Initial eigen3_cmake_module package

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(eigen3_cmake_module)
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  find_package(ament_cmake_copyright REQUIRED)
+
+  # Find module is intentionally mixed case, so tell linter to ignore that
+  ament_lint_cmake("--filter=-convention/filename,-package/stdargs")
+  ament_copyright()
+endif()
+
+ament_package(
+  CONFIG_EXTRAS "eigen3_cmake_module-extras.cmake"
+)
+
+install(DIRECTORY cmake
+  DESTINATION share/${PROJECT_NAME})

CONTRIBUTING.md

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+Any contribution that you make to this repository will
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+
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LICENSE

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README.md

@@ -1,2 +1,51 @@
 # eigen3_cmake_module
-Adds a custom find module for Eigen3
+
+This package adds a [CMake find module](https://cmake.org/cmake/help/v3.14/manual/cmake-developer.7.html#find-modulesjj) for [Eigen3](https://eigen.tuxfamily.org/dox/) that sets [standard CMake variables](https://cmake.org/cmake/help/v3.5/manual/cmake-developer.7.html#standard-variable-names).
+This enables `ament_export_dependencies(Eigen3)` and `ament_target_dependencies(my_target Eigen3)`.
+
+## Using this package
+
+This section assumes you're using [ament_cmake](https://github.com/ament/ament_cmake).
+
+### Edit your CMakeLists.txt
+In your `CMakeLists.txt`, call `find_package()` on this package using `REQUIRED`; then find `Eigen3`.
+
+```CMake
+find_package(eigen3_cmake_module REQUIRED)
+find_package(Eigen3)
+```
+
+If your library or executable uses `Eigen3`, then call `ament_target_dependencies()` to give it access to the `Eigen3` headers.
+
+```CMake
+# add_library(my_thing ...)
+# # OR
+# add_executable(my_thing ...)
+# ...
+ament_target_dependencies(my_thing Eigen3)
+```
+
+If your package uses Eigen3 in public headers, then call `ament_export_dependencies()` on this package, and afterwards do the same for `Eigen3`.
+
+```CMake
+ament_export_dependencies(eigen3_cmake_module)
+ament_export_dependencies(Eigen3)
+```
+
+### Edit your package.xml
+
+Add a buildtool dependency to this package, and a build dependency to Eigen3 to your `package.xml`.
+
+```xml
+<buildtool_depend>eigen3_cmake_module</buildtool_depend>
+<build_depend>eigen</build_depend>
+```
+
+If your package uses Eigen3 in public headers, then **also add** these tags so downstream packages also depend on this package and `Eigen3`.
+
+```xml
+<buildtool_export_depend>eigen3_cmake_module</buildtool_export_depend>
+<build_export_depend>eigen</build_export_depend>
+```
+
+`<exec_depend>` is not necessary because `Eigen3` is a header only library.

cmake/Modules/FindEigen3.cmake

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+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# This find_module finds Eigen3 and assigns variables to standard variable names
+# This allows the module to work with ament_export_dependencies
+
+include(FindPackageHandleStandardArgs)
+
+# Use Eigen3Config.cmake to do most of the work
+find_package(Eigen3 CONFIG)
+
+find_package_handle_standard_args(
+  Eigen3
+  VERSION_VAR
+    EIGEN3_VERSION_STRING
+  REQUIRED_VARS
+    EIGEN3_FOUND
+)
+if(EIGEN3_FOUND)
+  # Set standard variable names
+  # https://cmake.org/cmake/help/v3.5/manual/cmake-developer.7.html#standard-variable-names
+  set(_standard_vars
+    INCLUDE_DIRS
+    DEFINITIONS
+    ROOT_DIR)
+  foreach(_suffix ${_standard_vars})
+    set(_wrong_var "EIGEN3_${_suffix}")
+    set(_right_var "Eigen3_${_suffix}")
+    if(NOT DEFINED ${_right_var} AND DEFINED ${_wrong_var})
+      set(${_right_var} "${${_wrong_var}}")
+    endif()
+  endforeach()
+endif()

eigen3_cmake_module-extras.cmake

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+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+list(INSERT CMAKE_MODULE_PATH 0 "${eigen3_cmake_module_DIR}/Modules")

package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>eigen3_cmake_module</name>
+  <version>0.1.0</version>
+  <description>Exports a custom CMake module to find Eigen3.</description>
+
+  <author email="sloretz@openrobotics.org">Shane Loretz</author>
+  <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>