Fix CMakeLists.txt

ros-navigation · May 7, 2020 · 3f7cb54 · 3f7cb54
1 parent 4500331
commit 3f7cb54
Showing 1 changed file with 66 additions and 31 deletions.
diff --git a/nav2_rviz_plugins/CMakeLists.txt b/nav2_rviz_plugins/CMakeLists.txt
@@ -63,29 +63,10 @@ find_package(std_msgs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
-set(nav2_rviz_plugins_headers_to_moc
-  include/nav2_rviz_plugins/goal_pose_updater
-  include/nav2_rviz_plugins/goal_common
-  include/nav2_rviz_plugins/goal_tool.hpp
-  include/nav2_rviz_plugins/nav2_panel.hpp
-  include/nav2_rviz_plugins/particle_cloud_display/flat_weighted_arrows_array.hpp
-  include/nav2_rviz_plugins/particle_cloud_display/particle_cloud_display.hpp
-)
-
 include_directories(
   include
 )
 
-set(library_name ${PROJECT_NAME})
-
-add_library(${library_name} SHARED
-  src/goal_tool.cpp
-  src/nav2_panel.cpp
-  src/particle_cloud_display/flat_weighted_arrows_array.cpp
-  src/particle_cloud_display/particle_cloud_display.cpp
-  ${nav2_rviz_plugins_headers_to_moc}
-)
-
 set(dependencies
   geometry_msgs
   nav2_util
@@ -104,32 +85,83 @@ set(dependencies
   tf2_geometry_msgs
 )
 
-ament_target_dependencies(${library_name}
+set(nav2_rviz_plugins_goal_headers_to_moc
+  include/nav2_rviz_plugins/ros_action_qevent.hpp
+  include/nav2_rviz_plugins/goal_pose_updater
+  include/nav2_rviz_plugins/goal_common
+  include/nav2_rviz_plugins/goal_tool.hpp
+  include/nav2_rviz_plugins/nav2_panel.hpp
+)
+
+add_library(nav2_rviz_plugins_goal SHARED
+  src/goal_tool.cpp
+  src/nav2_panel.cpp
+  ${nav2_rviz_plugins_goal_headers_to_moc}
+)
+
+ament_target_dependencies(nav2_rviz_plugins_goal
   ${dependencies}
 )
 
-target_include_directories(${library_name} PUBLIC
+target_include_directories(nav2_rviz_plugins_goal PUBLIC
   ${Qt5Widgets_INCLUDE_DIRS}
   ${OGRE_INCLUDE_DIRS}
 )
 
-target_link_libraries(${library_name}
+target_link_libraries(nav2_rviz_plugins_goal
   rviz_common::rviz_common
 )
 
+
+set(nav2_rviz_plugins_particle_cloud_display_headers_to_moc
+  include/nav2_rviz_plugins/particle_cloud_display/flat_weighted_arrows_array.hpp
+  include/nav2_rviz_plugins/particle_cloud_display/particle_cloud_display.hpp
+)
+
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 # TODO: Make this specific to this project (not rviz default plugins)
-target_compile_definitions(${library_name} PRIVATE "RVIZ_DEFAULT_PLUGINS_BUILDING_LIBRARY")
-
+target_compile_definitions(nav2_rviz_plugins_goal PRIVATE "RVIZ_DEFAULT_PLUGINS_BUILDING_LIBRARY")
 # prevent pluginlib from using boost
-target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+target_compile_definitions(nav2_rviz_plugins_goal PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
+
+add_library(nav2_rviz_plugins_particle_cloud_display SHARED
+  src/particle_cloud_display/flat_weighted_arrows_array.cpp
+  src/particle_cloud_display/particle_cloud_display.cpp
+  ${nav2_rviz_plugins_particle_cloud_display_headers_to_moc}
+)
+
+ament_target_dependencies(nav2_rviz_plugins_particle_cloud_display
+  ${dependencies}
+)
+
+target_include_directories(nav2_rviz_plugins_particle_cloud_display PUBLIC
+  ${Qt5Widgets_INCLUDE_DIRS}
+  ${OGRE_INCLUDE_DIRS}
+)
+
+target_link_libraries(nav2_rviz_plugins_particle_cloud_display
+  rviz_common::rviz_common
+)
+
+target_compile_definitions(nav2_rviz_plugins_particle_cloud_display PRIVATE "RVIZ_DEFAULT_PLUGINS_BUILDING_LIBRARY")
+target_compile_definitions(nav2_rviz_plugins_particle_cloud_display PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 
 pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
 
 install(
-  TARGETS ${library_name}
-  EXPORT ${library_name}
+  TARGETS nav2_rviz_plugins_goal
+  EXPORT nav2_rviz_plugins_goal
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(
+  TARGETS nav2_rviz_plugins_particle_cloud_display
+  EXPORT nav2_rviz_plugins_particle_cloud_display
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -151,7 +183,8 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_index_cpp REQUIRED)
   find_package(rviz_visual_testing_framework REQUIRED)
-  find_package(rviz_default_plugins REQUIRED)
+  find_package(rviz_common REQUIRED)
+  find_package(nav2_msgs REQUIRED)
 
   set(TEST_INCLUDE_DIRS
     ${OGRE_INCLUDE_DIRS}
@@ -160,11 +193,12 @@ if(BUILD_TESTING)
   ament_include_directories_order(TEST_INCLUDE_DIRS ${TEST_INCLUDE_DIRS})
 
   set(TEST_LINK_LIBRARIES
-    ${library_name}
+    nav2_rviz_plugins_particle_cloud_display
   )
 
   set(TEST_TARGET_DEPENDENCIES
     nav2_msgs
+    rviz_common
     rclcpp
   )
 
@@ -175,7 +209,7 @@ if(BUILD_TESTING)
     ${SKIP_DISPLAY_TESTS})
   if(TARGET particle_cloud_display_test)
     target_include_directories(particle_cloud_display_test PUBLIC ${TEST_INCLUDE_DIRS})
-    target_link_libraries(particle_cloud_display_test 
+    target_link_libraries(particle_cloud_display_test
       ${TEST_LINK_LIBRARIES}
       rviz_common::rviz_common)
     ament_target_dependencies(particle_cloud_display_test ${TEST_TARGET_DEPENDENCIES})
@@ -198,7 +232,8 @@ if(BUILD_TESTING)
 endif()
 
 ament_export_include_directories(include)
-ament_export_interfaces(${library_name} HAS_LIBRARY_TARGET)
+ament_export_interfaces(nav2_rviz_plugins_goal HAS_LIBRARY_TARGET)
+ament_export_interfaces(nav2_rviz_plugins_particle_cloud_display HAS_LIBRARY_TARGET)
 ament_export_dependencies(
   Qt5
   rviz_common