Export as INTERFACE library

Author: christophfroehlich

kinematics_interface/CMakeLists.txt

@@ -33,23 +33,43 @@ install(
   DIRECTORY include/
   DESTINATION include/kinematics_interface
 )
-install(
-  TARGETS kinematics_interface
-  EXPORT export_kinematics_interface
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ros2_control_test_assets REQUIRED)
+  find_package(pluginlib REQUIRED)
+
+  add_library(kinematics_interface_tests INTERFACE)
+  target_include_directories(kinematics_interface_tests INTERFACE
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include/kinematics_interface>
+  )
+  target_link_libraries(kinematics_interface_tests INTERFACE
+    kinematics_interface
+    ros2_control_test_assets::ros2_control_test_assets
+    pluginlib::pluginlib
+  )
 
   install(
     DIRECTORY test/
     DESTINATION include/kinematics_interface/kinematics_interface
   )
-  ament_export_dependencies(ament_cmake_gmock ros2_control_test_assets)
+  ament_export_dependencies(ros2_control_test_assets pluginlib)
+install(
+  TARGETS kinematics_interface kinematics_interface_tests
+  EXPORT export_kinematics_interface
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+else()
+install(
+  TARGETS kinematics_interface
+  EXPORT export_kinematics_interface
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
 endif()
 
 ament_export_targets(export_kinematics_interface HAS_LIBRARY_TARGET)

kinematics_interface/package.xml

@@ -27,6 +27,7 @@
   <depend>rclcpp_lifecycle</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>pluginlib</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

kinematics_interface_kdl/CMakeLists.txt

@@ -43,8 +43,7 @@ if(BUILD_TESTING)
     test_kinematics_interface_kdl
     test/test_kinematics_interface_kdl.cpp
   )
-  # TODO(christophfroehlich): Remove dependency on ros2_control_test_assets
-  target_link_libraries(test_kinematics_interface_kdl kinematics_interface_kdl ros2_control_test_assets::ros2_control_test_assets)
+  target_link_libraries(test_kinematics_interface_kdl kinematics_interface::kinematics_interface_tests)
 endif()
 
 install(