Modernize CMakeLists (#688) (#697)

(cherry picked from commit 2e53b95)

Co-authored-by: Christoph Fröhlich <[email protected]>

Author: mergify[bot]

gz_ros2_control/CMakeLists.txt

@@ -17,6 +17,7 @@ find_package(controller_manager REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 
 find_package(gz_sim_vendor REQUIRED)
@@ -30,18 +31,23 @@ include_directories(include)
 add_library(${PROJECT_NAME}-system SHARED
   src/gz_ros2_control_plugin.cpp
 )
+add_library(${PROJECT_NAME}-system::${PROJECT_NAME}-system ALIAS ${PROJECT_NAME}-system)
 
 target_link_libraries(${PROJECT_NAME}-system
   PUBLIC
   gz-sim::gz-sim
   gz-plugin::register
   ament_index_cpp::ament_index_cpp
   controller_manager::controller_manager
-  hardware_interface::mock_components
-  pluginlib::pluginlib
+  hardware_interface::hardware_interface
+  ${pluginlib_TARGETS}
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
 )
+target_include_directories(${PROJECT_NAME}-system PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+)
 
 #########
 
@@ -51,22 +57,29 @@ add_library(gz_hardware_plugins SHARED
 target_link_libraries(gz_hardware_plugins
 PUBLIC
   gz-sim::gz-sim
-  hardware_interface::mock_components
+  hardware_interface::hardware_interface
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
 )
 
-## Install
+# Install headers
+install(DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+# Install library and export targets
 install(TARGETS
+  ${PROJECT_NAME}-system
   gz_hardware_plugins
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
-install(DIRECTORY
-  include/
-  DESTINATION include
+install(EXPORT export_${PROJECT_NAME}
+  NAMESPACE ${PROJECT_NAME}::
+  DESTINATION share/${PROJECT_NAME}/cmake
 )
 
 # Testing and linting
@@ -75,12 +88,18 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+# Export old-style CMake variables
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME}-system gz_hardware_plugins)
 
-# Install directories
-install(TARGETS ${PROJECT_NAME}-system
-  DESTINATION lib
+# Export modern CMake targets
+ament_export_targets(
+  export_${PROJECT_NAME}
+)
+
+ament_export_dependencies(
+    controller_manager
+    hardware_interface
 )
 
 pluginlib_export_plugin_description_file(gz_ros2_control gz_hardware_plugins.xml)

gz_ros2_control/package.xml

@@ -11,7 +11,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>ament_index_cpp</depend>
-  <!-- default version to use in official ROS 2 packages is Gazebo Harmonic for ROS 2 Rolling -->
   <depend>gz_sim_vendor</depend>
   <depend>gz_plugin_vendor</depend>
   <depend>pluginlib</depend>