Update to use modern CMake idioms

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
ajtudela · Jul 31, 2024 · a63f9e9 · a63f9e9
1 parent a8d3b88
commit a63f9e9
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Showing 6 changed files with 15 additions and 14 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package laser_segmentation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.2 (31-07-2024)
+------------------
+* Update to use modern CMake idioms.
+
 3.0.1 (12-06-2024)
 ------------------
 * Remove nav2_util dependency.

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -77,27 +77,22 @@ target_include_directories(${library_name}
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${library_name}
   PUBLIC
+  rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
-  ${rclcpp_components_TARGETS}
   ${sensor_msgs_TARGETS}
   ${slg_msgs_TARGETS}
+  slg_msgs::slg_core
   ${visualization_msgs_TARGETS}
   PRIVATE
-  rclcpp::rclcpp
+  rclcpp_components::component
 )
 
 # Add executables
 add_executable(${PROJECT_NAME} src/main.cpp)
-target_include_directories(${PROJECT_NAME}
-  PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${PROJECT_NAME}
-  PUBLIC
-  rclcpp_lifecycle::rclcpp_lifecycle
   PRIVATE
-  rclcpp::rclcpp
   ${library_name}
+  rclcpp::rclcpp
 )
 
 rclcpp_components_register_nodes(${library_name} "laser_segmentation::LaserSegmentation")
@@ -106,6 +101,7 @@ rclcpp_components_register_nodes(${library_name} "laser_segmentation::LaserSegme
 # # Install ##
 # ############
 install(TARGETS ${library_name}
+  EXPORT ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin

diff --git a/include/laser_segmentation/laser_segmentation.hpp b/include/laser_segmentation/laser_segmentation.hpp
@@ -129,8 +129,7 @@ class LaserSegmentation : public rclcpp_lifecycle::LifecycleNode
    * @return slg_msgs::msg::SegmentArray The segment array message
    */
   visualization_msgs::msg::MarkerArray create_segment_viz_points(
-    std_msgs::msg::Header header,
-    std::vector<slg::Segment2D> segment_list);
+    std_msgs::msg::Header header, std::vector<slg::Segment2D> segment_list);
 
   /**
    * @brief Get the parula color object

diff --git a/include/laser_segmentation/parameter_handler.hpp b/include/laser_segmentation/parameter_handler.hpp
@@ -19,8 +19,10 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/parameter.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "rcl_interfaces/msg/set_parameters_result.hpp"
 
 namespace laser_segmentation
 {

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>laser_segmentation</name>
-  <version>3.0.1</version>
+  <version>3.0.2</version>
   <description>Implementation of algorithms for segmentation of laserscans.</description>
   <maintainer email="ajtudela@gmail.com">Alberto Tudela</maintainer>
   <maintainer email="manolofc@gmail.com">Manuel Fernandez-Carmona</maintainer>

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Test for segmentations algorithm
 ament_add_gtest(test_segmentations test_segmentations.cpp)
-target_link_libraries(test_segmentations ${library_name} ${slg_msgs_TARGETS})
+target_link_libraries(test_segmentations ${library_name} slg_msgs::slg_core)
 
 # Test for laser_segmentation
 ament_add_gtest(test_laser_segmentation test_laser_segmentation.cpp)