Use target_link_libraries instead of ament_target_dependencies (#815)

christophfroehlich · web-flow · commit a55155ad43af · 2025-05-27T20:20:17.000+02:00
diff --git a/example_1/CMakeLists.txt b/example_1/CMakeLists.txt
@@ -39,9 +39,11 @@ target_include_directories(ros2_control_demo_example_1 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_1>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_1 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_1 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Export hardware plugins
diff --git a/example_10/CMakeLists.txt b/example_10/CMakeLists.txt
@@ -8,8 +8,6 @@ export_windows_symbols()
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   hardware_interface
-  control_msgs
-  std_msgs
   pluginlib
   rclcpp
   rclcpp_lifecycle
@@ -41,9 +39,11 @@ target_include_directories(ros2_control_demo_example_10 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_10>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_10 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_10 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Export hardware plugins
diff --git a/example_11/CMakeLists.txt b/example_11/CMakeLists.txt
@@ -39,9 +39,11 @@ target_include_directories(ros2_control_demo_example_11 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_11>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_11 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_11 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Export hardware plugins
diff --git a/example_12/CMakeLists.txt b/example_12/CMakeLists.txt
@@ -11,7 +11,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   pluginlib
   rclcpp
   rclcpp_lifecycle
-  control_msgs
   generate_parameter_library
   controller_interface
   parameter_traits
@@ -45,9 +44,11 @@ target_include_directories(ros2_control_demo_example_12 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_12>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_12 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_12 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Export hardware plugins
@@ -65,9 +66,15 @@ target_include_directories(passthrough_controller PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/controllers/include>
 $<INSTALL_INTERFACE:include/passthrough_controller>
 )
-target_link_libraries(passthrough_controller PUBLIC passthrough_controller_parameters)
-ament_target_dependencies(passthrough_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-
+target_link_libraries(passthrough_controller PUBLIC
+  passthrough_controller_parameters
+  ${std_msgs_TARGETS}
+  controller_interface::controller_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  realtime_tools::realtime_tools
+)
 pluginlib_export_plugin_description_file(controller_interface passthrough_controller.xml)
 
 
diff --git a/example_12/package.xml b/example_12/package.xml
@@ -23,6 +23,7 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>std_msgs</depend>
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>forward_command_controller</exec_depend>
diff --git a/example_14/CMakeLists.txt b/example_14/CMakeLists.txt
@@ -41,9 +41,12 @@ target_include_directories(ros2_control_demo_example_14 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_14>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_14 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_14 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  realtime_tools::realtime_tools
 )
 
 # Export hardware plugins
diff --git a/example_16/CMakeLists.txt b/example_16/CMakeLists.txt
@@ -39,9 +39,11 @@ target_include_directories(ros2_control_demo_example_16 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_16>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_16 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_16 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Export hardware plugins
diff --git a/example_2/CMakeLists.txt b/example_2/CMakeLists.txt
@@ -39,9 +39,11 @@ target_include_directories(ros2_control_demo_example_2 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_2>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_2 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_2 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Export hardware plugins
diff --git a/example_3/CMakeLists.txt b/example_3/CMakeLists.txt
@@ -39,9 +39,11 @@ target_include_directories(ros2_control_demo_example_3 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_3>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_3 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_3 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Export hardware plugins
diff --git a/example_4/CMakeLists.txt b/example_4/CMakeLists.txt
@@ -39,9 +39,11 @@ target_include_directories(ros2_control_demo_example_4 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_4>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_4 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_4 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Export hardware plugins
diff --git a/example_5/CMakeLists.txt b/example_5/CMakeLists.txt
@@ -40,9 +40,11 @@ target_include_directories(ros2_control_demo_example_5 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_5>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_5 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_5 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Export hardware plugins
diff --git a/example_6/CMakeLists.txt b/example_6/CMakeLists.txt
@@ -39,9 +39,11 @@ target_include_directories(ros2_control_demo_example_6 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_6>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_6 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_6 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Export hardware plugins
diff --git a/example_7/CMakeLists.txt b/example_7/CMakeLists.txt
@@ -8,7 +8,6 @@ export_windows_symbols()
 # find dependencies
 set(HW_IF_INCLUDE_DEPENDS
   pluginlib
-  rcpputils
   hardware_interface
 )
 set(REF_GEN_INCLUDE_DEPENDS
@@ -18,7 +17,6 @@ set(REF_GEN_INCLUDE_DEPENDS
 )
 set(CONTROLLER_INCLUDE_DEPENDS
   pluginlib
-  rcpputils
   controller_interface
   realtime_tools
   trajectory_msgs
@@ -48,9 +46,10 @@ endforeach()
 ## COMPILE
 add_executable(send_trajectory reference_generator/send_trajectory.cpp)
 
