Fix hard-coded Windows paths.

These come about because of the use of the old-style CMake
variables like ${orocos_kdl_INCLUDE_DIRS}.  Unfortunately,
there is a bug in the orocos_kdl CMake modern targets where
they forget to export a dependency on Eigen.  To workaround
this, make an explicit dependency on Eigen (even though we
don't directly use it), and use the Eigen targets instead.

Note that on Windows, this *still* causes us to use a
hardcoded path on Eigen.  However, this path is less problematic
because it will always be there if the user followed our
installation instructions (and won't be a "random" path like
C:\ci\ws\install\include).  Also, once we fix
ros2/choco-packages#19 , this hard-coded
path will go away as well.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

tf2_geometry_msgs/CMakeLists.txt

@@ -18,6 +18,16 @@ if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
 endif()
 find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
 
+# TODO(clalancette): This package doesn't directly depend on Eigen, but orocos-kdl
+# fails to properly export the dependency.  One possible solution would be to add
+# ${orocos_kdl_INCLUDE_DIRS} to the include directories, but that unfortunately causes
+# hard-coded paths to show up in Windows packaging builds.  Instead, depend on Eigen3
+# here to fix the missing export
+find_package(Eigen3 QUIET NO_MODULE)
+# Work around broken find module in AlmaLinux/RHEL eigen3-devel from PowerTools repo
+if(NOT Eigen3_FOUND)
+  find_package(Eigen3 REQUIRED)
+endif()
 find_package(geometry_msgs REQUIRED)
 find_package(orocos_kdl REQUIRED)
 find_package(tf2 REQUIRED)
@@ -29,13 +39,18 @@ ament_python_install_package(${PROJECT_NAME}
 add_library(${PROJECT_NAME} INTERFACE)
 target_include_directories(${PROJECT_NAME} INTERFACE
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-  ${orocos_kdl_INCLUDE_DIRS})
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${PROJECT_NAME} INTERFACE
   ${geometry_msgs_TARGETS}
   orocos-kdl
   tf2::tf2
   tf2_ros::tf2_ros)
+if(TARGET Eigen3::Eigen)
+  # TODO(sloretz) require target to exist when https://github.com/ros2/choco-packages/issues/19 is addressed
+  target_link_libraries(${PROJECT_NAME} INTERFACE Eigen3::Eigen)
+else()
+  target_include_directories(${PROJECT_NAME} INTERFACE ${Eigen3_INCLUDE_DIRS})
+endif()
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

tf2_kdl/CMakeLists.txt

@@ -12,6 +12,16 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
+# TODO(clalancette): This package doesn't directly depend on Eigen, but orocos-kdl
+# fails to properly export the dependency.  One possible solution would be to add
+# ${orocos_kdl_INCLUDE_DIRS} to the include directories, but that unfortunately causes
+# hard-coded paths to show up in Windows packaging builds.  Instead, depend on Eigen3
+# here to fix the missing export
+find_package(Eigen3 QUIET NO_MODULE)
+# Work around broken find module in AlmaLinux/RHEL eigen3-devel from PowerTools repo
+if(NOT Eigen3_FOUND)
+  find_package(Eigen3 REQUIRED)
+endif()
 find_package(geometry_msgs REQUIRED)
 find_package(orocos_kdl REQUIRED)
 find_package(tf2 REQUIRED)
@@ -29,8 +39,13 @@ target_link_libraries(tf2_kdl INTERFACE
   tf2_ros::tf2_ros)
 target_include_directories(tf2_kdl INTERFACE
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-  ${orocos_kdl_INCLUDE_DIRS})
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+if(TARGET Eigen3::Eigen)
+  # TODO(sloretz) require target to exist when https://github.com/ros2/choco-packages/issues/19 is addressed
+  target_link_libraries(tf2_kdl INTERFACE Eigen3::Eigen)
+else()
+  target_include_directories(tf2_kdl INTERFACE ${Eigen3_INCLUDE_DIRS})
+endif()
 
 install(TARGETS tf2_kdl EXPORT export_tf2_kdl)