Update to use modern CMake idioms

Signed-off-by: Alberto Tudela <[email protected]>
ajtudela · Jul 31, 2024 · 7013c16 · 7013c16
1 parent 8c4f09d
commit 7013c16
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Showing 7 changed files with 43 additions and 35 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package slg_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.9.1 (31-07-2024)
+------------------
+* Update to use modern CMake idioms.
+
 3.9.0 (29-02-2024)
 ------------------
 * Improve formatting.

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -66,33 +66,26 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   DEPENDENCIES std_msgs geometry_msgs
 )
 
-add_library(${PROJECT_NAME}_includes INTERFACE)
-target_include_directories(${PROJECT_NAME}_includes INTERFACE
+set(library_name slg_core)
+
+add_library(${library_name} INTERFACE)
+target_include_directories(${library_name} INTERFACE
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>"
 )
 
-# ##########
-# # Build ##
-# ##########
-# # Specify additional locations of header files
-# # Your package locations should be listed before other locations
-include_directories(
-  include
-)
-
 # ############
 # # Install ##
 # ############
-install(DIRECTORY include/${PROJECT_NAME}/
+install(DIRECTORY include/
   DESTINATION include/${PROJECT_NAME}
-  FILES_MATCHING PATTERN "*.hpp"
-
-  # PATTERN ".svn" EXCLUDE
 )
 
-install(TARGETS ${PROJECT_NAME}_includes
-  EXPORT export_${PROJECT_NAME}
+install(TARGETS ${library_name}
+  EXPORT ${library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
 # ############
@@ -110,7 +103,11 @@ endif()
 # ##################################
 # # ament specific configuration ##
 # ##################################
-ament_export_include_directories(include)
-ament_export_targets(export_${PROJECT_NAME})
-ament_export_dependencies(rosidl_default_runtime)
+ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_dependencies(
+  geometry_msgs
+  std_msgs
+  rosidl_default_runtime
+)
+ament_export_targets(${library_name})
 ament_package()
diff --git a/package.xml b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>slg_msgs</name>
-  <version>3.8.0</version>
+  <version>3.9.1</version>
   <description>This package provides classes and messages to interact with laser related geometry.</description>
   <maintainer email="[email protected]">Alberto Tudela</maintainer>
   <license>Apache-2.0</license>

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -1,24 +1,28 @@
 ament_add_gtest(test_point2d
   test_point2d.cpp
 )
-ament_target_dependencies(test_point2d
-  geometry_msgs
+target_link_libraries(test_point2d
+  ${geometry_msgs_TARGETS}
+  ${library_name}
 )
 
 ament_add_gtest(test_polygon
-test_polygon.cpp
+  test_polygon.cpp
 )
-ament_target_dependencies(test_polygon
-  geometry_msgs
+target_link_libraries(test_polygon
+  ${geometry_msgs_TARGETS}
+  ${library_name}
 )
 
 ament_add_gtest(test_segment2d
-test_segment2d.cpp
+  test_segment2d.cpp
 )
 rosidl_get_typesupport_target(cpp_typesupport_target
-  ${PROJECT_NAME} rosidl_typesupport_cpp)
-
-ament_target_dependencies(test_segment2d
-  geometry_msgs
+  ${PROJECT_NAME} rosidl_typesupport_cpp
 )
-target_link_libraries(test_segment2d "${cpp_typesupport_target}")
+
+target_link_libraries(test_segment2d
+  ${geometry_msgs_TARGETS}
+  ${library_name}
+  "${cpp_typesupport_target}"
+)
diff --git a/test/test_point2d.cpp b/test/test_point2d.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "gtest/gtest.h"
+#include "geometry_msgs/msg/point.hpp"
 #include "slg_msgs/point2D.hpp"
 
 // Default constructor, constructor with values and copy constructor

diff --git a/test/test_polygon.cpp b/test/test_polygon.cpp
@@ -13,6 +13,8 @@
 // limitations under the License.
 
 #include "gtest/gtest.h"
+#include "geometry_msgs/msg/polygon.hpp"
+#include "geometry_msgs/msg/point32.hpp"
 #include "slg_msgs/polygon.hpp"
 
 slg::Polygon square()

diff --git a/test/test_segment2d.cpp b/test/test_segment2d.cpp
@@ -29,9 +29,9 @@ TEST(Segment2DTest, constructors) {
   EXPECT_DOUBLE_EQ(segment1.get_last_centroid().x, 0.0);
   EXPECT_DOUBLE_EQ(segment1.get_last_centroid().y, 0.0);
   // Constructor with values
-  slg::Segment2D segment2(1, slg::Point2D(1.0, 2.0, slg::PERSON), slg::Point2D(
-      3.0, 4.0,
-      slg::PERSON),
+  slg::Segment2D segment2(1,
+    slg::Point2D(1.0, 2.0, slg::PERSON),
+    slg::Point2D(3.0, 4.0, slg::PERSON),
     slg::Point2D(5.0, 6.0, slg::PERSON));
   EXPECT_EQ(segment2.get_id(), 1);
   EXPECT_EQ(segment2.get_label(), slg::BACKGROUND);