refactor: Simplify CMake configuration by removing deprecated macros and updating compiler settings

Author: Woojin-Crive

CMakeLists.txt

@@ -1,82 +1,30 @@
-# Portions of this file are derived from ros2_control_cmake (Apache 2.0 License)
-# Copyright 2025 AIT - Austrian Institute of Technology GmbH
-# See the LICENSE file for details.
-
-cmake_minimum_required(VERSION 3.16)
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
 project(dynamixel_hardware_interface)
 
-# ==== Begin inlined content from ros2_control_cmake/cmake/ros2_control.cmake ====
-# Macro to extract GCC_MAJOR_VERSION and GCC_MINOR_VERSION
-macro(extract_gcc_version)
-  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    string(REPLACE "." ";" VERSION_LIST ${CMAKE_CXX_COMPILER_VERSION})
-    list(GET VERSION_LIST 0 GCC_MAJOR_VERSION)
-    list(GET VERSION_LIST 1 GCC_MINOR_VERSION)
-
-    message(STATUS "Detected GCC Version: ${CMAKE_CXX_COMPILER_VERSION} (Major: ${GCC_MAJOR_VERSION}, Minor: ${GCC_MINOR_VERSION})")
-
-    # Convert to a number to avoid string comparison issues
-    if(GCC_MAJOR_VERSION MATCHES "^[0-9]+$")
-      math(EXPR GCC_MAJOR_VERSION "${GCC_MAJOR_VERSION}")
-    endif()
-    if(GCC_MINOR_VERSION MATCHES "^[0-9]+$")
-      math(EXPR GCC_MINOR_VERSION "${GCC_MINOR_VERSION}")
-    endif()
-  endif()
-endmacro()
-
-# set compiler options depending on detected compiler
-macro(set_compiler_options)
-  if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-    add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                        -Werror=return-type -Werror=shadow -Werror=format
-                        -Werror=missing-braces)
-    message(STATUS "Compiler warnings enabled for ${CMAKE_CXX_COMPILER_ID}")
-
-    # https://docs.ros.org/en/rolling/How-To-Guides/Ament-CMake-Documentation.html#compiler-and-linker-options
-    if(NOT CMAKE_C_STANDARD)
-      set(CMAKE_C_STANDARD 99)
-    endif()
-    if(NOT CMAKE_CXX_STANDARD)
-      set(CMAKE_CXX_STANDARD 17)
-    endif()
-
-    # Extract major version if g++ is used
-    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-      extract_gcc_version()
-      if(DEFINED GCC_MAJOR_VERSION AND GCC_MAJOR_VERSION GREATER 10)
-        # GCC 11 introduced -Werror=range-loop-construct
-        add_compile_options(-Werror=range-loop-construct)
-      endif()
-    endif()
-  endif()
-endmacro()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-macro(export_windows_symbols)
-  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
-endmacro()
-# ==== End inlined content from ros2_control_cmake/cmake/ros2_control.cmake ====
-
-set_compiler_options()
-export_windows_symbols()
-
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-  hardware_interface
-  rclcpp
-  rclcpp_lifecycle
-  pluginlib
-  realtime_tools
-  dynamixel_sdk
-  std_srvs
-  dynamixel_interfaces
-)
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
+################################################################################
+# Find and load build settings from external packages
+################################################################################
 find_package(ament_cmake REQUIRED)
-foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
-  find_package(${Dependency} REQUIRED)
-endforeach()
+find_package(hardware_interface REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(realtime_tools REQUIRED)
+
+find_package(dynamixel_sdk REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(dynamixel_interfaces REQUIRED)
 
 ################################################################################
 # Build
@@ -88,37 +36,47 @@ add_library(
   src/dynamixel/dynamixel_info.cpp
   src/dynamixel/dynamixel.cpp
 )
-target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
-target_include_directories(${PROJECT_NAME} PUBLIC
+
+target_include_directories(
+  ${PROJECT_NAME}
+  PUBLIC
   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/dynamixel_hardware_interface>
   ${dynamixel_sdk_INCLUDE_DIRS}
+  ${hardware_interface_INCLUDE_DIRS}
+  ${realtime_tools_INCLUDE_DIRS}
+  ${rclcpp_lifecycle_INCLUDE_DIRS}
 )
 
-target_link_libraries(${PROJECT_NAME} PUBLIC
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC
   ${hardware_interface_TARGETS}
   pluginlib::pluginlib
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
-  realtime_tools::realtime_tools
   ${dynamixel_sdk_LIBRARIES}
   ${std_srvs_TARGETS}
   ${dynamixel_interfaces_TARGETS}
+  ${realtime_tools_TARGETS}
 )
 
 pluginlib_export_plugin_description_file(hardware_interface dynamixel_hardware_interface_plugin.xml)
 
-install(
-  DIRECTORY include/
-  DESTINATION include/dynamixel_hardware_interface
-)
+################################################################################
+# Install
+################################################################################
 install(TARGETS ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
+install(
+  DIRECTORY include/
+  DESTINATION include/dynamixel_hardware_interface
+)
+
 install(PROGRAMS
   scripts/create_udev_rules
   DESTINATION lib/${PROJECT_NAME}/
@@ -138,6 +96,19 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+################################################################################
+# Macro for ament package
+################################################################################
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_export_dependencies(
+  rclcpp
+  rclcpp_lifecycle
+  hardware_interface
+  pluginlib
+  dynamixel_sdk
+  dynamixel_interfaces
+)
+
 ament_package()