Fix library naming issue and test linking errors

nav2_rviz_plugins/CMakeLists.txt

@@ -85,83 +85,49 @@ set(dependencies
   tf2_geometry_msgs
 )
 
-set(nav2_rviz_plugins_goal_headers_to_moc
+set(nav2_rviz_plugins_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
+  include/nav2_rviz_plugins/particle_cloud_display/flat_weighted_arrows_array.hpp
+  include/nav2_rviz_plugins/particle_cloud_display/particle_cloud_display.hpp
 )
 
-add_library(nav2_rviz_plugins_goal SHARED
+add_library(nav2_rviz_plugins SHARED
   src/goal_tool.cpp
   src/nav2_panel.cpp
-  ${nav2_rviz_plugins_goal_headers_to_moc}
+  src/particle_cloud_display/flat_weighted_arrows_array.cpp
+  src/particle_cloud_display/particle_cloud_display.cpp
+  ${nav2_rviz_plugins_headers_to_moc}
 )
 
-ament_target_dependencies(nav2_rviz_plugins_goal
+ament_target_dependencies(nav2_rviz_plugins
   ${dependencies}
 )
 
-target_include_directories(nav2_rviz_plugins_goal PUBLIC
+target_include_directories(nav2_rviz_plugins PUBLIC
   ${Qt5Widgets_INCLUDE_DIRS}
   ${OGRE_INCLUDE_DIRS}
 )
 
-target_link_libraries(nav2_rviz_plugins_goal
+target_link_libraries(nav2_rviz_plugins
   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(nav2_rviz_plugins_goal PRIVATE "RVIZ_DEFAULT_PLUGINS_BUILDING_LIBRARY")
+target_compile_definitions(nav2_rviz_plugins PRIVATE "RVIZ_DEFAULT_PLUGINS_BUILDING_LIBRARY")
 # prevent pluginlib from using boost
-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")
+target_compile_definitions(nav2_rviz_plugins PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 
 pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
 
 install(
-  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
+  TARGETS nav2_rviz_plugins
+  EXPORT nav2_rviz_plugins
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -184,6 +150,7 @@ if(BUILD_TESTING)
   find_package(ament_index_cpp REQUIRED)
   find_package(rviz_visual_testing_framework REQUIRED)
   find_package(rviz_common REQUIRED)
+  find_package(rviz_default_plugins REQUIRED)
   find_package(nav2_msgs REQUIRED)
 
   set(TEST_INCLUDE_DIRS
@@ -193,12 +160,14 @@ if(BUILD_TESTING)
   ament_include_directories_order(TEST_INCLUDE_DIRS ${TEST_INCLUDE_DIRS})
 
   set(TEST_LINK_LIBRARIES
-    nav2_rviz_plugins_particle_cloud_display
+    nav2_rviz_plugins
+    rviz_common::rviz_common
   )
 
   set(TEST_TARGET_DEPENDENCIES
     nav2_msgs
     rviz_common
+    rviz_default_plugins
     rclcpp
   )
 
@@ -232,8 +201,7 @@ if(BUILD_TESTING)
 endif()
 
 ament_export_include_directories(include)
-ament_export_interfaces(nav2_rviz_plugins_goal HAS_LIBRARY_TARGET)
-ament_export_interfaces(nav2_rviz_plugins_particle_cloud_display HAS_LIBRARY_TARGET)
+ament_export_interfaces(nav2_rviz_plugins HAS_LIBRARY_TARGET)
 ament_export_dependencies(
   Qt5
   rviz_common