Depend on orocos_kdl_vendor

* Change package.xml dependency to the vendor package * Add missing include directories for orocos_kdl * Install tf2_kdl as a header-only target Signed-off-by: Jacob Perron <jacob@openrobotics.org>
ros2 · Feb 24, 2022 · 6df4941 · 6df4941
1 parent 5a298f9
commit 6df4941
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Showing 5 changed files with 33 additions and 16 deletions.
diff --git a/tf2_eigen_kdl/package.xml b/tf2_eigen_kdl/package.xml
@@ -22,7 +22,7 @@
   <build_depend>eigen</build_depend>
   <build_export_depend>eigen</build_export_depend>
 
-  <depend>orocos_kdl</depend>
+  <depend>orocos_kdl_vendor</depend>
   <depend>tf2</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>

diff --git a/tf2_geometry_msgs/CMakeLists.txt b/tf2_geometry_msgs/CMakeLists.txt
@@ -26,7 +26,8 @@ find_package(tf2_ros REQUIRED)
 add_library(${PROJECT_NAME} INTERFACE)
 target_include_directories(${PROJECT_NAME} INTERFACE
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include>")
+  "$<INSTALL_INTERFACE:include>"
+  ${orocos_kdl_INCLUDE_DIRS})
 target_link_libraries(${PROJECT_NAME} INTERFACE
   ${geometry_msgs_TARGETS}
   orocos-kdl

diff --git a/tf2_geometry_msgs/package.xml b/tf2_geometry_msgs/package.xml
@@ -14,14 +14,12 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>geometry_msgs</depend>
-  <depend>orocos_kdl</depend>
+  <depend>orocos_kdl_vendor</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
 
   <!-- python support not yet ported
-  <build_depend>python_orocos_kdl</build_depend>
-
-  <exec_depend>python_orocos_kdl</exec_depend>
+  <depend>python_orocos_kdl_vendor</depend>
   -->
 
   <exec_depend>tf2_ros_py</exec_depend>

diff --git a/tf2_kdl/CMakeLists.txt b/tf2_kdl/CMakeLists.txt
@@ -17,6 +17,27 @@ find_package(orocos_kdl REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 
+add_library(${PROJECT_NAME} INTERFACE)
+target_include_directories(${PROJECT_NAME} INTERFACE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${orocos_kdl_INCLUDE_DIRS}
+)
+target_link_libraries(${PROJECT_NAME} INTERFACE
+  orocos-kdl
+)
+ament_target_dependencies(${PROJECT_NAME} INTERFACE
+  builtin_interfaces
+  geometry_msgs
+  tf2
+  tf2_ros
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+)
+
 ament_python_install_package(${PROJECT_NAME}
      PACKAGE_DIR src/${PROJECT_NAME})
 
@@ -35,18 +56,15 @@ if(BUILD_TESTING)
   find_package(tf2_msgs REQUIRED)
 
   ament_add_gtest(test_kdl test/test_tf2_kdl.cpp)
-  target_include_directories(test_kdl PUBLIC
-    include
+  target_link_libraries(test_kdl
+    ${PROJECT_NAME}
   )
   ament_target_dependencies(test_kdl
-    builtin_interfaces
-    orocos_kdl
     rclcpp
-    tf2
-    tf2_ros
-    tf2_msgs)
+    tf2_msgs
+  )
 endif()
 
-ament_export_include_directories(include)
-ament_export_dependencies(builtin_interfaces geometry_msgs orocos_kdl tf2 tf2_ros)
+ament_export_targets(export_${PROJECT_NAME})
+ament_export_dependencies(builtin_interfaces geometry_msgs orocos_kdl_vendor tf2 tf2_ros)
 ament_package()
diff --git a/tf2_kdl/package.xml b/tf2_kdl/package.xml
@@ -15,7 +15,7 @@
 
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
-  <depend>orocos_kdl</depend>
+  <depend>orocos_kdl_vendor</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>