[DEX] Revert "Switch nav2_waypoint_follower to modern CMake idioms. (ros-navigation#4648)"

This reverts commit 406a2f5.

Author: kaichie

nav2_waypoint_follower/CMakeLists.txt

@@ -1,126 +1,87 @@
 cmake_minimum_required(VERSION 3.5)
 project(nav2_waypoint_follower)
 
-find_package(ament_cmake REQUIRED)
-find_package(cv_bridge REQUIRED)
-find_package(geographic_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
+# Try for OpenCV 4.X, but settle for whatever is installed
+find_package(OpenCV 4 QUIET)
+if(NOT OpenCV_FOUND)
+  find_package(OpenCV REQUIRED)
+endif()
+message(STATUS "Found OpenCV version ${OpenCV_VERSION}")
+
 find_package(image_transport REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(ament_cmake REQUIRED)
 find_package(nav2_common REQUIRED)
-find_package(nav2_core REQUIRED)
-find_package(nav2_msgs REQUIRED)
-find_package(nav2_util REQUIRED)
-find_package(nav_msgs REQUIRED)
-find_package(OpenCV REQUIRED)
-find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
-find_package(rclcpp_components REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
-find_package(robot_localization REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(nav2_util REQUIRED)
 find_package(tf2_ros REQUIRED)
+find_package(nav2_core REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(robot_localization REQUIRED)
+find_package(geographic_msgs REQUIRED)
 
 nav2_package()
 
+include_directories(
+  include
+)
+
 set(executable_name waypoint_follower)
 
+add_executable(${executable_name}
+  src/main.cpp
+)
+
 set(library_name ${executable_name}_core)
 
 add_library(${library_name} SHARED
   src/waypoint_follower.cpp
 )
-target_include_directories(${library_name} PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-)
-target_link_libraries(${library_name} PUBLIC
-  ${geographic_msgs_TARGETS}
-  nav2_core::nav2_core
-  ${nav2_msgs_TARGETS}
-  nav2_util::nav2_util_core
-  ${nav_msgs_TARGETS}
-  pluginlib::pluginlib
-  rclcpp::rclcpp
-  rclcpp_action::rclcpp_action
-  rclcpp_lifecycle::rclcpp_lifecycle
-  robot_localization::rl_lib
-  tf2_ros::tf2_ros
-)
-target_link_libraries(${library_name} PRIVATE
-  rclcpp_components::component
-)
 
-add_executable(${executable_name}
-  src/main.cpp
+set(dependencies
+  rclcpp
+  rclcpp_action
+  rclcpp_lifecycle
+  rclcpp_components
+  nav_msgs
+  nav2_msgs
+  nav2_util
+  tf2_ros
+  nav2_core
+  pluginlib
+  image_transport
+  cv_bridge
+  OpenCV
+  robot_localization
 )
-target_include_directories(${executable_name} PRIVATE
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+
+ament_target_dependencies(${executable_name}
+  ${dependencies}
 )
-target_link_libraries(${executable_name} PRIVATE
-  ${library_name}
-  rclcpp::rclcpp
+
+target_link_libraries(${executable_name} ${library_name})
+
+ament_target_dependencies(${library_name}
+  ${dependencies}
 )
 
 add_library(wait_at_waypoint SHARED plugins/wait_at_waypoint.cpp)
-target_include_directories(wait_at_waypoint PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-)
-target_link_libraries(wait_at_waypoint PUBLIC
-  ${geometry_msgs_TARGETS}
-  rclcpp::rclcpp
-  rclcpp_lifecycle::rclcpp_lifecycle
-  nav2_core::nav2_core
-)
-target_link_libraries(wait_at_waypoint PRIVATE
-  pluginlib::pluginlib
-  nav2_util::nav2_util_core
-)
+ament_target_dependencies(wait_at_waypoint ${dependencies})
 
 add_library(photo_at_waypoint SHARED plugins/photo_at_waypoint.cpp)
-target_include_directories(photo_at_waypoint PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-)
-target_link_libraries(photo_at_waypoint PUBLIC
-  cv_bridge::cv_bridge
-  ${geometry_msgs_TARGETS}
-  image_transport::image_transport
-  nav2_core::nav2_core
-  opencv_core
-  rclcpp::rclcpp
-  rclcpp_lifecycle::rclcpp_lifecycle
-  ${sensor_msgs_TARGETS}
-)
-target_link_libraries(photo_at_waypoint PRIVATE
-  nav2_util::nav2_util_core
-  pluginlib::pluginlib
-)
+ament_target_dependencies(photo_at_waypoint ${dependencies})
 
