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Merged
merged 3 commits into from
May 27, 2025
Merged

Replace ament_target_dependencies calls #1373

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5e46c20
Replace ament_target_dependencies calls
urfeex May 21, 2025
85438c9
Update ur_robot_driver/CMakeLists.txt
urfeex May 23, 2025
1a105ab
Merge branch 'main' into replace_ament_target_dependencies
urfeex May 26, 2025
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16 changes: 8 additions & 8 deletions ur_calibration/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(ur_robot_driver REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2_ros REQUIRED)

find_package(Eigen3 REQUIRED)
find_package(yaml_cpp_vendor REQUIRED)
Expand All @@ -31,14 +33,13 @@ add_library(calibration
target_include_directories(calibration
PUBLIC
include
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(calibration
ur_client_library::urcl
Eigen3::Eigen
yaml-cpp
)
ament_target_dependencies(calibration
rclcpp
ur_robot_driver
rclcpp::rclcpp
ur_robot_driver::ur_robot_driver_log_handler
)

add_executable(calibration_correction
Expand All @@ -49,9 +50,8 @@ target_include_directories(calibration_correction
include
)
target_link_libraries(calibration_correction
ur_client_library::urcl
)
target_link_libraries(calibration_correction
${sensor_msgs_TARGETS}
tf2_ros::tf2_ros
calibration
)

Expand Down
1 change: 0 additions & 1 deletion ur_calibration/src/calibration_correction.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,6 @@

#include "ur_robot_driver/urcl_log_handler.hpp"

#include "ament_index_cpp/get_package_share_directory.hpp"
#include "rclcpp/exceptions/exceptions.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
#include "tf2_ros/transform_listener.h"
Expand Down
34 changes: 22 additions & 12 deletions ur_controllers/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -113,10 +113,24 @@ target_link_libraries(${PROJECT_NAME}
freedrive_mode_controller_parameters
passthrough_trajectory_controller_parameters
ur_configuration_controller_parameters
)

ament_target_dependencies(${PROJECT_NAME}
${THIS_PACKAGE_INCLUDE_DEPENDS}
${geometry_msgs_TARGETS}
${lifecycle_msgs_TARGETS}
${std_msgs_TARGETS}
${std_srvs_TARGETS}
${tf2_geometry_msgs_TARGETS}
${ur_dashboard_msgs_TARGETS}
${control_msgs_TARGETS}
${trajectory_msgs_TARGETS}
${ur_msgs_TARGETS}
${action_msgs_TARGETS}
angles::angles
controller_interface::controller_interface
joint_trajectory_controller::joint_trajectory_controller
pluginlib::pluginlib
rclcpp_lifecycle::rclcpp_lifecycle
rcutils::rcutils
realtime_tools::realtime_tools
tf2_ros::tf2_ros
)

target_compile_options(${PROJECT_NAME} PRIVATE -Wpedantic -Werror)
Expand Down Expand Up @@ -163,20 +177,16 @@ if(BUILD_TESTING)
)
target_link_libraries(test_load_force_mode_controller
${PROJECT_NAME}
)
ament_target_dependencies(test_load_force_mode_controller
controller_manager
ros2_control_test_assets
controller_manager::controller_manager
ros2_control_test_assets::ros2_control_test_assets
)
ament_add_gmock(test_load_freedrive_mode_controller
test/test_load_freedrive_mode_controller.cpp
)
target_link_libraries(test_load_freedrive_mode_controller
${PROJECT_NAME}
)
ament_target_dependencies(test_load_freedrive_mode_controller
controller_manager
ros2_control_test_assets
controller_manager::controller_manager
ros2_control_test_assets::ros2_control_test_assets
)
endif()

Expand Down
112 changes: 78 additions & 34 deletions ur_robot_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@ find_package(geometry_msgs REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(rclpy REQUIRED)
find_package(std_msgs REQUIRED)
Expand All @@ -37,45 +38,47 @@ find_package(ur_msgs REQUIRED)

include_directories(include)

set(THIS_PACKAGE_INCLUDE_DEPENDS
controller_manager
controller_manager_msgs
geometry_msgs
hardware_interface
pluginlib
rclcpp
rclcpp_lifecycle
std_msgs
std_srvs
tf2_geometry_msgs
ur_client_library
ur_dashboard_msgs
ur_msgs
)

