fix ament deprecation

Author: mosfet80

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 project(moveit_visual_tools)
 
 find_package(moveit_common REQUIRED)
@@ -20,20 +20,6 @@ find_package(tf2_ros REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-  Boost
-  geometry_msgs
-  graph_msgs
-  moveit_core
-  moveit_ros_planning
-  rclcpp
-  rviz_visual_tools
-  std_msgs
-  tf2_eigen
-  tf2_ros
-  trajectory_msgs
-  visualization_msgs
-)
 
 # Visualization Tools Library
 add_library(${PROJECT_NAME} SHARED
@@ -46,7 +32,61 @@ target_include_directories(${PROJECT_NAME}
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   PUBLIC $<INSTALL_INTERFACE:include>
 )
-ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+target_link_libraries(moveit_visual_tools PUBLIC
+      ${geometry_msgs_TARGETS}
+      ${graph_msgs_TARGETS}
+      ${std_msgs_TARGETS}
+      ${trajectory_msgs_TARGETS}
+      ${visualization_msgs_TARGETS}
+      moveit_core::moveit_collision_detection
+      moveit_core::moveit_collision_detection_bullet
+      moveit_core::moveit_collision_detection_fcl
+      moveit_core::moveit_collision_distance_field
+      moveit_core::moveit_constraint_samplers
+      moveit_core::moveit_distance_field
+      moveit_core::moveit_dynamics_solver
+      moveit_core::moveit_exceptions
+      moveit_core::moveit_kinematic_constraints
+      moveit_core::moveit_kinematics_base
+      moveit_core::moveit_kinematics_metrics
+      moveit_core::moveit_macros
+      moveit_core::moveit_planning_interface
+      moveit_core::moveit_planning_scene
+      moveit_core::moveit_robot_model
+      moveit_core::moveit_robot_state
+      moveit_core::moveit_robot_trajectory
+      moveit_core::moveit_smoothing_base
+      moveit_core::moveit_test_utils
+      moveit_core::moveit_trajectory_processing
+      moveit_core::moveit_transforms
+      moveit_core::moveit_utils
+      moveit_ros_planning::default_request_adapter_parameters
+      moveit_ros_planning::default_response_adapter_parameters
+      moveit_ros_planning::kinematics_parameters
+      moveit_ros_planning::moveit_collision_plugin_loader
+      moveit_ros_planning::moveit_constraint_sampler_manager_loader
+      moveit_ros_planning::moveit_cpp
+      moveit_ros_planning::moveit_kinematics_plugin_loader
+      moveit_ros_planning::moveit_plan_execution
+      moveit_ros_planning::moveit_planning_pipeline
+      moveit_ros_planning::moveit_planning_pipeline_interfaces
+      moveit_ros_planning::moveit_planning_scene_monitor
+      moveit_ros_planning::moveit_rdf_loader
+      moveit_ros_planning::moveit_robot_model_loader
+      moveit_ros_planning::moveit_trajectory_execution_manager
+      moveit_ros_planning::planning_pipeline_parameters
+      moveit_ros_planning::srdf_publisher_node
+      rclcpp::rclcpp
+      rviz_visual_tools::rviz_visual_tools
+      rviz_visual_tools::rviz_visual_tools_gui
+      rviz_visual_tools::rviz_visual_tools_imarker_simple
+      rviz_visual_tools::rviz_visual_tools_remote_control
+      tf2_eigen::tf2_eigen
+      tf2_ros::static_transform_broadcaster_node
+      tf2_ros::tf2_ros
+    )
+
 
 # Demo executable
 add_executable(${PROJECT_NAME}_demo
@@ -55,12 +95,11 @@ add_executable(${PROJECT_NAME}_demo
 target_link_libraries(${PROJECT_NAME}_demo
   ${PROJECT_NAME}
 )
-ament_target_dependencies(${PROJECT_NAME}_demo ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
 
 # Exports
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+
 
 #############
 ## Install ##