Switch to using target_link_libraries everywhere. (#222)

There is just no need to use ament_target_dependencies here. Signed-off-by: Chris Lalancette <clalancette@gmail.com>
ros2 · Nov 27, 2023 · 1654fa5 · 1654fa5
1 parent 03cd08a
commit 1654fa5
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Showing 3 changed files with 94 additions and 38 deletions.
diff --git a/rmw_implementation/CMakeLists.txt b/rmw_implementation/CMakeLists.txt
@@ -81,12 +81,12 @@ else()
  if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  ament_add_gtest(test_functions test/test_functions.cpp)
- ament_target_dependencies(test_functions rcutils rmw)
  target_link_libraries(test_functions
  ${PROJECT_NAME}
- ament_index_cpp::ament_index_cpp
  rcpputils::rcpputils
- rcutils::rcutils)
+ rcutils::rcutils
+ rmw::rmw
+ )
 
  find_package(performance_test_fixture REQUIRED)
  # Give cppcheck hints about macro definitions coming from outside this package

diff --git a/test_rmw_implementation/CMakeLists.txt b/test_rmw_implementation/CMakeLists.txt
@@ -20,10 +20,11 @@ if(BUILD_TESTING)
 
  find_package(rcutils REQUIRED)
  find_package(rmw REQUIRED)
+ find_package(rmw_dds_common REQUIRED)
  find_package(rmw_implementation REQUIRED)
  find_package(rmw_implementation_cmake REQUIRED)
+ find_package(rosidl_runtime_c REQUIRED)
  find_package(test_msgs REQUIRED)
- find_package(rmw_dds_common REQUIRED)
 
  macro(test_api)
  find_package(${rmw_implementation} REQUIRED)
@@ -36,8 +37,11 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_init_shutdown${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_init_shutdown${target_suffix}
- osrf_testing_tools_cpp rcutils rmw rmw_implementation
+ target_link_libraries(test_init_shutdown${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rcutils::rcutils
+ rmw::rmw
+ rmw_implementation::rmw_implementation
  )
 
  ament_add_gtest(test_init_options${target_suffix}
@@ -46,8 +50,11 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_init_options${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_init_options${target_suffix}
- osrf_testing_tools_cpp rcutils rmw rmw_implementation
+ target_link_libraries(test_init_options${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rcutils::rcutils
+ rmw::rmw
+ rmw_implementation::rmw_implementation
  )
 
  ament_add_gtest(test_create_destroy_node${target_suffix}
@@ -56,8 +63,11 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_create_destroy_node${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_create_destroy_node${target_suffix}
- osrf_testing_tools_cpp rcutils rmw rmw_implementation
+ target_link_libraries(test_create_destroy_node${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rcutils::rcutils
+ rmw::rmw
+ rmw_implementation::rmw_implementation
  )
 
  ament_add_gtest(test_publisher${target_suffix}
@@ -66,8 +76,12 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_publisher${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_publisher${target_suffix}
- osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
+ target_link_libraries(test_publisher${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rcutils::rcutils
+ rmw::rmw
+ rmw_implementation::rmw_implementation
+ ${test_msgs_TARGETS}
  )
 
  ament_add_gtest(test_subscription${target_suffix}
@@ -77,8 +91,13 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_subscription${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_subscription${target_suffix}
- osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs rmw_dds_common
+ target_link_libraries(test_subscription${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rcutils::rcutils
+ rmw::rmw
+ rmw_dds_common::rmw_dds_common_library
+ rmw_implementation::rmw_implementation
+ ${test_msgs_TARGETS}
  )
 
  ament_add_gtest(test_serialize_deserialize${target_suffix}
@@ -87,8 +106,13 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_serialize_deserialize${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_serialize_deserialize${target_suffix}
- osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
+ target_link_libraries(test_serialize_deserialize${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rcutils::rcutils
+ rosidl_runtime_c::rosidl_runtime_c
+ rmw::rmw
+ rmw_implementation::rmw_implementation
+ ${test_msgs_TARGETS}
  )
 
