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Replace ament_target_dependencies with target_link_libraries #1039

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Replace ament_target_dependencies with target_link_libraries #1039

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42 changes: 28 additions & 14 deletions webots_ros2_control/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -50,14 +50,21 @@ target_include_directories(
${PROJECT_NAME}
PRIVATE
include
${webots_ros2_driver_INCLUDE_DIRS}
)
ament_target_dependencies(
${PROJECT_NAME}
hardware_interface
controller_manager
pluginlib
rclcpp
webots_ros2_driver
target_link_libraries(${PROJECT_NAME}
PUBLIC
hardware_interface::hardware_interface
controller_manager::controller_manager
pluginlib::pluginlib
rclcpp::rclcpp
webots_ros2_driver::webots_ros2_driver_imu
webots_ros2_driver::webots_ros2_driver_rgbd
)
target_link_directories(${PROJECT_NAME}
PUBLIC
${CMAKE_INSTALL_PREFIX}/lib/controller
${CMAKE_INSTALL_PREFIX}/../webots_ros2_driver/lib/controller
Comment on lines +66 to +67
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@ahcorde ahcorde Jun 11, 2025

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not sure about this patch

)

# Prevent pluginlib from using boost
Expand All @@ -74,14 +81,21 @@ target_include_directories(
${PROJECT_NAME}_system
PRIVATE
include
${webots_ros2_driver_INCLUDE_DIRS}
)
ament_target_dependencies(
${PROJECT_NAME}_system
hardware_interface
pluginlib
rclcpp
rclcpp_lifecycle
webots_ros2_driver
target_link_libraries(${PROJECT_NAME}_system
PUBLIC
hardware_interface::hardware_interface
pluginlib::pluginlib
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
webots_ros2_driver::webots_ros2_driver_imu
webots_ros2_driver::webots_ros2_driver_rgbd
)
target_link_directories(${PROJECT_NAME}_system
PUBLIC
${CMAKE_INSTALL_PREFIX}/lib/controller
${CMAKE_INSTALL_PREFIX}/../webots_ros2_driver/lib/controller
)

# Prevent pluginlib from using boost
Expand Down
2 changes: 1 addition & 1 deletion webots_ros2_control/src/Ros2Control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ namespace webots_ros2_control {

WebotsResourceManager(const WebotsResourceManager &) = delete;

bool load_and_initialize_components(const std::string &urdf, unsigned int update_rate) override {
bool load_and_initialize_components(const std::string &urdf, unsigned int /* update_rate */) override {
components_are_loaded_and_initialized_ = true;

std::vector<hardware_interface::HardwareInfo> controlHardware;
Expand Down
65 changes: 32 additions & 33 deletions webots_ros2_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -108,27 +108,24 @@ add_executable(driver
src/utils/Math.cpp
src/utils/Utils.cpp
)
ament_target_dependencies(driver
rosgraph_msgs
rclcpp
pluginlib
sensor_msgs
std_msgs
tf2_geometry_msgs
tf2_ros
vision_msgs
webots_ros2_msgs
tinyxml2_vendor
TinyXML2
)
add_dependencies(driver
compile-lib-vehicle
)
target_link_libraries(driver
${rosgraph_msgs_TARGETS}
rclcpp::rclcpp
pluginlib::pluginlib
${sensor_msgs_TARGETS}
${std_msgs_TARGETS}
tf2_geometry_msgs::tf2_geometry_msgs
tf2_ros::tf2_ros
${vision_msgs_TARGETS}
${webots_ros2_msgs_TARGETS}
tinyxml2::tinyxml2
${WEBOTS_LIB}
${Python_LIBRARIES}
yaml-cpp
)
add_dependencies(driver
compile-lib-vehicle
)
install(
DIRECTORY include/
DESTINATION include
Expand All @@ -146,20 +143,19 @@ add_library(
src/plugins/Ros2SensorPlugin.cpp
src/utils/Utils.cpp
)
ament_target_dependencies(${PROJECT_NAME}_imu
rclcpp
sensor_msgs
webots_ros2_msgs
pluginlib
tf2_ros
target_link_libraries(${PROJECT_NAME}_imu
rclcpp::rclcpp
${sensor_msgs_TARGETS}
${webots_ros2_msgs_TARGETS}
pluginlib::pluginlib
tf2_ros::tf2_ros
${WEBOTS_LIB}
)
add_dependencies(${PROJECT_NAME}_imu
compile-lib-vehicle
)
target_link_libraries(${PROJECT_NAME}_imu
${WEBOTS_LIB}
)
install(TARGETS ${PROJECT_NAME}_imu
EXPORT export_${PROJECT_NAME}
RUNTIME DESTINATION bin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
Expand All @@ -174,19 +170,18 @@ add_library(
src/plugins/Ros2SensorPlugin.cpp
src/utils/Utils.cpp
)
ament_target_dependencies(${PROJECT_NAME}_rgbd
rclcpp
sensor_msgs
pluginlib
tf2_ros
target_link_libraries(${PROJECT_NAME}_rgbd
rclcpp::rclcpp
${sensor_msgs_TARGETS}
pluginlib::pluginlib
tf2_ros::tf2_ros
${WEBOTS_LIB}
)
add_dependencies(${PROJECT_NAME}_rgbd
compile-lib-vehicle
)
target_link_libraries(${PROJECT_NAME}_rgbd
${WEBOTS_LIB}
)
install(TARGETS ${PROJECT_NAME}_rgbd
EXPORT export_${PROJECT_NAME}
RUNTIME DESTINATION bin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
Expand Down Expand Up @@ -272,4 +267,8 @@ ament_export_libraries(
${PROJECT_NAME}_rgbd
${WEBOTS_LIB_PATH}
)

# Export modern CMake targets
ament_export_targets(export_${PROJECT_NAME})

ament_package()
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