Modern idiom

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

Author: ajtudela

CMakeLists.txt

@@ -53,7 +53,6 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(rclcpp_components REQUIRED)
-find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 find_package(slg_msgs REQUIRED) # formerly simple_laser_geometry
@@ -76,14 +75,15 @@ target_include_directories(${library_name}
   PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-target_link_libraries(${library_name} PUBLIC
-  rclcpp::rclcpp
+target_link_libraries(${library_name}
+  PUBLIC
   rclcpp_lifecycle::rclcpp_lifecycle
   ${rclcpp_components_TARGETS}
-  ${std_msgs_TARGETS}
   ${sensor_msgs_TARGETS}
-  ${visualization_msgs_TARGETS}
   ${slg_msgs_TARGETS}
+  ${visualization_msgs_TARGETS}
+  PRIVATE
+  rclcpp::rclcpp
 )
 
 # Add executables
@@ -92,9 +92,11 @@ target_include_directories(${PROJECT_NAME}
   PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-target_link_libraries(${PROJECT_NAME} PUBLIC
-  rclcpp::rclcpp
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC
   rclcpp_lifecycle::rclcpp_lifecycle
+  PRIVATE
+  rclcpp::rclcpp
   ${library_name}
 )
 
@@ -142,7 +144,6 @@ ament_export_dependencies(
   rclcpp
   rclcpp_lifecycle
   rclcpp_components
-  std_msgs
   sensor_msgs
   visualization_msgs
   slg_msgs

include/laser_segmentation/parameter_handler.hpp

@@ -15,11 +15,9 @@
 #ifndef LASER_SEGMENTATION__PARAMETER_HANDLER_HPP_
 #define LASER_SEGMENTATION__PARAMETER_HANDLER_HPP_
 
+#include <mutex>
 #include <string>
 #include <vector>
-#include <memory>
-#include <algorithm>
-#include <mutex>
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"

package.xml

@@ -12,7 +12,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>rclcpp_components</depend>
-  <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>visualization_msgs</depend>
   <depend>slg_msgs</depend>  <!-- formerly simple_laser_geometry -->

test/CMakeLists.txt

@@ -1,32 +1,15 @@
 # Test for segmentations algorithm
-ament_add_gtest(test_segmentations
-  test_segmentations.cpp
-)
-ament_target_dependencies(test_segmentations
-  ${dependencies}
-)
-target_link_libraries(test_segmentations
-  ${library_name}
-)
+ament_add_gtest(test_segmentations test_segmentations.cpp)
+target_link_libraries(test_segmentations ${library_name} ${slg_msgs_TARGETS})
 
 # Test for laser_segmentation
-ament_add_gtest(test_laser_segmentation
-  test_laser_segmentation.cpp
-)
-ament_target_dependencies(test_laser_segmentation
-  ${dependencies}
-)
-target_link_libraries(test_laser_segmentation
-  ${library_name}
-)
+ament_add_gtest(test_laser_segmentation test_laser_segmentation.cpp)
+target_link_libraries(test_laser_segmentation ${library_name} rclcpp::rclcpp)
 
 # Test for laser_segmentation integration
-ament_add_gtest(test_integration
-  test_integration.cpp
-)
-ament_target_dependencies(test_integration
-  ${dependencies}
-)
+ament_add_gtest(test_integration test_integration.cpp)
 target_link_libraries(test_integration
   ${library_name}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )