Use ament_export_targets for all targets

* Matches new internal ALIAS targets
* Use ALIAS targets for all internal linkage
* Remove unnecessary calls to ament_target_dependencies in test code
* Export includes in proper folders for overlays in colcon

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

nav2_costmap_2d/CMakeLists.txt

@@ -26,17 +26,10 @@ find_package(visualization_msgs REQUIRED)
 find_package(angles REQUIRED)
 
 remove_definitions(-DDISABLE_LIBUSB-1.0)
-find_package(Eigen3 REQUIRED)
+find_package(Eigen3 3.3 REQUIRED)
 
 nav2_package()
 
-include_directories(
- include
- ${EIGEN3_INCLUDE_DIRS}
-)
-
-add_definitions(${EIGEN3_DEFINITIONS})
-
 add_library(nav2_costmap_2d_core SHARED
  src/costmap_2d.cpp
  src/layer.cpp
@@ -51,6 +44,13 @@ add_library(nav2_costmap_2d_core SHARED
  src/footprint_collision_checker.cpp
  plugins/costmap_filters/costmap_filter.cpp
 )
+add_library(${PROJECT_NAME}::nav2_costmap_2d_core ALIAS nav2_costmap_2d_core)
+
+target_include_directories(nav2_costmap_2d_core
+ PUBLIC
+ "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+ "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
 
 set(dependencies
  geometry_msgs
@@ -78,6 +78,7 @@ set(dependencies
 ament_target_dependencies(nav2_costmap_2d_core
  ${dependencies}
 )
+target_link_libraries(nav2_costmap_2d_core Eigen3::Eigen)
 
 add_library(layers SHARED
  plugins/inflation_layer.cpp
@@ -88,42 +89,47 @@ add_library(layers SHARED
  plugins/range_sensor_layer.cpp
  plugins/denoise_layer.cpp
 )
+add_library(${PROJECT_NAME}::layers ALIAS layers)
 ament_target_dependencies(layers
  ${dependencies}
 )
 target_link_libraries(layers
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 add_library(filters SHARED
  plugins/costmap_filters/keepout_filter.cpp
  plugins/costmap_filters/speed_filter.cpp
  plugins/costmap_filters/binary_filter.cpp
 )
+add_library(${PROJECT_NAME}::filters ALIAS filters)
+
+
 ament_target_dependencies(filters
  ${dependencies}
 )
 target_link_libraries(filters
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 add_library(nav2_costmap_2d_client SHARED
  src/footprint_subscriber.cpp
  src/costmap_subscriber.cpp
  src/costmap_topic_collision_checker.cpp
 )
+add_library(${PROJECT_NAME}::nav2_costmap_2d_client ALIAS nav2_costmap_2d_client)
 
 ament_target_dependencies(nav2_costmap_2d_client
  ${dependencies}
 )
 
 target_link_libraries(nav2_costmap_2d_client
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 add_executable(nav2_costmap_2d_markers src/costmap_2d_markers.cpp)
 target_link_libraries(nav2_costmap_2d_markers
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_target_dependencies(nav2_costmap_2d_markers
@@ -132,7 +138,7 @@ ament_target_dependencies(nav2_costmap_2d_markers
 
 add_executable(nav2_costmap_2d_cloud src/costmap_2d_cloud.cpp)
 target_link_libraries(nav2_costmap_2d_cloud
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 add_executable(nav2_costmap_2d src/costmap_2d_node.cpp)
@@ -141,34 +147,30 @@ ament_target_dependencies(nav2_costmap_2d
 )
 
 target_link_libraries(nav2_costmap_2d
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
  layers
- filters
+ ${PROJECT_NAME}::filters
 )
 
 install(TARGETS
- nav2_costmap_2d_core
  layers
  filters
+ nav2_costmap_2d_core
  nav2_costmap_2d_client
+ nav2_costmap_2d_markers
+ nav2_costmap_2d_cloud
+ EXPORT export_${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
 )
 
-install(TARGETS
- nav2_costmap_2d
- nav2_costmap_2d_markers
- nav2_costmap_2d_cloud
- RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
-
 install(FILES costmap_plugins.xml
  DESTINATION share/${PROJECT_NAME}
 )
 
 install(DIRECTORY include/
- DESTINATION include/
+ DESTINATION include/${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
@@ -183,8 +185,7 @@ if(BUILD_TESTING)
  pluginlib_export_plugin_description_file(nav2_costmap_2d test/regression/order_layer.xml)
 endif()
 
-ament_export_include_directories(include)
-ament_export_libraries(layers filters nav2_costmap_2d_core nav2_costmap_2d_client)
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(${dependencies})
 pluginlib_export_plugin_description_file(nav2_costmap_2d costmap_plugins.xml)
 ament_package()

nav2_costmap_2d/test/integration/CMakeLists.txt

@@ -1,90 +1,66 @@
 ament_add_gtest_executable(footprint_tests_exec
  footprint_tests.cpp
 )
-ament_target_dependencies(footprint_tests_exec
- ${dependencies}
-)
 target_link_libraries(footprint_tests_exec
- nav2_costmap_2d_core
- layers
+ ${PROJECT_NAME}::nav2_costmap_2d_core
+ ${PROJECT_NAME}::layers
 )
 
 ament_add_gtest_executable(test_collision_checker_exec
  test_costmap_topic_collision_checker.cpp
 )
-ament_target_dependencies(test_collision_checker_exec
- ${dependencies}
-)
 target_link_libraries(test_collision_checker_exec
- nav2_costmap_2d_core
- nav2_costmap_2d_client
- layers
+ ${PROJECT_NAME}::nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_client
+ ${PROJECT_NAME}::layers
 )
 
