Switch nav2_waypoint_follower to modern CMake idioms. (#4648)

Signed-off-by: Chris Lalancette <[email protected]>
ros-navigation · Oct 2, 2024 · 406a2f5 · 406a2f5
1 parent fc7e086
commit 406a2f5
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Showing 4 changed files with 141 additions and 81 deletions.
diff --git a/nav2_waypoint_follower/CMakeLists.txt b/nav2_waypoint_follower/CMakeLists.txt
@@ -1,87 +1,126 @@
 cmake_minimum_required(VERSION 3.5)
 project(nav2_waypoint_follower)
 
-# Try for OpenCV 4.X, but settle for whatever is installed
-find_package(OpenCV 4 QUIET)
-if(NOT OpenCV_FOUND)
-  find_package(OpenCV REQUIRED)
-endif()
-message(STATUS "Found OpenCV version ${OpenCV_VERSION}")
-
-find_package(image_transport REQUIRED)
-find_package(cv_bridge REQUIRED)
 find_package(ament_cmake REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(geographic_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(image_transport REQUIRED)
 find_package(nav2_common REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(nav_msgs REQUIRED)
+find_package(nav2_core REQUIRED)
 find_package(nav2_msgs REQUIRED)
 find_package(nav2_util REQUIRED)
-find_package(tf2_ros REQUIRED)
-find_package(nav2_core REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(OpenCV REQUIRED)
 find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
 find_package(robot_localization REQUIRED)
-find_package(geographic_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 nav2_package()
 
-include_directories(
-  include
-)
-
 set(executable_name waypoint_follower)
 
-add_executable(${executable_name}
-  src/main.cpp
-)
-
 set(library_name ${executable_name}_core)
 
 add_library(${library_name} SHARED
   src/waypoint_follower.cpp
 )
-
-set(dependencies
-  rclcpp
-  rclcpp_action
-  rclcpp_lifecycle
-  rclcpp_components
-  nav_msgs
-  nav2_msgs
-  nav2_util
-  tf2_ros
-  nav2_core
-  pluginlib
-  image_transport
-  cv_bridge
-  OpenCV
-  robot_localization
+target_include_directories(${library_name} PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
-
-ament_target_dependencies(${executable_name}
-  ${dependencies}
+target_link_libraries(${library_name} PUBLIC
+  ${geographic_msgs_TARGETS}
+  nav2_core::nav2_core
+  ${nav2_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  ${nav_msgs_TARGETS}
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_action::rclcpp_action
+  rclcpp_lifecycle::rclcpp_lifecycle
+  robot_localization::rl_lib
+  tf2_ros::tf2_ros
+)
+target_link_libraries(${library_name} PRIVATE
+  rclcpp_components::component
 )
 
-target_link_libraries(${executable_name} ${library_name})
-
-ament_target_dependencies(${library_name}
-  ${dependencies}
+add_executable(${executable_name}
+  src/main.cpp
+)
+target_include_directories(${executable_name} PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(${executable_name} PRIVATE
+  ${library_name}
+  rclcpp::rclcpp
 )
 
 add_library(wait_at_waypoint SHARED plugins/wait_at_waypoint.cpp)
-ament_target_dependencies(wait_at_waypoint ${dependencies})
+target_include_directories(wait_at_waypoint PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(wait_at_waypoint PUBLIC
+  ${geometry_msgs_TARGETS}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  nav2_core::nav2_core
+)
+target_link_libraries(wait_at_waypoint PRIVATE
+  pluginlib::pluginlib
+  nav2_util::nav2_util_core
+)
 
 add_library(photo_at_waypoint SHARED plugins/photo_at_waypoint.cpp)
-ament_target_dependencies(photo_at_waypoint ${dependencies})
+target_include_directories(photo_at_waypoint PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(photo_at_waypoint PUBLIC
+  cv_bridge::cv_bridge
+  ${geometry_msgs_TARGETS}
+  image_transport::image_transport
+  nav2_core::nav2_core
+  opencv_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${sensor_msgs_TARGETS}
+)
+target_link_libraries(photo_at_waypoint PRIVATE
+  nav2_util::nav2_util_core
+  pluginlib::pluginlib
+)
 
 add_library(input_at_waypoint SHARED plugins/input_at_waypoint.cpp)
-ament_target_dependencies(input_at_waypoint ${dependencies})
+target_include_directories(input_at_waypoint PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(input_at_waypoint PUBLIC
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${std_msgs_TARGETS}
+)
+target_link_libraries(input_at_waypoint PRIVATE
+  pluginlib::pluginlib
+  nav2_util::nav2_util_core
+)
 
 rclcpp_components_register_nodes(${library_name} "nav2_waypoint_follower::WaypointFollower")
 
 install(TARGETS ${library_name} wait_at_waypoint photo_at_waypoint input_at_waypoint
+  EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -92,19 +131,40 @@ install(TARGETS ${executable_name}
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  ament_find_gtest()
   add_subdirectory(test)
 endif()
 
