From 5007b5f422fc30421da709c8cb759528eb9e244f Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Thu, 25 Oct 2018 12:55:44 -0700
Subject: [PATCH] Lint visualization (#1144)

* Sort dependencies alphabetically
* Add missing dependencies
* Fix rostest deps
* Use CATKIN_GLOBAL_INCLUDE_DESTINATION
* Remove link_directories
---
 moveit_ros/visualization/CMakeLists.txt       | 32 +++++++++--------
 .../CMakeLists.txt                            |  2 +-
 moveit_ros/visualization/package.xml          | 35 ++++++++++---------
 .../planning_scene_rviz_plugin/CMakeLists.txt |  2 +-
 .../robot_state_rviz_plugin/CMakeLists.txt    |  2 +-
 .../rviz_plugin_render_tools/CMakeLists.txt   |  2 +-
 .../trajectory_rviz_plugin/CMakeLists.txt     |  2 +-
 7 files changed, 42 insertions(+), 35 deletions(-)

diff --git a/moveit_ros/visualization/CMakeLists.txt b/moveit_ros/visualization/CMakeLists.txt
index 84e32fa81c..66dd220409 100644
--- a/moveit_ros/visualization/CMakeLists.txt
+++ b/moveit_ros/visualization/CMakeLists.txt
@@ -19,13 +19,19 @@ pkg_check_modules(OGRE OGRE)
 link_directories( ${OGRE_LIBRARY_DIRS} )
 
 find_package(catkin REQUIRED COMPONENTS
+  class_loader
+  eigen_conversions
+  geometric_shapes
+  interactive_markers
+  moveit_ros_perception
   moveit_ros_planning_interface
   moveit_ros_robot_interaction
   moveit_ros_warehouse
-  moveit_ros_perception
-  geometric_shapes
-  interactive_markers
-  class_loader
+  object_recognition_msgs
+  pluginlib
+  rosconsole
+  roscpp
+  rospy
   rviz
   tf2_eigen
   roscpp
@@ -62,20 +68,21 @@ add_definitions(-DQT_NO_KEYWORDS)
 
 catkin_package(
   LIBRARIES
-    moveit_rviz_plugin_render_tools
-    moveit_robot_state_rviz_plugin_core
     moveit_motion_planning_rviz_plugin_core
-    moveit_trajectory_rviz_plugin_core
     moveit_planning_scene_rviz_plugin_core
+    moveit_robot_state_rviz_plugin_core
+    moveit_rviz_plugin_render_tools
+    moveit_trajectory_rviz_plugin_core
   INCLUDE_DIRS
-    rviz_plugin_render_tools/include
-    robot_state_rviz_plugin/include
-    planning_scene_rviz_plugin/include
     motion_planning_rviz_plugin/include
+    planning_scene_rviz_plugin/include
+    robot_state_rviz_plugin/include
+    rviz_plugin_render_tools/include
     trajectory_rviz_plugin/include
   CATKIN_DEPENDS
     moveit_ros_planning_interface
     moveit_ros_robot_interaction
+    object_recognition_msgs
   DEPENDS
     EIGEN3
 )
@@ -96,9 +103,6 @@ include_directories(SYSTEM
                     ${QT_INCLUDE_DIR}
                     ${OGRE_INCLUDE_DIRS})
 
-link_directories(${Boost_LIBRARY_DIRS})
-link_directories(${catkin_LIBRARY_DIRS})
-
 add_subdirectory(rviz_plugin_render_tools)
 add_subdirectory(robot_state_rviz_plugin)
 add_subdirectory(planning_scene_rviz_plugin)
@@ -115,6 +119,6 @@ install(FILES
 install(DIRECTORY icons DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 if (CATKIN_ENABLE_TESTING)
-  find_package(rostest)
+  find_package(rostest REQUIRED)
   add_rostest(test/moveit_joy.test)
 endif()
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
index 236c8605f7..27714f9cde 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
@@ -36,7 +36,7 @@ add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/moveit_ros/visualization/package.xml b/moveit_ros/visualization/package.xml
index f7dc36b05f..2adf791f88 100644
--- a/moveit_ros/visualization/package.xml
+++ b/moveit_ros/visualization/package.xml
@@ -20,35 +20,38 @@
   <buildtool_depend>catkin</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
-  <build_depend>rviz</build_depend>
+  <build_depend>class_loader</build_depend>
+  <build_depend>eigen</build_depend>
+  <build_depend>eigen_conversions</build_depend>
+  <build_depend>geometric_shapes</build_depend>
+  <build_depend>interactive_markers</build_depend>
   <build_depend>libogre-dev</build_depend>
-  <build_depend>qtbase5-dev</build_depend>
   <build_depend>libqt5-opengl-dev</build_depend>
+  <build_depend>moveit_ros_robot_interaction</build_depend>
+  <build_depend>moveit_ros_perception</build_depend>
   <build_depend>moveit_ros_planning_interface</build_depend>
   <build_depend>moveit_ros_warehouse</build_depend>
-  <build_depend>moveit_ros_robot_interaction</build_depend>
-  <build_depend version_gte="1.11.2">pluginlib</build_depend>
-  <build_depend>interactive_markers</build_depend>
-  <build_depend>geometric_shapes</build_depend>
   <build_depend>object_recognition_msgs</build_depend>
-  <build_depend>moveit_ros_perception</build_depend>
-  <build_depend>eigen</build_depend>
+  <build_depend version_gte="1.11.2">pluginlib</build_depend>
+  <build_depend>qtbase5-dev</build_depend>
+  <build_depend>rosconsole</build_depend>
+  <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
+  <build_depend>rviz</build_depend>
   <build_depend>tf2_eigen</build_depend>
 
-  <run_depend>roscpp</run_depend>
-  <run_depend>rviz</run_depend>
+  <run_depend>geometric_shapes</run_depend>
+  <run_depend>interactive_markers</run_depend>
+  <run_depend>moveit_ros_robot_interaction</run_depend>
+  <run_depend>moveit_ros_perception</run_depend>
   <run_depend>moveit_ros_planning_interface</run_depend>
   <run_depend>moveit_ros_warehouse</run_depend>
-  <run_depend>moveit_ros_robot_interaction</run_depend>
-  <run_depend version_gte="1.11.2">pluginlib</run_depend>
-  <run_depend>interactive_markers</run_depend>
-  <run_depend>geometric_shapes</run_depend>
   <run_depend>object_recognition_msgs</run_depend>
-  <run_depend>moveit_ros_perception</run_depend>
+  <run_depend version_gte="1.11.2">pluginlib</run_depend>
+  <run_depend>roscpp</run_depend>
   <run_depend>rospy</run_depend>
   <run_depend>tf2_eigen</run_depend>
+  <run_depend>rviz</run_depend>
 
   <test_depend>rostest</test_depend>
 
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
index 66b3a29f00..7c9fb8b81e 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
@@ -15,7 +15,7 @@ add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME}_core ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
index a8ced65892..2a6c207c33 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
@@ -11,7 +11,7 @@ add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME}_core ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
index a18d930104..20c33a5428 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
@@ -31,7 +31,7 @@ target_link_libraries(${MOVEIT_LIB_NAME}
   ${Boost_LIBRARIES}
 )
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
index 725e925d74..194a9da0be 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
@@ -24,7 +24,7 @@ add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}