 ament_add_gtest_executable(inflation_tests_exec
  inflation_tests.cpp
 )
-ament_target_dependencies(inflation_tests_exec
- ${dependencies}
-)
 target_link_libraries(inflation_tests_exec
- nav2_costmap_2d_core
- layers
+ ${PROJECT_NAME}::nav2_costmap_2d_core
+ ${PROJECT_NAME}::layers
 )
 
 ament_add_gtest_executable(obstacle_tests_exec
  obstacle_tests.cpp
 )
-ament_target_dependencies(obstacle_tests_exec
- ${dependencies}
-)
 target_link_libraries(obstacle_tests_exec
- nav2_costmap_2d_core
- layers
+ ${PROJECT_NAME}::nav2_costmap_2d_core
+ ${PROJECT_NAME}::layers
 )
 
 ament_add_gtest_executable(range_tests_exec
  range_tests.cpp
 )
-ament_target_dependencies(range_tests_exec
- ${dependencies}
-)
 target_link_libraries(range_tests_exec
- nav2_costmap_2d_core
- layers
+ ${PROJECT_NAME}::nav2_costmap_2d_core
+ ${PROJECT_NAME}::layers
 )
 
 ament_add_gtest(dyn_params_tests
  dyn_params_tests.cpp
 )
-ament_target_dependencies(dyn_params_tests
- ${dependencies}
-)
 target_link_libraries(dyn_params_tests
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest_executable(test_costmap_publisher_exec
  test_costmap_2d_publisher.cpp
 )
-ament_target_dependencies(test_costmap_publisher_exec
- ${dependencies}
-)
 target_link_libraries(test_costmap_publisher_exec
- nav2_costmap_2d_core
- nav2_costmap_2d_client
- layers
+ ${PROJECT_NAME}::nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_client
+ ${PROJECT_NAME}::layers
 )
 
 ament_add_gtest_executable(test_costmap_subscriber_exec
 test_costmap_subscriber.cpp
 )
-ament_target_dependencies(test_costmap_subscriber_exec
- ${dependencies}
-)
 target_link_libraries(test_costmap_subscriber_exec
- nav2_costmap_2d_core
- nav2_costmap_2d_client
+ ${PROJECT_NAME}::nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_client
 )
 
 ament_add_test(test_collision_checker
@@ -166,6 +142,6 @@ ament_add_test(test_costmap_subscriber_exec
 # ${dependencies}
 # )
 # target_link_libraries(costmap_tester
-# nav2_costmap_2d_core
+# ${PROJECT_NAME}::nav2_costmap_2d_core
 # layers
 # )

nav2_costmap_2d/test/regression/CMakeLists.txt

@@ -1,7 +1,7 @@
 # Bresenham2D corner cases test
 ament_add_gtest(costmap_bresenham_2d costmap_bresenham_2d.cpp)
 target_link_libraries(costmap_bresenham_2d
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 # OrderLayer for checking Costmap2D plugins API calling order
@@ -11,7 +11,7 @@ ament_target_dependencies(order_layer
  ${dependencies}
 )
 target_link_libraries(order_layer
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 install(TARGETS
  order_layer
@@ -23,5 +23,5 @@ install(TARGETS
 # Costmap2D plugins API calling order test
 ament_add_gtest(plugin_api_order plugin_api_order.cpp)
 target_link_libraries(plugin_api_order
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )

nav2_costmap_2d/test/unit/CMakeLists.txt

@@ -1,57 +1,58 @@
 ament_add_gtest(collision_footprint_test footprint_collision_checker_test.cpp)
 target_link_libraries(collision_footprint_test
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest(costmap_convesion_test costmap_conversion_test.cpp)
 target_link_libraries(costmap_convesion_test
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest(declare_parameter_test declare_parameter_test.cpp)
 target_link_libraries(declare_parameter_test
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest(costmap_filter_test costmap_filter_test.cpp)
 target_link_libraries(costmap_filter_test
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest(keepout_filter_test keepout_filter_test.cpp)
 target_link_libraries(keepout_filter_test
- nav2_costmap_2d_core
- filters
+ ${PROJECT_NAME}::nav2_costmap_2d_core
+ ${PROJECT_NAME}::filters
 )
 
 ament_add_gtest(speed_filter_test speed_filter_test.cpp)
 target_link_libraries(speed_filter_test
- nav2_costmap_2d_core
- filters
+ ${PROJECT_NAME}::nav2_costmap_2d_core
+ ${PROJECT_NAME}::filters
 )
 
 ament_add_gtest(binary_filter_test binary_filter_test.cpp)
 target_link_libraries(binary_filter_test
- nav2_costmap_2d_core
- filters
+ ${PROJECT_NAME}::nav2_costmap_2d_core
+ ${PROJECT_NAME}::filters
 )
 
 ament_add_gtest(copy_window_test copy_window_test.cpp)
 target_link_libraries(copy_window_test
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest(costmap_filter_service_test costmap_filter_service_test.cpp)
 target_link_libraries(costmap_filter_service_test
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )
 
 ament_add_gtest(denoise_layer_test denoise_layer_test.cpp image_test.cpp image_processing_test.cpp)
 target_link_libraries(denoise_layer_test
- nav2_costmap_2d_core layers
+ ${PROJECT_NAME}::nav2_costmap_2d_core
+ ${PROJECT_NAME}::layers
 )
 
 ament_add_gtest(lifecycle_test lifecycle_test.cpp)
 target_link_libraries(lifecycle_test
- nav2_costmap_2d_core
+ ${PROJECT_NAME}::nav2_costmap_2d_core
 )