[WIP] Enable more modern cmake usage

* Attempt fix for ros-perception#245

Signed-off-by: Ryan Friedman <[email protected]>

camera_calibration_parsers/CMakeLists.txt

@@ -11,36 +11,50 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(ament_cmake_ros REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
 
+# set(CMAKE_FIND_DEBUG_MODE TRUE)
 find_package(rclcpp REQUIRED)
-find_package(rcpputils REQUIRED)
+# set(CMAKE_FIND_DEBUG_MODE FALSE)
 find_package(sensor_msgs REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
-
-include_directories(include)
+message("TARGETS: ${yaml_cpp_vendor_TARGETS}")
 
 # define the library
 add_library(${PROJECT_NAME}
   src/parse.cpp
   src/parse_ini.cpp
   src/parse_yml.cpp
 )
+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
 
 target_compile_definitions(${PROJECT_NAME} PRIVATE "CAMERA_CALIBRATION_PARSERS_BUILDING_DLL")
 
 if(CMAKE_COMPILER_IS_GNUCXX)
-  target_link_libraries(${PROJECT_NAME} stdc++fs)
+  target_link_libraries(${PROJECT_NAME} PUBLIC stdc++fs)
 endif()
 
-ament_target_dependencies(
-  ${PROJECT_NAME}
-  rclcpp
-  rcpputils
-  sensor_msgs
-  yaml_cpp_vendor
+message("Include Dirs for RCLCPP: ${rclcpp_INCLUDE_DIRS}")
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  rclcpp::rclcpp  # rclcpp::rclcpp generates linker errors if used
+  sensor_msgs::sensor_msgs_library # https://github.com/ros2/common_interfaces/pull/178
+  yaml-cpp # https://github.com/jbeder/yaml-cpp/pull/741
 )
 
+# ament_target_dependencies(
+#   ${PROJECT_NAME}
+#   rclcpp
+#   rcpputils # If uncommented, add a call to find_package and ament_export_dependencies
+#   sensor_msgs
+#   yaml_cpp_vendor
+# )
+
 # TODO: Reenable Python Wrapper with new serialization technique.
 #find_package(PythonLibs REQUIRED)
 #if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
@@ -59,28 +73,38 @@ ament_target_dependencies(
 
 # define the exe to convert
 add_executable(convert src/convert.cpp)
-target_link_libraries(convert ${PROJECT_NAME})
+target_link_libraries(convert PRIVATE ${PROJECT_NAME}::${PROJECT_NAME})
 
 install(
   TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
 install(
-  TARGETS convert
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  DIRECTORY include/
+  DESTINATION include
 )
 
 install(
-  DIRECTORY include/
-  DESTINATION include
+  EXPORT export_${PROJECT_NAME}
+  NAMESPACE ${PROJECT_NAME}::
+  DESTINATION lib/cmake/
+)
+
+install(
+  TARGETS convert
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
-ament_export_include_directories(include)
+# ament_export_include_directories(include)
+if(NOT TARGET ${PROJECT_NAME}::${PROJECT_NAME})
+  message(ERROR "Unable to export not found targets")
+endif()
 ament_export_libraries(${PROJECT_NAME})
-ament_export_dependencies(rclcpp rcpputils sensor_msgs yaml_cpp_vendor)
+ament_export_dependencies(rclcpp sensor_msgs yaml_cpp_vendor)
 
 
 if(BUILD_TESTING)
@@ -97,17 +121,17 @@ if(BUILD_TESTING)
   ament_cpplint()
   ament_lint_cmake()
   ament_uncrustify()
-  find_package(ament_cmake_gtest)
+  include(GoogleTest)
 
-  ament_add_gtest(${PROJECT_NAME}-parse_ini test/test_parse_ini.cpp)
+  gtest_add_tests(TARGET ${PROJECT_NAME}-parse_ini SOURCES test/test_parse_ini.cpp)
   if(TARGET ${PROJECT_NAME}-parse_ini)
-    target_link_libraries(${PROJECT_NAME}-parse_ini ${PROJECT_NAME})
+    target_link_libraries(${PROJECT_NAME}-parse_ini PRIVATE ${PROJECT_NAME})
   endif()
 
-  ament_add_gtest(${PROJECT_NAME}-parse_yml test/test_parse_yml.cpp)
+  gtest_add_tests(TARGET ${PROJECT_NAME}-parse_yml SOURCES test/test_parse_yml.cpp)
   if(TARGET ${PROJECT_NAME}-parse_yml)
-    target_link_libraries(${PROJECT_NAME}-parse_yml ${PROJECT_NAME})
+    target_link_libraries(${PROJECT_NAME}-parse_yml PRIVATE ${PROJECT_NAME})
   endif()
 endif()
 
-ament_package()
+ament_auto_package()

camera_info_manager/CMakeLists.txt

@@ -17,43 +17,66 @@ endif()
 
 find_package(ament_cmake_ros REQUIRED)
 
-find_package(ament_index_cpp REQUIRED)
-find_package(camera_calibration_parsers REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(rcpputils REQUIRED)
+find_package(camera_calibration_parsers REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
-include_directories(include)
-
 # add a library
 add_library(${PROJECT_NAME} src/camera_info_manager.cpp)
+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
 
 target_compile_definitions(${PROJECT_NAME} PRIVATE "CAMERA_INFO_MANAGER_BUILDING_DLL")
 
-ament_target_dependencies(
+target_link_libraries(
   ${PROJECT_NAME}
-  ament_index_cpp
-  camera_calibration_parsers
-  rclcpp
-  rcpputils
-  sensor_msgs
+  PUBLIC
+  rclcpp::rclcpp
+
+  # For now, use the module mode properties to link the libraries since alias targets aren't supplied
+  ${camera_calibration_parsers_LIBRARIES}
+  ${sensor_msgs_LIBRARIES}
 )
 
+# Because sensor_msgs doesn't yet support modern cmake, add the header include directory manually
+# ament_target_dependencies could also be used
+target_include_directories(${PROJECT_NAME} PUBLIC
+  ${sensor_msgs_INCLUDE_DIRS}
+  ${camera_calibration_parsers_INCLUDE_DIRS}
+)
+# ament_target_dependencies(
+#   ${PROJECT_NAME}
+#   camera_calibration_parsers
+#   rclcpp
+#   sensor_msgs
+# )
+
 install(
   TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(
+  EXPORT export_${PROJECT_NAME}
+  NAMESPACE ${PROJECT_NAME}::
+  DESTINATION lib/cmake/
 )
 
 install(
   DIRECTORY include/
   DESTINATION include
 )
 
-ament_export_include_directories(include)
-ament_export_dependencies(ament_index_cpp camera_calibration_parsers rclcpp rcpputils sensor_msgs)
-ament_export_libraries(${PROJECT_NAME})
+# ament_export_include_directories(include)
+# ament_export_libraries(${PROJECT_NAME})
 
 if(BUILD_TESTING)
   #TODO(mjcarroll) switch back to this once I can fix copyright check