Fix CMake install so overriding works (ros-controls#926)

Signed-off-by: Tyler Weaver <[email protected]>
henrygerardmoore · Feb 10, 2023 · 727297e · 727297e
1 parent 40fcc94
commit 727297e
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Showing 10 changed files with 322 additions and 366 deletions.
diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
@@ -1,104 +1,88 @@
-cmake_minimum_required(VERSION 3.5)
-project(controller_interface)
+cmake_minimum_required(VERSION 3.16)
+project(controller_interface LANGUAGES CXX)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra)
 endif()
 
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  hardware_interface
+  rclcpp_lifecycle
+)
+
 find_package(ament_cmake REQUIRED)
-find_package(hardware_interface REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
 
-add_library(
-  ${PROJECT_NAME}
-  SHARED
+add_library(controller_interface SHARED
   src/controller_interface_base.cpp
   src/controller_interface.cpp
   src/chainable_controller_interface.cpp
 )
-target_include_directories(
-  ${PROJECT_NAME}
-  PRIVATE
-  include
-)
-ament_target_dependencies(
-  ${PROJECT_NAME}
-  hardware_interface
-  rclcpp_lifecycle
+target_compile_features(controller_interface PUBLIC cxx_std_17)
+target_include_directories(controller_interface PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/controller_interface>
 )
+ament_target_dependencies(controller_interface PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME} PRIVATE "CONTROLLER_INTERFACE_BUILDING_DLL")
-
-install(DIRECTORY include/
-  DESTINATION include
-)
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
+target_compile_definitions(controller_interface PRIVATE "CONTROLLER_INTERFACE_BUILDING_DLL")
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
-
-  find_package(hardware_interface REQUIRED)
   find_package(sensor_msgs REQUIRED)
 
   ament_add_gmock(test_controller_interface test/test_controller_interface.cpp)
-  target_link_libraries(test_controller_interface ${PROJECT_NAME})
-  target_include_directories(test_controller_interface PRIVATE include)
+  target_link_libraries(test_controller_interface
+    controller_interface
+  )
 
   ament_add_gmock(test_controller_with_options test/test_controller_with_options.cpp)
-  target_link_libraries(test_controller_with_options ${PROJECT_NAME})
-  target_include_directories(test_controller_with_options PRIVATE include)
+  target_link_libraries(test_controller_with_options
+    controller_interface
+  )
 
   ament_add_gmock(test_chainable_controller_interface test/test_chainable_controller_interface.cpp)
-  target_link_libraries(test_chainable_controller_interface ${PROJECT_NAME})
-  target_include_directories(test_chainable_controller_interface PRIVATE include)
-  ament_target_dependencies(test_chainable_controller_interface hardware_interface)
-
-  ament_add_gmock(
-    test_semantic_component_interface
-    test/test_semantic_component_interface.cpp
-  )
-  target_include_directories(test_semantic_component_interface PRIVATE include)
-  ament_target_dependencies(
-    test_semantic_component_interface
-    hardware_interface
+  target_link_libraries(test_chainable_controller_interface
+    controller_interface
+    hardware_interface::hardware_interface
   )
 
-  ament_add_gmock(
-    test_force_torque_sensor
-    test/test_force_torque_sensor.cpp
+  ament_add_gmock(test_semantic_component_interface test/test_semantic_component_interface.cpp)
+  target_link_libraries(test_semantic_component_interface
+    controller_interface
+    hardware_interface::hardware_interface
   )
-  target_include_directories(test_force_torque_sensor PRIVATE include)
-  ament_target_dependencies(
-    test_force_torque_sensor
-    hardware_interface
+
+  ament_add_gmock(test_force_torque_sensor test/test_force_torque_sensor.cpp)
+  target_link_libraries(test_force_torque_sensor
+    controller_interface
+    hardware_interface::hardware_interface
   )
 
-  ament_add_gmock(
-    test_imu_sensor
-    test/test_imu_sensor.cpp
+  ament_add_gmock(test_imu_sensor test/test_imu_sensor.cpp)
+  target_link_libraries(test_imu_sensor
+    controller_interface
+    hardware_interface::hardware_interface
   )
-  target_include_directories(test_imu_sensor PRIVATE include)
-  ament_target_dependencies(
-    test_imu_sensor
-    hardware_interface
+  ament_target_dependencies(test_imu_sensor
     sensor_msgs
   )
 endif()
 
-ament_export_dependencies(
-  hardware_interface
-  rclcpp_lifecycle
-  sensor_msgs
-)
-ament_export_include_directories(
-  include
+install(
+  DIRECTORY include/
+  DESTINATION include/controller_interface
 )
-ament_export_libraries(
-  ${PROJECT_NAME}
+install(TARGETS controller_interface
+  EXPORT export_controller_interface
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
+
+ament_export_targets(export_controller_interface HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
diff --git a/controller_interface/package.xml b/controller_interface/package.xml
@@ -14,11 +14,8 @@
   <build_depend>rclcpp_lifecycle</build_depend>
   <build_depend>sensor_msgs</build_depend>
 
-  <exec_depend>hardware_interface</exec_depend>
-  <exec_depend>rclcpp_lifecycle</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-
   <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>sensor_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>