Transition from ament_target_dependencies to target_link_libraries

Since kilted, the use of ament_target_dependencies has been deprecated.
This commit replaces all uses of the macro with target_link_libraries as
suggested in the deprecation warning, and does some additional steps in
for the ethercat_interface package to ensure exports are done in the
"modern" target-based fashion.

Author: Felix Blix Everberg

ethercat_driver/CMakeLists.txt

@@ -18,19 +18,17 @@ add_library(
   SHARED
   src/ethercat_driver.cpp)
 
-target_include_directories(
-  ${PROJECT_NAME}
-  PRIVATE
-  include
+target_include_directories(${PROJECT_NAME} PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
 )
 
-ament_target_dependencies(
-  ${PROJECT_NAME}
-  hardware_interface
-  pluginlib
-  rclcpp
-  rclcpp_lifecycle
-  ethercat_interface
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ethercat_interface::ethercat_interface
 )
 
 # Causes the visibility macros to use dllexport rather than dllimport,

ethercat_driver_ros2/sphinx/developer_guide/new_plugin.rst

@@ -137,10 +137,9 @@ Modify your :code:`CMakeLists.txt` file so that it looks like this:
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
   )
-  ament_target_dependencies(
-    ${PROJECT_NAME}
-    "ethercat_interface"
-    "pluginlib"
+  target_link_libraries(${PROJECT_NAME} PUBLIC
+    ethercat_interface::ethercat_interface
+    pluginlib::pluginlib
   )
   pluginlib_export_plugin_description_file(ethercat_interface ethercat_plugins.xml)
   install(

ethercat_generic_plugins/ethercat_generic_cia402_drive/CMakeLists.txt

@@ -26,15 +26,11 @@ target_compile_features(${PROJECT_NAME} PUBLIC c_std_99 cxx_std_17)  # Require C
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
-target_link_libraries(${PROJECT_NAME} yaml-cpp)
 
-
-ament_target_dependencies(
-  ${PROJECT_NAME}
-  ethercat_interface
-  ethercat_generic_slave
-  pluginlib
-  yaml_cpp_vendor
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  ethercat_interface::ethercat_interface
+  ethercat_generic_slave::ethercat_generic_slave
+  pluginlib::pluginlib
   yaml-cpp
 )
 

ethercat_generic_plugins/ethercat_generic_slave/CMakeLists.txt

@@ -25,14 +25,9 @@ target_compile_features(${PROJECT_NAME} PUBLIC c_std_99 cxx_std_17)  # Require C
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
-ament_target_dependencies(
-  ${PROJECT_NAME}
-  ethercat_interface
-  pluginlib
-  yaml_cpp_vendor
-  yaml-cpp
-)
-target_link_libraries(${PROJECT_NAME}
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  ethercat_interface::ethercat_interface
+  pluginlib::pluginlib
   yaml-cpp
 )
 
@@ -70,7 +65,10 @@ if(BUILD_TESTING)
     test_generic_ec_slave
     test/test_generic_ec_slave.cpp
   )
-  target_include_directories(test_generic_ec_slave PRIVATE include)
+  target_include_directories(test_generic_ec_slave PRIVATE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+  )
   target_link_libraries(test_generic_ec_slave
     ${PROJECT_NAME}
   )

ethercat_interface/CMakeLists.txt

@@ -23,38 +23,34 @@ set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 find_library(ETHERCAT_LIB ethercat HINTS ${ETHERLAB_DIR}/lib)
 
-ament_export_include_directories(
-  include
-  ${ETHERLAB_DIR}/include
-)
-
 add_library(
   ${PROJECT_NAME}
   SHARED
   src/ec_master.cpp)
 
-target_include_directories(
-  ${PROJECT_NAME}
-  PRIVATE
-  include
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
   ${ETHERLAB_DIR}/include
 )
 
-target_link_libraries(${PROJECT_NAME} ${ETHERCAT_LIB})
-
-ament_target_dependencies(
-  ${PROJECT_NAME}
-  rclcpp
+target_link_libraries(${PROJECT_NAME}
+  ${ETHERCAT_LIB}
+  rclcpp::rclcpp
 )
 
 # INSTALL
 install(
   TARGETS ${PROJECT_NAME}
-  DESTINATION lib
+  EXPORT export_${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
 )
+
 install(
   DIRECTORY include/
-  DESTINATION include
+  DESTINATION include/${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
@@ -79,13 +75,7 @@ if(BUILD_TESTING)
 endif()
 
 ## EXPORTS
-ament_export_include_directories(
-  include
-)
-ament_export_libraries(
-  ${PROJECT_NAME}
-  ${ETHERCAT_LIBRARY}
-)
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(
   rclcpp
 )

ethercat_manager/CMakeLists.txt

@@ -31,8 +31,11 @@ target_include_directories(
   include
   ${ETHERLAB_DIR}/include
 )
-target_link_libraries(ethercat_sdo_srv_server ${ETHERCAT_LIB})
-ament_target_dependencies(ethercat_sdo_srv_server rclcpp ethercat_msgs)
+target_link_libraries(ethercat_sdo_srv_server PUBLIC
+  ${ETHERCAT_LIB}
+  rclcpp::rclcpp
+  ${ethercat_msgs_TARGETS}
+)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)