Switch to target_link_libraries. (#1098)

That way we can hide more libraries using PRIVATE.

Signed-off-by: Chris Lalancette <[email protected]>

rviz2/test/tools/CMakeLists.txt

@@ -3,7 +3,11 @@ find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
 add_executable(send_lots_of_points_node send_lots_of_points_node.cpp)
-ament_target_dependencies(send_lots_of_points_node rclcpp sensor_msgs geometry_msgs)
+target_link_libraries(send_lots_of_points_node PRIVATE
+  ${geometry_msgs_TARGETS}
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
+)
 
 get_filename_component(script_path "${PROJECT_SOURCE_DIR}/scripts/rviz1_to_rviz2.py" ABSOLUTE)
 get_filename_component(config_path "${CMAKE_CURRENT_SOURCE_DIR}/configs" ABSOLUTE BASE_DIR)

rviz_common/CMakeLists.txt

@@ -42,13 +42,12 @@ find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(tinyxml2_vendor REQUIRED)
 find_package(tf2 REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(urdf REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 
-find_package(TinyXML2 REQUIRED)  # provided by tinyxml_vendor
+find_package(TinyXML2 REQUIRED)  # provided by tinyxml2_vendor
 
 # Copy env_config.hpp so that env_config.cpp can find it
 # TODO(jsquare): Get rid of copy hpp file
@@ -233,45 +232,43 @@ target_include_directories(rviz_common
     $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
 )
 
-target_link_libraries(rviz_common
-  PUBLIC
+target_link_libraries(rviz_common PUBLIC
+  ${geometry_msgs_TARGETS}
+  message_filters::message_filters
+  pluginlib::pluginlib
+  Qt5::Widgets
+  rclcpp::rclcpp
   rviz_ogre_vendor::OgreMain
   rviz_ogre_vendor::OgreOverlay
-  Qt5::Widgets
+  rviz_rendering::rviz_rendering
+  ${sensor_msgs_TARGETS}
+  ${std_msgs_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+  yaml-cpp
 )
 
-ament_target_dependencies(rviz_common
-  PUBLIC
-  geometry_msgs
-  pluginlib
-  rclcpp
-  resource_retriever
-  rviz_rendering
-  sensor_msgs
-  std_msgs
-  tf2
-  tf2_geometry_msgs
-  tf2_ros
-  message_filters
-  tinyxml2_vendor
-  urdf
-  yaml_cpp_vendor
+target_link_libraries(rviz_common PRIVATE
+  resource_retriever::resource_retriever
+  tinyxml2::tinyxml2
 )
+
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(rviz_common PRIVATE "RVIZ_COMMON_BUILDING_LIBRARY")
 
 ament_export_dependencies(
-  rviz_rendering
   geometry_msgs
+  message_filters
   pluginlib
+  Qt5
   rclcpp
+  rviz_ogre_vendor
+  rviz_rendering
   sensor_msgs
   std_msgs
   tf2
-  tf2_geometry_msgs
   tf2_ros
-  urdf
   yaml_cpp_vendor
 )
 
@@ -442,8 +439,7 @@ if(BUILD_TESTING)
     test/mock_property_change_receiver.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET rviz_common_display_test)
-    target_link_libraries(rviz_common_display_test rviz_common Qt5::Widgets)
-    ament_target_dependencies(rviz_common_display_test yaml_cpp_vendor)
+    target_link_libraries(rviz_common_display_test rviz_common Qt5::Widgets yaml-cpp)
   endif()
 endif()
 

rviz_common/include/rviz_common/yaml_config_reader.hpp

@@ -36,10 +36,7 @@
 #include "rviz_common/config.hpp"
 #include "rviz_common/visibility_control.hpp"
 
-namespace YAML
-{
-class Node;
-}
+#include "yaml-cpp/yaml.h"
 
 namespace rviz_common
 {

rviz_common/package.xml

@@ -46,7 +46,6 @@
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>tf2</depend>
-  <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>message_filters</depend>
   <depend>tinyxml2_vendor</depend>

rviz_common/src/rviz_common/display_factory.hpp

@@ -31,6 +31,8 @@
 #ifndef RVIZ_COMMON__DISPLAY_FACTORY_HPP_
 #define RVIZ_COMMON__DISPLAY_FACTORY_HPP_
 
+#include <tinyxml2.h>
+
 #include <string>
 
 #include <QMap>  // NOLINT: cpplint cannot handle include order here

rviz_rendering/CMakeLists.txt

@@ -98,36 +98,38 @@ add_library(rviz_rendering SHARED
   src/rviz_rendering/objects/wrench_visual.cpp
 )
 
-target_link_libraries(rviz_rendering
-  PUBLIC
+target_link_libraries(rviz_rendering PUBLIC
+  Qt5::Widgets
   rviz_ogre_vendor::OgreMain
   rviz_ogre_vendor::OgreOverlay
-  Qt5::Widgets
+)
+if(TARGET Eigen3::Eigen)
+  # TODO(sloretz) require target to exist when https://github.com/ros2/choco-packages/issues/19 is addressed
+  target_link_libraries(rviz_rendering PUBLIC Eigen3::Eigen)
+else()
+  target_include_directories(rviz_rendering PUBLIC ${Eigen3_INCLUDE_DIRS})
+endif()
+
+target_link_libraries(rviz_rendering PRIVATE
   ament_index_cpp::ament_index_cpp
+  assimp::assimp
   resource_retriever::resource_retriever
 )
 
 target_include_directories(rviz_rendering
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
-    ${Eigen3_INCLUDE_DIRS}
 )
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(rviz_rendering PRIVATE "RVIZ_RENDERING_BUILDING_LIBRARY")
 
-ament_target_dependencies(rviz_rendering
-  SYSTEM PUBLIC
-  rviz_assimp_vendor
-)
 ament_export_dependencies(
-  rviz_assimp_vendor
-  rviz_ogre_vendor
-  eigen3_cmake_module
   Eigen3
-  resource_retriever
-  ament_index_cpp)
+  Qt5
+  rviz_ogre_vendor
+)
 
 # Export old-style CMake variables
 ament_export_include_directories("include/${PROJECT_NAME}")