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Switch to target_link_libraries. #2374

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Nov 27, 2023
Merged

Switch to target_link_libraries. #2374

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72 changes: 41 additions & 31 deletions rclcpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,8 @@ find_package(rcpputils REQUIRED)
find_package(rcutils REQUIRED)
find_package(rmw REQUIRED)
find_package(rosgraph_msgs REQUIRED)
find_package(rosidl_dynamic_typesupport REQUIRED)
find_package(rosidl_runtime_c REQUIRED)
find_package(rosidl_runtime_cpp REQUIRED)
find_package(rosidl_typesupport_c REQUIRED)
find_package(rosidl_typesupport_cpp REQUIRED)
Expand Down Expand Up @@ -202,23 +204,28 @@ target_include_directories(${PROJECT_NAME} PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
# specific order: dependents before dependencies
ament_target_dependencies(${PROJECT_NAME}
"ament_index_cpp"
"libstatistics_collector"
"rcl"
"rcl_interfaces"
"rcl_logging_interface"
"rcl_yaml_param_parser"
"rcpputils"
"rcutils"
"builtin_interfaces"
"rosgraph_msgs"
"rosidl_typesupport_cpp"
"rosidl_runtime_cpp"
"statistics_msgs"
"tracetools"
target_link_libraries(${PROJECT_NAME} PUBLIC
${builtin_interfaces_TARGETS}
libstatistics_collector::libstatistics_collector
rcl::rcl
${rcl_interfaces_TARGETS}
rcl_yaml_param_parser::rcl_yaml_param_parser
rcpputils::rcpputils
rcutils::rcutils
rmw::rmw
${rosgraph_msgs_TARGETS}
rosidl_dynamic_typesupport::rosidl_dynamic_typesupport
rosidl_runtime_c::rosidl_runtime_c
rosidl_runtime_cpp::rosidl_runtime_cpp
rosidl_typesupport_cpp::rosidl_typesupport_cpp
${statistics_msgs_TARGETS}
tracetools::tracetools
${CMAKE_THREAD_LIBS_INIT}
)

target_link_libraries(${PROJECT_NAME} PRIVATE
ament_index_cpp::ament_index_cpp
rcl_logging_interface::rcl_logging_interface
)

# Causes the visibility macros to use dllexport rather than dllimport,
Expand All @@ -240,20 +247,23 @@ ament_export_libraries(${PROJECT_NAME})
# Export modern CMake targets
ament_export_targets(${PROJECT_NAME})

# specific order: dependents before dependencies
ament_export_dependencies(ament_index_cpp)
ament_export_dependencies(libstatistics_collector)
ament_export_dependencies(rcl)
ament_export_dependencies(rcpputils)
ament_export_dependencies(rcutils)
ament_export_dependencies(builtin_interfaces)
ament_export_dependencies(rosgraph_msgs)
ament_export_dependencies(rosidl_typesupport_cpp)
ament_export_dependencies(rosidl_typesupport_c)
ament_export_dependencies(rosidl_runtime_cpp)
ament_export_dependencies(rcl_yaml_param_parser)
ament_export_dependencies(statistics_msgs)
ament_export_dependencies(tracetools)
ament_export_dependencies(
builtin_interfaces
libstatistics_collector
rcl
rcl_interfaces
rcl_yaml_param_parser
rcpputils
rcutils
rmw
rosgraph_msgs
rosidl_dynamic_typesupport
rosidl_runtime_c
rosidl_runtime_cpp
rosidl_typesupport_cpp
statistics_msgs
tracetools
)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
Expand Down
2 changes: 2 additions & 0 deletions rclcpp/package.xml
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Expand Up @@ -22,13 +22,15 @@
<build_depend>builtin_interfaces</build_depend>
<build_depend>rcl_interfaces</build_depend>
<build_depend>rosgraph_msgs</build_depend>
<build_depend>rosidl_runtime_c</build_depend>
<build_depend>rosidl_runtime_cpp</build_depend>
<build_depend>rosidl_typesupport_c</build_depend>
<build_depend>rosidl_typesupport_cpp</build_depend>
<build_export_depend>ament_index_cpp</build_export_depend>
<build_export_depend>builtin_interfaces</build_export_depend>
<build_export_depend>rcl_interfaces</build_export_depend>
<build_export_depend>rosgraph_msgs</build_export_depend>
<build_export_depend>rosidl_runtime_c</build_export_depend>
<build_export_depend>rosidl_runtime_cpp</build_export_depend>
<build_export_depend>rosidl_typesupport_c</build_export_depend>
<build_export_depend>rosidl_typesupport_cpp</build_export_depend>
Expand Down
9 changes: 3 additions & 6 deletions rclcpp/test/benchmark/CMakeLists.txt
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Expand Up @@ -7,14 +7,12 @@ find_package(performance_test_fixture REQUIRED)

add_performance_test(benchmark_client benchmark_client.cpp)
if(TARGET benchmark_client)
target_link_libraries(benchmark_client ${PROJECT_NAME})
ament_target_dependencies(benchmark_client test_msgs rcl_interfaces)
target_link_libraries(benchmark_client ${PROJECT_NAME} ${rcl_interfaces_TARGETS} ${test_msgs_TARGETS})
endif()

add_performance_test(benchmark_executor benchmark_executor.cpp)
if(TARGET benchmark_executor)
target_link_libraries(benchmark_executor ${PROJECT_NAME})
ament_target_dependencies(benchmark_executor test_msgs)
target_link_libraries(benchmark_executor ${PROJECT_NAME} ${test_msgs_TARGETS})
endif()

add_performance_test(benchmark_init_shutdown benchmark_init_shutdown.cpp)
Expand All @@ -39,6 +37,5 @@ endif()

add_performance_test(benchmark_service benchmark_service.cpp)
if(TARGET benchmark_service)
target_link_libraries(benchmark_service ${PROJECT_NAME})
ament_target_dependencies(benchmark_service test_msgs rcl_interfaces)
target_link_libraries(benchmark_service ${PROJECT_NAME} ${rcl_interfaces_TARGETS} ${test_msgs_TARGETS})
endif()
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