refactor: Clean up CMake and package.xml files

2b-t · Nov 2, 2024 · 6998235 · 6998235
1 parent 14a78a1
commit 6998235
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Showing 2 changed files with 12 additions and 18 deletions.
diff --git a/myactuator_rmd_hardware/CMakeLists.txt b/myactuator_rmd_hardware/CMakeLists.txt
@@ -6,7 +6,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_ros REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(myactuator_rmd REQUIRED)
 find_package(pluginlib REQUIRED)
@@ -16,28 +15,29 @@ find_package(rclcpp_lifecycle REQUIRED)
 add_library(${PROJECT_NAME}
   src/myactuator_rmd_hardware_interface.cpp
 )
-target_compile_features(${PROJECT_NAME} PUBLIC c_std_99 cxx_std_17)
+target_compile_features(${PROJECT_NAME} PUBLIC
+  cxx_std_17
+)
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
 )
-# Needed for std::atomic
+target_compile_definitions(${PROJECT_NAME} PRIVATE
+  MYACTUATOR_RMD_HARDWARE_BUILDING_LIBRARY
+)
+# Required for std::atomic
 target_link_libraries(${PROJECT_NAME} -latomic)
-ament_target_dependencies(
-  myactuator_rmd_hardware
+ament_target_dependencies(${PROJECT_NAME}
   hardware_interface
   myactuator_rmd
   pluginlib
   rclcpp
   rclcpp_lifecycle
 )
 
-target_compile_definitions(${PROJECT_NAME} PRIVATE
-  MYACTUATOR_RMD_HARDWARE_BUILDING_LIBRARY
+pluginlib_export_plugin_description_file(hardware_interface
+  myactuator_rmd_hardware.xml
 )
-
-pluginlib_export_plugin_description_file(hardware_interface myactuator_rmd_hardware.xml)
-
 install(
   DIRECTORY include/
   DESTINATION include
@@ -50,14 +50,8 @@ install(
   RUNTIME DESTINATION bin
 )
 
-ament_export_include_directories(
-  include
-)
-ament_export_libraries(
-  ${PROJECT_NAME}
-)
 ament_export_targets(
   export_${PROJECT_NAME}
+  HAS_LIBRARY_TARGET
 )
-
 ament_package()
diff --git a/myactuator_rmd_hardware/package.xml b/myactuator_rmd_hardware/package.xml
@@ -7,7 +7,7 @@
   <maintainer email="tobit.flatscher@outlook.com">Tobit Flatscher</maintainer>
   <license>MIT</license>
 
-  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>hardware_interface</depend>
   <depend>myactuator_rmd</depend>