Use THIS_PACKAGE_INCLUDE_DEPENDS list

Signed-off-by: Tyler Weaver <tyler@picknik.ai>
ros-controls · Jan 26, 2023 · a781424 · a781424
1 parent 8dc3417
commit a781424
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Showing 2 changed files with 28 additions and 30 deletions.
diff --git a/kinematics_interface/CMakeLists.txt b/kinematics_interface/CMakeLists.txt
@@ -5,10 +5,17 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+    Eigen3
+    rclcpp
+    rclcpp_lifecycle
+)
+
+# find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
 
 # Create interface library for kinematics base class
 add_library(kinematics_interface INTERFACE)
@@ -17,10 +24,8 @@ target_include_directories(kinematics_interface INTERFACE
   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/kinematics_interface>
 )
-target_link_libraries(kinematics_interface INTERFACE
-  Eigen3::Eigen
-  rclcpp::rclcpp
-  rclcpp_lifecycle::rclcpp_lifecycle
+ament_target_dependencies(kinematics_interface INTERFACE
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 
 # Causes the visibility macros to use dllexport rather than dllimport,
@@ -40,9 +45,5 @@ install(
 )
 
 ament_export_targets(export_kinematics_interface HAS_LIBRARY_TARGET)
-ament_export_dependencies(
-  Eigen3
-  rclcpp
-  rclcpp_lifecycle
-)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
diff --git a/kinematics_interface_kdl/CMakeLists.txt b/kinematics_interface_kdl/CMakeLists.txt
@@ -5,12 +5,19 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  Eigen3
+  kdl_parser
+  kinematics_interface
+  pluginlib
+  tf2_eigen_kdl
+)
+
+# find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(kdl_parser REQUIRED)
-find_package(kinematics_interface REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(tf2_eigen_kdl REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
 
 add_library(
   kinematics_interface_kdl
@@ -22,12 +29,8 @@ target_include_directories(kinematics_interface_kdl PUBLIC
   $<INSTALL_INTERFACE:include/kinematics_interface_kdl>
 )
 target_compile_features(kinematics_interface_kdl PUBLIC cxx_std_17)
-target_link_libraries(kinematics_interface_kdl PUBLIC
-  Eigen3::Eigen
-  kdl_parser::kdl_parser
-  kinematics_interface::kinematics_interface
-  pluginlib::pluginlib
-  tf2_eigen_kdl::tf2_eigen_kdl
+ament_target_dependencies(kinematics_interface_kdl PUBLIC
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 
 pluginlib_export_plugin_description_file(kinematics_interface kinematics_interface_kdl.xml)
@@ -60,11 +63,5 @@ install(
 )
 
 ament_export_targets(export_kinematics_interface_kdl HAS_LIBRARY_TARGET)
-ament_export_dependencies(
-  Eigen3
-  kdl_parser
-  kinematics_interface
-  pluginlib
-  tf2_eigen_kdl
-)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()