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Install includes to ${PROJECT_NAME} folder and use modern CMake #58

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merged 3 commits into from
Jan 22, 2022
Merged

Install includes to ${PROJECT_NAME} folder and use modern CMake #58

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5d860be
Install includes to ${PROJECT_NAME} folder and use modern CMake
sloretz Jan 5, 2022
8d1d513
Add back old-style CMake variables
sloretz Jan 19, 2022
9926f09
Remove traces of rcutils
sloretz Jan 20, 2022
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46 changes: 23 additions & 23 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,40 +14,38 @@ endif()
find_package(ament_cmake_ros REQUIRED)

find_package(image_geometry REQUIRED)
find_package(OpenCV REQUIRED)
find_package(OpenCV REQUIRED COMPONENTS core)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(sensor_msgs REQUIRED)

add_library(DepthImageToLaserScan
src/DepthImageToLaserScan.cpp
)
ament_target_dependencies(DepthImageToLaserScan
"image_geometry"
"OpenCV"
"sensor_msgs"
)
target_link_libraries(DepthImageToLaserScan PUBLIC
image_geometry::image_geometry
opencv_core
${sensor_msgs_TARGETS})

generate_export_header(DepthImageToLaserScan EXPORT_FILE_NAME ${PROJECT_NAME}/DepthImageToLaserScan_export.h)
target_include_directories(DepthImageToLaserScan PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)

add_library(DepthImageToLaserScanROS
src/DepthImageToLaserScanROS.cpp
)
ament_target_dependencies(DepthImageToLaserScanROS
"rclcpp"
"rclcpp_components"
)
target_link_libraries(DepthImageToLaserScanROS DepthImageToLaserScan)
target_link_libraries(DepthImageToLaserScanROS PUBLIC
rclcpp::rclcpp)
target_link_libraries(DepthImageToLaserScanROS PRIVATE
rcutils::rcutils
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I know this isn't of your doing, but DepthImageToLaserScanROS.cpp doesn't actually need to include rcutils, and hence doesn't need to directly link against it. So I'd be in favor of removing that unnecessary include, and removing this.

(rcutils also isn't properly exposed as a dependency in package.xml or CMakeLists.txt)

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Removed traces of rcutils in 9926f09

rclcpp_components::component)

target_link_libraries(DepthImageToLaserScanROS PUBLIC
DepthImageToLaserScan)
generate_export_header(DepthImageToLaserScanROS EXPORT_FILE_NAME ${PROJECT_NAME}/DepthImageToLaserScanROS_export.h)
target_include_directories(DepthImageToLaserScanROS PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>"
)

rclcpp_components_register_nodes(DepthImageToLaserScanROS
"depthimage_to_laserscan::DepthImageToLaserScanROS")
Expand All @@ -60,9 +58,7 @@ target_link_libraries(depthimage_to_laserscan_node
DepthImageToLaserScanROS
)

install(DIRECTORY include/
DESTINATION include
)
install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})

install(DIRECTORY
launch
Expand All @@ -71,6 +67,7 @@ install(DIRECTORY
)

install(TARGETS DepthImageToLaserScan DepthImageToLaserScanROS
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
Expand All @@ -83,7 +80,7 @@ install(TARGETS depthimage_to_laserscan_node
install(FILES
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/DepthImageToLaserScan_export.h
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/DepthImageToLaserScanROS_export.h
DESTINATION include/${PROJECT_NAME})
DESTINATION include/${PROJECT_NAME}/${PROJECT_NAME})

if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
Expand All @@ -92,6 +89,9 @@ if(BUILD_TESTING)
target_link_libraries(${PROJECT_NAME}-test DepthImageToLaserScan)
endif()

ament_export_include_directories(include)
ament_export_libraries(DepthImageToLaserScan DepthImageToLaserScanROS)
ament_export_targets(export_${PROJECT_NAME})
ament_export_dependencies(rclcpp)
ament_export_dependencies(image_geometry)
ament_export_dependencies(OpenCV)
ament_export_dependencies(sensor_msgs)
ament_package()