-ament_target_dependencies(
-  send_trajectory PUBLIC
-  ${REF_GEN_INCLUDE_DEPENDS}
+target_link_libraries(send_trajectory PUBLIC
+  ${trajectory_msgs_TARGETS}
+  kdl_parser::kdl_parser
+  rclcpp::rclcpp
 )
 
 add_library(
@@ -66,10 +65,12 @@ $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/controller/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_7>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_7 PUBLIC
-  ${HW_IF_INCLUDE_DEPENDS}
-  ${CONTROLLER_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_7 PUBLIC
+  ${trajectory_msgs_TARGETS}
+  controller_interface::controller_interface
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  realtime_tools::realtime_tools
 )
 
 # Export hardware plugins
diff --git a/example_7/package.xml b/example_7/package.xml
@@ -25,7 +25,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>rclcpp</depend>
-  <depend>rcpputils</depend>
   <depend>realtime_tools</depend>
   <depend>trajectory_msgs</depend>
 
diff --git a/example_8/CMakeLists.txt b/example_8/CMakeLists.txt
@@ -40,9 +40,12 @@ target_include_directories(ros2_control_demo_example_8 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_8>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_8 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_8 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  transmission_interface::transmission_interface
 )
 
 # Export hardware plugins
diff --git a/example_9/CMakeLists.txt b/example_9/CMakeLists.txt
@@ -39,9 +39,11 @@ target_include_directories(ros2_control_demo_example_9 PUBLIC
 $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
 $<INSTALL_INTERFACE:include/ros2_control_demo_example_9>
 )
-ament_target_dependencies(
-  ros2_control_demo_example_9 PUBLIC
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(ros2_control_demo_example_9 PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 
 # Export hardware plugins
diff --git a/ros2_control_demos/package.xml b/ros2_control_demos/package.xml
@@ -29,6 +29,7 @@
   <exec_depend>ros2_control_demo_example_13</exec_depend>
   <exec_depend>ros2_control_demo_example_14</exec_depend>
   <exec_depend>ros2_control_demo_example_15</exec_depend>
+  <exec_depend>ros2_control_demo_example_16</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

Original file line number	Diff line number	Diff line change
`@@ -39,9 +39,11 @@ target_include_directories(ros2_control_demo_example_1 PUBLIC`
`39`	`39`	`$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>`
`40`	`40`	`$<INSTALL_INTERFACE:include/ros2_control_demo_example_1>`
`41`	`41`	`)`
`42`		`-ament_target_dependencies(`
`43`		`- ros2_control_demo_example_1 PUBLIC`
`44`		`- ${THIS_PACKAGE_INCLUDE_DEPENDS}`
	`42`	`+target_link_libraries(ros2_control_demo_example_1 PUBLIC`
	`43`	`+ hardware_interface::hardware_interface`
	`44`	`+ pluginlib::pluginlib`
	`45`	`+ rclcpp::rclcpp`
	`46`	`+ rclcpp_lifecycle::rclcpp_lifecycle`
`45`	`47`	`)`
`46`	`48`
`47`	`49`	`# Export hardware plugins`