-ament_export_include_directories(include)
+ament_export_include_directories(include/${PROJECT_NAME})
 ament_export_libraries(wait_at_waypoint photo_at_waypoint input_at_waypoint ${library_name})
-ament_export_dependencies(${dependencies})
+ament_export_dependencies(
+  cv_bridge
+  geographic_msgs
+  geometry_msgs
+  image_transport
+  nav2_core
+  nav2_msgs
+  nav2_util
+  nav_msgs
+  OpenCV
+  pluginlib
+  rclcpp
+  rclcpp_action
+  rclcpp_lifecycle
+  robot_localization
+  sensor_msgs
+  std_msgs
+  tf2_ros
+)
+ament_export_targets(${PROJECT_NAME})
 pluginlib_export_plugin_description_file(nav2_waypoint_follower plugins.xml)
 
 ament_package()
diff --git a/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp b/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp
@@ -15,20 +15,12 @@
 #ifndef NAV2_WAYPOINT_FOLLOWER__PLUGINS__PHOTO_AT_WAYPOINT_HPP_
 #define NAV2_WAYPOINT_FOLLOWER__PLUGINS__PHOTO_AT_WAYPOINT_HPP_
 
-/**
- * While C++17 isn't the project standard. We have to force LLVM/CLang
- * to ignore deprecated declarations
- */
-#define _LIBCPP_NO_EXPERIMENTAL_DEPRECATION_WARNING_FILESYSTEM
-
-
 #include <filesystem>
 #include <mutex>
 #include <string>
 #include <exception>
 
 #include "rclcpp/rclcpp.hpp"
-#include "rclcpp_components/register_node_macro.hpp"
 
 #include "sensor_msgs/msg/image.hpp"
 #include "nav2_core/waypoint_task_executor.hpp"

diff --git a/nav2_waypoint_follower/package.xml b/nav2_waypoint_follower/package.xml
@@ -8,26 +8,29 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
-  <depend>nav2_common</depend>
   <depend>cv_bridge</depend>
-  <depend>pluginlib</depend>
+  <depend>geographic_msgs</depend>
+  <depend>geometry_msgs</depend>
   <depend>image_transport</depend>
+  <depend>nav2_core</depend>
+  <depend>nav2_msgs</depend>
+  <depend>nav2_util</depend>
+  <depend>nav_msgs</depend>
+  <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
+  <depend>rclcpp_components</depend>
   <depend>rclcpp_lifecycle</depend>
-  <depend>nav_msgs</depend>
-  <depend>nav2_msgs</depend>
-  <depend>nav2_util</depend>
-  <depend>nav2_core</depend>
-  <depend>tf2_ros</depend>
   <depend>robot_localization</depend>
-  <depend>geographic_msgs</depend> 
-
-  <test_depend>ament_lint_common</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2_ros</depend>
+
   <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/nav2_waypoint_follower/test/CMakeLists.txt b/nav2_waypoint_follower/test/CMakeLists.txt
@@ -2,20 +2,25 @@
 ament_add_gtest(test_task_executors
   test_task_executors.cpp
 )
-ament_target_dependencies(test_task_executors
-  ${dependencies}
-)
 target_link_libraries(test_task_executors
-  ${library_name} wait_at_waypoint photo_at_waypoint input_at_waypoint
+  ${library_name}
+  wait_at_waypoint
+  photo_at_waypoint
+  input_at_waypoint
+  ${geometry_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${sensor_msgs_TARGETS}
 )
 
 # Test dynamic parameters
 ament_add_gtest(test_dynamic_parameters
   test_dynamic_parameters.cpp
 )
-ament_target_dependencies(test_dynamic_parameters
-  ${dependencies}
-)
 target_link_libraries(test_dynamic_parameters
   ${library_name}
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )