From 71b5c52c8fd745a1a66dca0b8ee0bdfe4bc25786 Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Wed, 7 Aug 2024 20:59:48 +0000
Subject: [PATCH] Switch dwb_plugins to modern CMake idioms.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 .../dwb_plugins/CMakeLists.txt                | 75 ++++++++++++-------
 .../include/dwb_plugins/velocity_iterator.hpp |  1 -
 nav2_dwb_controller/dwb_plugins/package.xml   | 10 ++-
 .../dwb_plugins/test/CMakeLists.txt           | 25 ++++++-
 4 files changed, 76 insertions(+), 35 deletions(-)

diff --git a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
index a1806c524a..75a00b9b7f 100644
--- a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
@@ -2,38 +2,41 @@ cmake_minimum_required(VERSION 3.5)
 project(dwb_plugins)
 
 find_package(ament_cmake REQUIRED)
-find_package(nav2_common REQUIRED)
-find_package(angles REQUIRED)
 find_package(dwb_core REQUIRED)
+find_package(dwb_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(nav2_util REQUIRED)
 find_package(nav_2d_msgs REQUIRED)
 find_package(nav_2d_utils REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(nav2_util REQUIRED)
+find_package(rcl_interfaces REQUIRED)
 
 nav2_package()
 
-set(dependencies
-  angles
-  dwb_core
-  nav_2d_msgs
-  nav_2d_utils
-  pluginlib
-  rclcpp
-  nav2_util
+add_library(standard_traj_generator SHARED
+  src/standard_traj_generator.cpp
+  src/limited_accel_generator.cpp
+  src/kinematic_parameters.cpp
+  src/xy_theta_iterator.cpp)
+target_include_directories(standard_traj_generator PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
-
-include_directories(
-  include
+target_link_libraries(standard_traj_generator PUBLIC
+  dwb_core::dwb_core
+  ${dwb_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  ${nav_2d_msgs_TARGETS}
+  rclcpp::rclcpp
+  ${rcl_interfaces_TARGETS}
+)
+target_link_libraries(standard_traj_generator PRIVATE
+  nav_2d_utils::conversions
+  pluginlib::pluginlib
 )
-
-add_library(standard_traj_generator SHARED
-            src/standard_traj_generator.cpp
-            src/limited_accel_generator.cpp
-            src/kinematic_parameters.cpp
-            src/xy_theta_iterator.cpp)
-ament_target_dependencies(standard_traj_generator ${dependencies})
-
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -42,23 +45,39 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
+  ament_find_gtest()
+
+  find_package(nav2_costmap_2d REQUIRED)
+  find_package(rclcpp_lifecycle REQUIRED)
   add_subdirectory(test)
 endif()
 
 install(TARGETS standard_traj_generator
-        ARCHIVE DESTINATION lib
-        LIBRARY DESTINATION lib
-        RUNTIME DESTINATION bin
+  EXPORT ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 install(DIRECTORY include/
-        DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 install(FILES plugins.xml
-        DESTINATION share/${PROJECT_NAME}
+  DESTINATION share/${PROJECT_NAME}
 )
 
-ament_export_include_directories(include)
+ament_export_include_directories(include/${PROJECT_NAME})
 ament_export_libraries(standard_traj_generator)
+ament_export_dependencies(
+  dwb_core
+  dwb_msgs
+  geometry_msgs
+  nav2_util
+  nav_2d_msgs
+  rclcpp
+  rcl_interfaces
+)
+ament_export_targets(${PROJECT_NAME})
+
 pluginlib_export_plugin_description_file(dwb_core plugins.xml)
 
 ament_package()
diff --git a/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/velocity_iterator.hpp b/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/velocity_iterator.hpp
index 55a663fddb..e5feefc9fa 100644
--- a/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/velocity_iterator.hpp
+++ b/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/velocity_iterator.hpp
@@ -38,7 +38,6 @@
 #include <memory>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
 #include "nav_2d_msgs/msg/twist2_d.hpp"
 #include "dwb_plugins/kinematic_parameters.hpp"
 #include "nav2_util/lifecycle_node.hpp"
diff --git a/nav2_dwb_controller/dwb_plugins/package.xml b/nav2_dwb_controller/dwb_plugins/package.xml
index 86311cfb56..3e0b0c941e 100644
--- a/nav2_dwb_controller/dwb_plugins/package.xml
+++ b/nav2_dwb_controller/dwb_plugins/package.xml
@@ -12,17 +12,21 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>
 
-  <depend>angles</depend>
   <depend>dwb_core</depend>
+  <depend>dwb_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav2_util</depend>
   <depend>nav_2d_msgs</depend>
   <depend>nav_2d_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>nav2_util</depend>
+  <depend>rcl_interfaces</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>nav2_costmap_2d</test_depend>
+  <test_depend>rclcpp_lifecycle</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt b/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
index c5b9308e8d..a785393843 100644
--- a/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
@@ -1,10 +1,29 @@
 ament_add_gtest(vtest velocity_iterator_test.cpp)
+target_link_libraries(vtest standard_traj_generator)
 
 ament_add_gtest(twist_gen_test twist_gen.cpp)
-target_link_libraries(twist_gen_test standard_traj_generator)
+target_link_libraries(twist_gen_test
+  standard_traj_generator
+  dwb_core::dwb_core
+  ${dwb_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  nav2_util::nav2_util_core
+  ${nav_2d_msgs_TARGETS}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+)
 
 ament_add_gtest(kinematic_parameters_test kinematic_parameters_test.cpp)
-target_link_libraries(kinematic_parameters_test standard_traj_generator)
+target_link_libraries(kinematic_parameters_test
+  standard_traj_generator
+  rclcpp::rclcpp
+  ${rcl_interfaces_TARGETS}
+)
 
 ament_add_gtest(speed_limit_test speed_limit_test.cpp)
-target_link_libraries(speed_limit_test standard_traj_generator)
+target_link_libraries(speed_limit_test
+  standard_traj_generator
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_util::nav2_util_core
+  rclcpp::rclcpp
+)