Update CMakeLists.txt to use modern idioms.

Signed-off-by: Alberto Tudela <[email protected]>

scitos2_behavior_tree/CHANGELOG.rst

@@ -9,6 +9,7 @@ Changelog for package scitos2_behavior_tree
 * Add generate_scitos2_tree_nodes_xml.
 * Add unit testing.
 * The utils folder in test is just a copy of nav2_behavior_tree/test/utils because Rolling CI is currently broken. This will be removed once Rolling CI is fixed.
+* Update CMakeLists.txt to use modern idioms.
 
 0.3.0 (26-04-2023)
 ------------------

scitos2_behavior_tree/CMakeLists.txt

@@ -21,8 +21,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
-  add_compile_options(-Wall -Wextra -Wpedantic -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wnull-dereference)
   add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>")
 endif()
 
@@ -51,49 +50,70 @@ endif()
 # ###############################################
 # # Find ament macros and libraries
 find_package(ament_cmake REQUIRED)
+find_package(behaviortree_cpp_v3 REQUIRED)
+find_package(nav2_behavior_tree REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(scitos2_msgs REQUIRED)
-find_package(behaviortree_cpp_v3 REQUIRED)
-find_package(nav2_behavior_tree REQUIRED)
 
 # ##########
 # # Build ##
 # ##########
-# # Specify additional locations of header files
-# # Your package locations should be listed before other locations
-include_directories(
-  include
+add_library(scitos2_is_bumper_activated_condition_bt_node SHARED src/condition/is_bumper_activated_condition.cpp)
+target_include_directories(scitos2_is_bumper_activated_condition_bt_node PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
-
-set(dependencies
-  rclcpp
-  rclcpp_action
-  rclcpp_lifecycle
-  scitos2_msgs
-  behaviortree_cpp_v3
-  nav2_behavior_tree
+target_link_libraries(scitos2_is_bumper_activated_condition_bt_node
+  PUBLIC
+  rclcpp::rclcpp
+  ${scitos2_msgs_TARGETS}
 )
-
-add_library(scitos2_is_bumper_activated_condition_bt_node SHARED src/condition/is_bumper_activated_condition.cpp)
-list(APPEND plugin_libs scitos2_is_bumper_activated_condition_bt_node)
+ament_target_dependencies(scitos2_is_bumper_activated_condition_bt_node
+  PUBLIC
+  behaviortree_cpp_v3
+) # TODO(ajtudela): Fix this in jazzy
+target_compile_definitions(scitos2_is_bumper_activated_condition_bt_node PRIVATE BT_PLUGIN_EXPORT)
 
 add_library(scitos2_emergency_stop_service_bt_node SHARED src/action/emergency_stop_service.cpp)
-list(APPEND plugin_libs scitos2_emergency_stop_service_bt_node)
+target_include_directories(scitos2_emergency_stop_service_bt_node PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(scitos2_emergency_stop_service_bt_node
+  PUBLIC
+  ${scitos2_msgs_TARGETS}
+)
+ament_target_dependencies(scitos2_emergency_stop_service_bt_node
+  PUBLIC
+  nav2_behavior_tree
+) # TODO(ajtudela): Fix this in jazzy
+target_compile_definitions(scitos2_emergency_stop_service_bt_node PRIVATE BT_PLUGIN_EXPORT)
 
 add_library(scitos2_reset_motor_stop_service_bt_node SHARED src/action/reset_motor_stop_service.cpp)
-list(APPEND plugin_libs scitos2_reset_motor_stop_service_bt_node)
-
-foreach(bt_plugin ${plugin_libs})
-  ament_target_dependencies(${bt_plugin} ${dependencies})
-  target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
-endforeach()
+target_include_directories(scitos2_reset_motor_stop_service_bt_node PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(scitos2_reset_motor_stop_service_bt_node
+  PUBLIC
+  ${scitos2_msgs_TARGETS}
+)
+ament_target_dependencies(scitos2_reset_motor_stop_service_bt_node
+  PUBLIC
+  nav2_behavior_tree
+) # TODO(ajtudela): Fix this in jazzy
+target_compile_definitions(scitos2_reset_motor_stop_service_bt_node PRIVATE BT_PLUGIN_EXPORT)
 
