Use auto dependency management for windows workflow (#1917)

Author: christophfroehlich

.github/workflows/rolling-semi-binary-build-win.yml

@@ -16,7 +16,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.rolling.repos'
-      - 'ros2_controllers.windows.rolling.repos'
   push:
     branches:
       - master
@@ -29,7 +28,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.rolling.repos'
-      - 'ros2_controllers.windows.rolling.repos'
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
@@ -42,7 +40,5 @@ jobs:
     with:
       ros_distro: rolling
       pixi_dependencies: typeguard jinja2 boost compilers
-      windows_dependencies: ros2_controllers.windows.rolling.repos
       ninja_packages: rsl
-      skip_packages: diagnostic_remote_logging generate_parameter_library_example_external generate_parameter_library_example
       target_cmake_args: -DBUILD_TESTING=OFF

joint_trajectory_controller/CMakeLists.txt

@@ -38,6 +38,9 @@ add_library(joint_trajectory_controller SHARED
   src/trajectory.cpp
 )
 target_compile_features(joint_trajectory_controller PUBLIC cxx_std_17)
+if(WIN32)
+  target_compile_definitions(joint_trajectory_controller PRIVATE _USE_MATH_DEFINES)
+endif()
 target_include_directories(joint_trajectory_controller PUBLIC
   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/joint_trajectory_controller>
@@ -66,23 +69,26 @@ if(BUILD_TESTING)
   find_package(ros2_control_test_assets REQUIRED)
 
   ament_add_gmock(test_trajectory test/test_trajectory.cpp)
-  target_link_libraries(test_trajectory joint_trajectory_controller)
-  target_link_libraries(test_trajectory ros2_control_test_assets::ros2_control_test_assets)
+  target_link_libraries(test_trajectory
+    joint_trajectory_controller
+    ros2_control_test_assets::ros2_control_test_assets
+  )
   target_compile_definitions(test_trajectory PRIVATE _USE_MATH_DEFINES)
 
   ament_add_gmock(test_tolerances test/test_tolerances.cpp)
-  target_link_libraries(test_tolerances joint_trajectory_controller)
-  target_link_libraries(test_tolerances ros2_control_test_assets::ros2_control_test_assets)
-  target_compile_definitions(test_tolerances PRIVATE _USE_MATH_DEFINES)
+  target_link_libraries(test_tolerances
+    joint_trajectory_controller
+    ros2_control_test_assets::ros2_control_test_assets
+  )
 
   ament_add_gmock(test_trajectory_controller
     test/test_trajectory_controller.cpp)
   set_tests_properties(test_trajectory_controller PROPERTIES TIMEOUT 220)
   target_link_libraries(test_trajectory_controller
     joint_trajectory_controller
+    ros2_control_test_assets::ros2_control_test_assets
   )
-  target_link_libraries(test_trajectory_controller ros2_control_test_assets::ros2_control_test_assets)
-  target_compile_definitions(joint_trajectory_controller PRIVATE _USE_MATH_DEFINES)
+  target_compile_definitions(test_trajectory_controller PRIVATE _USE_MATH_DEFINES)
 
   add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
   ament_add_gmock(test_load_joint_trajectory_controller