDE_DIRS} )
+endif()
 
-if( ZMQ_FOUND )
-    target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PUBLIC ZMQ_FOUND)
+if(CURSES_FOUND)
+    target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${CURSES_LIBRARIES} )
+    target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${CURSES_INCLUDE_DIRS} )
+    target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE NCURSES_FOUND)
 endif()
 
+
+target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
+
 if(MSVC)
 else()
     target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE
@@ -255,7 +251,7 @@ if(ament_cmake_FOUND)
         $<BUILD_INTERFACE:${ament_index_cpp_INCLUDE_DIRS}> )
 
     target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
-            $<BUILD_INTERFACE:ament_index_cpp::ament_index_cpp> )
+        $<BUILD_INTERFACE:ament_index_cpp::ament_index_cpp> )
 
     ament_export_dependencies(ament_index_cpp)
 
@@ -267,6 +263,13 @@ if(ament_cmake_FOUND)
     ament_export_libraries(${BEHAVIOR_TREE_LIBRARY})
     ament_package()
 elseif(catkin_FOUND)
+
+    target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${catkin_INCLUDE_DIRS} )
+
+    target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${catkin_LIBRARIES} )
+
     set( BEHAVIOR_TREE_LIB_DESTINATION   ${CATKIN_PACKAGE_LIB_DESTINATION} )
     set( BEHAVIOR_TREE_INC_DESTINATION   ${CATKIN_GLOBAL_INCLUDE_DESTINATION} )
     set( BEHAVIOR_TREE_BIN_DESTINATION   ${CATKIN_GLOBAL_BIN_DESTINATION} )