More cleanups to the cmake files and packages.

Make sure to really declare and find all dependencies.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

spacenav/CMakeLists.txt

@@ -1,4 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
+
 project(spacenav)
 
 # Default to C++14
@@ -23,6 +24,7 @@ add_library(spacenav
     src/spacenav.cpp)
 target_include_directories(spacenav PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
   ${spnav_INCLUDE_DIR})
 target_link_libraries(spacenav PUBLIC
   rclcpp::rclcpp
@@ -32,21 +34,29 @@ target_link_libraries(spacenav PUBLIC
 target_link_libraries(spacenav PRIVATE
   rclcpp_components::component)
 
-# Install targets
-install(TARGETS spacenav
-  ARCHIVE DESTINATION lib/${PROJECT_NAME}
-  LIBRARY DESTINATION lib/${PROJECT_NAME}
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+install(TARGETS spacenav EXPORT export_spacenav
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
+rclcpp_components_register_node(spacenav
+  PLUGIN "spacenav::Spacenav"
+  EXECUTABLE spacenav_node)
+
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
+
 install(DIRECTORY
   launch
   DESTINATION share/${PROJECT_NAME}/
 )
 
-rclcpp_components_register_node(spacenav
-  PLUGIN "spacenav::Spacenav"
-  EXECUTABLE spacenav_node)
+ament_export_targets(export_spacenav)
+ament_export_dependencies(
+  "rclcpp"
+  "geometry_msgs"
+  "sensor_msgs"
+  "spnav")
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

wiimote/CMakeLists.txt

@@ -18,6 +18,7 @@ endif()
 include(wiimote-extras.cmake)
 
 find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
@@ -39,7 +40,6 @@ target_link_libraries(wiimote_lib PUBLIC
   ${sensor_msgs_TARGETS}
   ${std_msgs_TARGETS}
   ${std_srvs_TARGETS}
-  ${geometry_msgs_TARGETS}
   ${wiimote_msgs_TARGETS}
   wiimote::bluetooth
   wiimote::cwiid)
@@ -62,8 +62,8 @@ target_include_directories(teleop_wiimote PUBLIC
 target_link_libraries(teleop_wiimote PUBLIC
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
-  ${sensor_msgs_TARGETS}
   ${geometry_msgs_TARGETS}
+  ${sensor_msgs_TARGETS}
   ${wiimote_msgs_TARGETS})
 target_link_libraries(teleop_wiimote PRIVATE
   rclcpp_components::component)
@@ -100,6 +100,13 @@ install(PROGRAMS nodes/feedback_tester.py
 )
 
 ament_export_targets(export_wiimote)
+ament_export_dependencies(
+  "rclcpp"
+  "sensor_msgs"
+  "std_msgs"
+  "std_srvs"
+  "wiimote"
+)
 
 ament_package(
   CONFIG_EXTRAS "wiimote-extras.cmake"

wiimote/package.xml

@@ -35,10 +35,12 @@
   <build_depend>cwiid-dev</build_depend>
   <exec_depend>cwiid</exec_depend>
 
+  <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
   <depend>std_srvs</depend>
   <depend>wiimote_msgs</depend>