 # ############
 # # Install ##
 # ############
-install(TARGETS ${plugin_libs}
+install(TARGETS
+  scitos2_is_bumper_activated_condition_bt_node
+  scitos2_emergency_stop_service_bt_node
+  scitos2_reset_motor_stop_service_bt_node
+  EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -104,14 +124,14 @@ set(GENERATED_DIR ${CMAKE_CURRENT_BINARY_DIR}/gen)
 configure_file(plugins_list.hpp.in ${GENERATED_DIR}/plugins_list.hpp)
 
 add_executable(generate_scitos2_tree_nodes_xml src/generate_scitos2_tree_nodes_xml.cpp)
-ament_target_dependencies(generate_scitos2_tree_nodes_xml ${dependencies})
+ament_target_dependencies(generate_scitos2_tree_nodes_xml PUBLIC behaviortree_cpp_v3) # TODO(ajtudela): Fix this in jazzy
 
 # allow generate_scitos2_tree_nodes_xml to find plugins_list.hpp
 target_include_directories(generate_scitos2_tree_nodes_xml PRIVATE ${GENERATED_DIR})
 install(TARGETS generate_scitos2_tree_nodes_xml DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(DIRECTORY test/utils/
@@ -137,7 +157,19 @@ endif()
 # ##################################
 # # ament specific configuration  ##
 # ##################################
-ament_export_include_directories(include)
-ament_export_libraries(${plugin_libs})
-ament_export_dependencies(${dependencies})
+ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_libraries(
+  scitos2_is_bumper_activated_condition_bt_node
+  scitos2_emergency_stop_service_bt_node
+  scitos2_reset_motor_stop_service_bt_node
+)
+ament_export_dependencies(
+  behaviortree_cpp_v3
+  nav2_behavior_tree
+  rclcpp
+  rclcpp_action
+  rclcpp_lifecycle
+  scitos2_msgs
+)
+ament_export_targets(${PROJECT_NAME})
 ament_package()

scitos2_behavior_tree/package.xml

@@ -8,12 +8,12 @@
   <license>Apache-2.0</license>
   <author email="[email protected]">Alberto Tudela</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>behaviortree_cpp_v3</depend>
+  <depend>nav2_behavior_tree</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>scitos2_msgs</depend>
-  <depend>behaviortree_cpp_v3</depend>
-  <depend>nav2_behavior_tree</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

scitos2_behavior_tree/test/CMakeLists.txt

@@ -5,8 +5,11 @@ add_subdirectory(condition)
 
 # Test register
 ament_add_gtest(test_register
-test_register.cpp
+  test_register.cpp
+)
+target_link_libraries(test_register
+  rclcpp::rclcpp
 )
 ament_target_dependencies(test_register
-  ${dependencies}
+  behaviortree_cpp_v3
 )

scitos2_behavior_tree/test/action/CMakeLists.txt

@@ -2,20 +2,20 @@
 ament_add_gtest(test_scitos2_action_emergency_stop_service
   test_emergency_stop_service.cpp
 )
-ament_target_dependencies(test_scitos2_action_emergency_stop_service
-  ${dependencies}
-)
 target_link_libraries(test_scitos2_action_emergency_stop_service
   scitos2_emergency_stop_service_bt_node
 )
+ament_target_dependencies(test_scitos2_action_emergency_stop_service
+  behaviortree_cpp_v3
+)
 
 # Test for the reset motor stop service
 ament_add_gtest(test_scitos2_action_reset_motor_stop_service
   test_reset_motor_stop_service.cpp
 )
-ament_target_dependencies(test_scitos2_action_reset_motor_stop_service
-  ${dependencies}
-)
 target_link_libraries(test_scitos2_action_reset_motor_stop_service
   scitos2_reset_motor_stop_service_bt_node
+)
+ament_target_dependencies(test_scitos2_action_reset_motor_stop_service
+  behaviortree_cpp_v3
 )

scitos2_behavior_tree/test/condition/CMakeLists.txt

@@ -1,10 +1,17 @@
+find_package(geometry_msgs REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(tf2_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+
 # Test for is bumper activated condition
 ament_add_gtest(test_scitos2_condition_is_bumper_activated
   test_is_bumper_activated_condition.cpp
 )
-ament_target_dependencies(test_scitos2_condition_is_bumper_activated
-  ${dependencies}
-)
 target_link_libraries(test_scitos2_condition_is_bumper_activated
+  ${geometry_msgs_TARGETS}
   scitos2_is_bumper_activated_condition_bt_node
+  ${scitos2_msgs_TARGETS}
+  rclcpp_action::rclcpp_action
+  ${tf2_msgs_TARGETS}
+  tf2_ros::tf2_ros
 )

scitos2_charging_dock/CHANGELOG.rst

@@ -7,4 +7,5 @@ Changelog for package scitos2_charging_dock
 * Initial release.
 * Create README.md.
 * Redo the package to use the new docking system.
+* Update CMakeLists.txt to use modern idioms.
 * Contributors: Alberto Tudela