  ament_add_gtest(test_publisher_allocator${target_suffix}
@@ -97,17 +121,20 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_publisher_allocator${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_publisher_allocator${target_suffix}
- rmw rmw_implementation
+ target_link_libraries(test_publisher_allocator${target_suffix}
+ rmw::rmw
+ rmw_implementation::rmw_implementation
  )
+
  ament_add_gtest(test_subscription_allocator${target_suffix}
  test/test_subscription_allocator.cpp
  ENV ${rmw_implementation_env_var}
  )
  target_compile_definitions(test_subscription_allocator${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_subscription_allocator${target_suffix}
- rmw rmw_implementation
+ target_link_libraries(test_subscription_allocator${target_suffix}
+ rmw::rmw
+ rmw_implementation::rmw_implementation
  )
 
  ament_add_gtest(test_wait_set${target_suffix}
@@ -116,8 +143,12 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_wait_set${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_wait_set${target_suffix}
- rmw rmw_implementation rcutils osrf_testing_tools_cpp test_msgs
+ target_link_libraries(test_wait_set${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rcutils::rcutils
+ rmw::rmw
+ rmw_implementation::rmw_implementation
+ ${test_msgs_TARGETS}
  )
 
  ament_add_gtest(test_graph_api${target_suffix}
@@ -127,8 +158,12 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_graph_api${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_graph_api${target_suffix}
- osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
+ target_link_libraries(test_graph_api${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rcutils::rcutils
+ rmw::rmw
+ rmw_implementation::rmw_implementation
+ ${test_msgs_TARGETS}
  )
 
  ament_add_gtest(test_unique_identifiers${target_suffix}
@@ -137,8 +172,12 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_unique_identifiers${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_unique_identifiers${target_suffix}
- osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
+ target_link_libraries(test_unique_identifiers${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rcutils::rcutils
+ rmw::rmw
+ rmw_implementation::rmw_implementation
+ ${test_msgs_TARGETS}
  )
 
  ament_add_gtest(test_service${target_suffix}
@@ -147,8 +186,12 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_service${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_service${target_suffix}
- osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
+ target_link_libraries(test_service${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rcutils::rcutils
+ rmw::rmw
+ rmw_implementation::rmw_implementation
+ ${test_msgs_TARGETS}
  )
 
  ament_add_gtest(test_client${target_suffix}
@@ -158,8 +201,12 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_client${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_client${target_suffix}
- osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
+ target_link_libraries(test_client${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rcutils::rcutils
+ rmw::rmw
+ rmw_implementation::rmw_implementation
+ ${test_msgs_TARGETS}
  )
 
  ament_add_gtest(test_qos_profile_check_compatible${target_suffix}
@@ -168,8 +215,9 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_qos_profile_check_compatible${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_qos_profile_check_compatible${target_suffix}
- rmw rmw_implementation
+ target_link_libraries(test_qos_profile_check_compatible${target_suffix}
+ rmw::rmw
+ rmw_implementation::rmw_implementation
  )
 
  ament_add_gtest(test_duration_infinite${target_suffix}
@@ -178,18 +226,25 @@ if(BUILD_TESTING)
  )
  target_compile_definitions(test_duration_infinite${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_duration_infinite${target_suffix}
- osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
+ target_link_libraries(test_duration_infinite${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rcutils::rcutils
+ rmw::rmw
+ rmw_implementation::rmw_implementation
+ ${test_msgs_TARGETS}
  )
 
  ament_add_gtest(test_event${target_suffix}
- test/test_event.cpp
- ENV ${rmw_implementation_env_var}
+  test/test_event.cpp
+  ENV ${rmw_implementation_env_var}
  )
  target_compile_definitions(test_event${target_suffix}
  PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
- ament_target_dependencies(test_event${target_suffix}
- osrf_testing_tools_cpp rmw rmw_implementation test_msgs
+ target_link_libraries(test_event${target_suffix}
+ osrf_testing_tools_cpp::memory_tools
+ rmw::rmw
+ rmw_implementation::rmw_implementation
+ ${test_msgs_TARGETS}
  )
  endmacro()
 

diff --git a/test_rmw_implementation/package.xml b/test_rmw_implementation/package.xml
@@ -23,6 +23,7 @@
  <test_depend>rmw_implementation</test_depend>
  <test_depend>rmw_dds_common</test_depend>
  <test_depend>rmw_implementation_cmake</test_depend>
+ <test_depend>rosidl_runtime_c</test_depend>
  <test_depend>test_msgs</test_depend>
 
  <export>