Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Export a tf2_geometry_msgs::tf2_geometry_msgs target #496

Merged
merged 2 commits into from
Jan 11, 2022
+29 −27
Merged

Export a tf2_geometry_msgs::tf2_geometry_msgs target #496

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
1656569
Export a tf2_geometry_msgs::tf2_geometry_msgs target
sloretz Jan 8, 2022
983cd0d
Comment that tf2_ros is used but intentionally not linked
sloretz Jan 11, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
54 changes: 28 additions & 26 deletions tf2_geometry_msgs/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,14 +9,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
endif()

find_package(ament_cmake_auto REQUIRED)
set(required_dependencies
"geometry_msgs"
"orocos_kdl"
"tf2"
"tf2_ros"
)
ament_auto_find_build_dependencies(REQUIRED ${required_dependencies})
find_package(geometry_msgs REQUIRED)
find_package(orocos_kdl REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)

# TODO(ros2/geometry2#110) Port python once PyKDL becomes usable in ROS 2
# ament_python_install_package(${PROJECT_NAME}
Expand All @@ -27,6 +23,16 @@ ament_auto_find_build_dependencies(REQUIRED ${required_dependencies})
# DESTINATION lib/${PROJECT_NAME}
# )

add_library(${PROJECT_NAME} INTERFACE)
target_include_directories(${PROJECT_NAME} INTERFACE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>")
target_link_libraries(${PROJECT_NAME} INTERFACE
${geometry_msgs_TARGETS}
orocos-kdl
tf2::tf2
tf2_ros::tf2_ros)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)

Expand All @@ -42,27 +48,23 @@ if(BUILD_TESTING)

ament_add_gtest(test_tf2_geometry_msgs test/test_tf2_geometry_msgs.cpp)
if(TARGET test_tf2_geometry_msgs)
target_include_directories(test_tf2_geometry_msgs PUBLIC include)
ament_target_dependencies(test_tf2_geometry_msgs
"geometry_msgs"
"orocos_kdl"
"rclcpp"
"tf2"
"tf2_ros"
target_link_libraries(test_tf2_geometry_msgs
${PROJECT_NAME}
rclcpp::rclcpp
# Used, but not linked to test ${PROJECT_NAME}'s exports:
# tf2_ros::tf2_ros
)
endif()
endif()

add_library(${PROJECT_NAME} INTERFACE)
target_include_directories(${PROJECT_NAME} INTERFACE $<INSTALL_INTERFACE:include>)
ament_target_dependencies(${PROJECT_NAME} INTERFACE ${required_dependencies})

install(
TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
INCLUDES DESTINATION include
)
install(TARGETS ${PROJECT_NAME} EXPORT export_${PROJECT_NAME})
install(DIRECTORY include/ DESTINATION include)

ament_export_targets(${PROJECT_NAME})
ament_export_dependencies(${required_dependencies})
ament_export_targets(export_${PROJECT_NAME})
ament_export_dependencies(
"geometry_msgs"
"orocos_kdl"
"tf2"
"tf2_ros")

ament_auto_package()
ament_package()
2 changes: 1 addition & 1 deletion tf2_geometry_msgs/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
<author email="tfoote@osrfoundation.org">Tully Foote</author>
<author>Wim Meeussen</author>

<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>ament_cmake</buildtool_depend>

<depend>geometry_msgs</depend>
<depend>orocos_kdl</depend>
Expand Down