add_library(ur_robot_driver_plugin
SHARED
src/dashboard_client_ros.cpp
src/hardware_interface.cpp
src/urcl_log_handler.cpp
src/robot_state_helper.cpp
)
target_link_libraries(
ur_robot_driver_plugin
target_link_libraries(ur_robot_driver_plugin PUBLIC
${controller_manager_msgs_TARGETS}
${geometry_msgs_TARGETS}
${std_msgs_TARGETS}
${std_srvs_TARGETS}
${tf2_geometry_msgs_TARGETS}
${ur_dashboard_msgs_TARGETS}
${ur_msgs_TARGETS}
controller_manager::controller_manager
hardware_interface::hardware_interface
pluginlib::pluginlib
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
ur_client_library::urcl
)
target_include_directories(
ur_robot_driver_plugin
PRIVATE
include
)
ament_target_dependencies(
ur_robot_driver_plugin
${${PROJECT_NAME}_EXPORTED_TARGETS}
${THIS_PACKAGE_INCLUDE_DEPENDS}
)
pluginlib_export_plugin_description_file(hardware_interface hardware_interface_plugin.xml)

add_library(ur_robot_driver_log_handler
SHARED
src/urcl_log_handler.cpp
)
target_include_directories(ur_robot_driver_log_handler
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(ur_robot_driver_log_handler PUBLIC
rclcpp::rclcpp
ur_client_library::urcl
)

#
# dashboard_client
#
Expand All @@ -84,8 +87,12 @@ add_executable(dashboard_client
src/dashboard_client_node.cpp
src/urcl_log_handler.cpp
)
target_link_libraries(dashboard_client ur_client_library::urcl)
ament_target_dependencies(dashboard_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(dashboard_client PRIVATE
${std_srvs_TARGETS}
${ur_dashboard_msgs_TARGETS}
rclcpp::rclcpp
ur_client_library::urcl
)

#
# controller_stopper_node
Expand All @@ -94,7 +101,12 @@ add_executable(controller_stopper_node
src/controller_stopper.cpp
src/controller_stopper_node.cpp
)
ament_target_dependencies(controller_stopper_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(controller_stopper_node PRIVATE
${std_msgs_TARGETS}
${controller_manager_msgs_TARGETS}
rclcpp::rclcpp
ur_client_library::urcl
)

#
# robot_state_helper
Expand All @@ -104,36 +116,56 @@ add_executable(robot_state_helper
src/robot_state_helper_node.cpp
src/urcl_log_handler.cpp
)
target_link_libraries(robot_state_helper ur_client_library::urcl)
ament_target_dependencies(robot_state_helper ${${PROJECT_NAME}_EXPORTED_TARGETS} ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(robot_state_helper PUBLIC
${std_msgs_TARGETS}
${std_srvs_TARGETS}
${ur_dashboard_msgs_TARGETS}
rclcpp::rclcpp
rclcpp_action::rclcpp_action
ur_client_library::urcl
)

add_executable(urscript_interface
src/urscript_interface.cpp
)
ament_target_dependencies(urscript_interface ${${PROJECT_NAME}_EXPORTED_TARGETS} ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(urscript_interface
rclcpp::rclcpp
${std_msgs_TARGETS}
ur_client_library::urcl
)

install(
TARGETS dashboard_client controller_stopper_node urscript_interface robot_state_helper
TARGETS
dashboard_client
controller_stopper_node
urscript_interface
robot_state_helper
DESTINATION lib/${PROJECT_NAME}
)

# INSTALL
install(
TARGETS ur_robot_driver_plugin
TARGETS
ur_robot_driver_log_handler
ur_robot_driver_plugin
EXPORT export_${PROJECT_NAME}
DESTINATION lib
)
install(
DIRECTORY include/
DESTINATION include
DESTINATION include/${PROJECT_NAME}
)

## EXPORTS
ament_export_include_directories(
include
)
ament_export_libraries(
ur_robot_driver_log_handler
ur_robot_driver_plugin
)
# Export modern CMake targets
ament_export_targets(export_${PROJECT_NAME})

install(DIRECTORY resources
DESTINATION share/${PROJECT_NAME}
Expand All @@ -150,7 +182,19 @@ ament_export_dependencies(
pluginlib
rclcpp
rclcpp_lifecycle
${THIS_PACKAGE_INCLUDE_DEPENDS}
controller_manager
controller_manager_msgs
geometry_msgs
hardware_interface
pluginlib
rclcpp
rclcpp_lifecycle
std_msgs
std_srvs
tf2_geometry_msgs
ur_client_library
ur_dashboard_msgs
ur_msgs
)

# Install Python execs
Expand Down
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