feat: use exported targets #69
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,33 +1,106 @@ | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(pointcloud_to_laserscan) | ||
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| find_package(ament_cmake REQUIRED) | ||
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| find_package(laser_geometry REQUIRED) | ||
| find_package(message_filters REQUIRED) | ||
| find_package(rclcpp REQUIRED) | ||
| find_package(rclcpp_components REQUIRED) | ||
| find_package(sensor_msgs REQUIRED) | ||
| find_package(tf2 REQUIRED) | ||
| find_package(tf2_ros REQUIRED) | ||
| find_package(tf2_sensor_msgs REQUIRED) | ||
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| add_library(laserscan_to_pointcloud SHARED | ||
| src/laserscan_to_pointcloud_node.cpp) | ||
| target_compile_definitions(laserscan_to_pointcloud | ||
| PRIVATE "POINTCLOUD_TO_LASERSCAN_BUILDING_DLL") | ||
| target_include_directories(laserscan_to_pointcloud PUBLIC | ||
| "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>" | ||
| "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>" | ||
| ) | ||
| target_link_libraries(laserscan_to_pointcloud | ||
| laser_geometry::laser_geometry | ||
| message_filters::message_filters | ||
| rclcpp::rclcpp | ||
| rclcpp_components::component | ||
| tf2::tf2 | ||
| tf2_ros::tf2_ros | ||
| # use exported target after https://github.com/ros2/geometry2/pull/536 is merged | ||
| # tf2_sensor_msgs::tf2_sensor_msgs | ||
| "${sensor_msgs_TARGETS}" | ||
| ) | ||
| rclcpp_components_register_node(laserscan_to_pointcloud | ||
| PLUGIN "pointcloud_to_laserscan::LaserScanToPointCloudNode" | ||
| EXECUTABLE laserscan_to_pointcloud_node) | ||
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| add_library(pointcloud_to_laserscan SHARED | ||
| src/pointcloud_to_laserscan_node.cpp) | ||
| target_compile_definitions(pointcloud_to_laserscan | ||
| PRIVATE "POINTCLOUD_TO_LASERSCAN_BUILDING_DLL") | ||
| target_include_directories(pointcloud_to_laserscan PUBLIC | ||
| "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>" | ||
| "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>" | ||
| ) | ||
| target_link_libraries(pointcloud_to_laserscan | ||
| laser_geometry::laser_geometry | ||
| message_filters::message_filters | ||
| rclcpp::rclcpp | ||
| rclcpp_components::component | ||
| tf2::tf2 | ||
| tf2_ros::tf2_ros | ||
| # use exported target after https://github.com/ros2/geometry2/pull/536 is merged | ||
| # tf2_sensor_msgs::tf2_sensor_msgs | ||
| "${sensor_msgs_TARGETS}" | ||
| ) | ||
| rclcpp_components_register_node(pointcloud_to_laserscan | ||
| PLUGIN "pointcloud_to_laserscan::PointCloudToLaserScanNode" | ||
| EXECUTABLE pointcloud_to_laserscan_node) | ||
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| add_executable(dummy_pointcloud_publisher | ||
| src/dummy_pointcloud_publisher.cpp | ||
| ) | ||
| target_link_libraries(dummy_pointcloud_publisher | ||
| rclcpp::rclcpp | ||
| "${sensor_msgs_TARGETS}" | ||
| ) | ||
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| install(TARGETS | ||
| laserscan_to_pointcloud | ||
| pointcloud_to_laserscan | ||
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| EXPORT export_${PROJECT_NAME} | ||
| RUNTIME DESTINATION bin | ||
| LIBRARY DESTINATION lib | ||
| ARCHIVE DESTINATION lib) | ||
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| install(TARGETS | ||
| dummy_pointcloud_publisher | ||
| DESTINATION lib/${PROJECT_NAME} | ||
| ) | ||
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| install(DIRECTORY include | ||
| DESTINATION include/${PROJECT_NAME} | ||
| ) | ||
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| install(DIRECTORY launch | ||
| DESTINATION share/${PROJECT_NAME} | ||
| ) | ||
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| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
| endif() | ||
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| ament_export_dependencies( | ||
| laser_geometry | ||
| message_filters | ||
| rclcpp | ||
| rclcpp_components | ||
| sensor_msgs | ||
| tf2 | ||
| tf2_ros | ||
| tf2_sensor_msgs | ||
| ) | ||
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| ament_package() | ||
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There was a problem hiding this comment. We are missing the export of the dependencies. This should be something like: There was a problem hiding this comment. @clalancette I added missing ament_export_dependencies in be9226b. |
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So when I tried to build this, it failed with:
A workaround would be to add
${tf2_sensor_msgs_INCLUDE_DIRS}to thetarget_include_directories. We can either do that, or we can wait for ros2/geometry2#536 to be merged. I leave the decision to you, either is fine with me.There was a problem hiding this comment.
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@clalancette I decided to add workaround until ros2/geometry2#536 is merged. f4e8781
Thank you for letting me know.
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@clalancette friendly ping