 add_library(input_at_waypoint SHARED plugins/input_at_waypoint.cpp)
-target_include_directories(input_at_waypoint PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-)
-target_link_libraries(input_at_waypoint PUBLIC
-  ${geometry_msgs_TARGETS}
-  nav2_core::nav2_core
-  rclcpp::rclcpp
-  rclcpp_lifecycle::rclcpp_lifecycle
-  ${std_msgs_TARGETS}
-)
-target_link_libraries(input_at_waypoint PRIVATE
-  pluginlib::pluginlib
-  nav2_util::nav2_util_core
-)
+ament_target_dependencies(input_at_waypoint ${dependencies})
 
 rclcpp_components_register_nodes(${library_name} "nav2_waypoint_follower::WaypointFollower")
 
 install(TARGETS ${library_name} wait_at_waypoint photo_at_waypoint input_at_waypoint
-  EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -131,40 +92,19 @@ install(TARGETS ${executable_name}
 )
 
 install(DIRECTORY include/
-  DESTINATION include/${PROJECT_NAME}
+  DESTINATION include/
 )
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
   ament_lint_auto_find_test_dependencies()
-
-  ament_find_gtest()
   add_subdirectory(test)
 endif()
 
-ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_include_directories(include)
 ament_export_libraries(wait_at_waypoint photo_at_waypoint input_at_waypoint ${library_name})
-ament_export_dependencies(
-  cv_bridge
-  geographic_msgs
-  geometry_msgs
-  image_transport
-  nav2_core
-  nav2_msgs
-  nav2_util
-  nav_msgs
-  OpenCV
-  pluginlib
-  rclcpp
-  rclcpp_action
-  rclcpp_lifecycle
-  robot_localization
-  sensor_msgs
-  std_msgs
-  tf2_ros
-)
-ament_export_targets(${PROJECT_NAME})
+ament_export_dependencies(${dependencies})
 pluginlib_export_plugin_description_file(nav2_waypoint_follower plugins.xml)
 
 ament_package()

nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp

@@ -15,12 +15,20 @@
 #ifndef NAV2_WAYPOINT_FOLLOWER__PLUGINS__PHOTO_AT_WAYPOINT_HPP_
 #define NAV2_WAYPOINT_FOLLOWER__PLUGINS__PHOTO_AT_WAYPOINT_HPP_
 
+/**
+ * While C++17 isn't the project standard. We have to force LLVM/CLang
+ * to ignore deprecated declarations
+ */
+#define _LIBCPP_NO_EXPERIMENTAL_DEPRECATION_WARNING_FILESYSTEM
+
+
 #include <filesystem>
 #include <mutex>
 #include <string>
 #include <exception>
 
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
 
 #include "sensor_msgs/msg/image.hpp"
 #include "nav2_core/waypoint_task_executor.hpp"

nav2_waypoint_follower/package.xml

@@ -8,29 +8,26 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <build_depend>nav2_common</build_depend>
 
+  <depend>nav2_common</depend>
   <depend>cv_bridge</depend>
-  <depend>geographic_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>image_transport</depend>
-  <depend>nav2_core</depend>
-  <depend>nav2_msgs</depend>
-  <depend>nav2_util</depend>
-  <depend>nav_msgs</depend>
   <depend>pluginlib</depend>
+  <depend>image_transport</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
-  <depend>rclcpp_components</depend>
   <depend>rclcpp_lifecycle</depend>
-  <depend>robot_localization</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>nav2_msgs</depend>
+  <depend>nav2_util</depend>
+  <depend>nav2_core</depend>
   <depend>tf2_ros</depend>
-
-  <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
+  <depend>robot_localization</depend>
+  <depend>geographic_msgs</depend> 
+  
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

nav2_waypoint_follower/test/CMakeLists.txt

@@ -2,25 +2,20 @@
 ament_add_gtest(test_task_executors
   test_task_executors.cpp
 )
+ament_target_dependencies(test_task_executors
+  ${dependencies}
+)
 target_link_libraries(test_task_executors
-  ${library_name}
-  wait_at_waypoint
-  photo_at_waypoint
-  input_at_waypoint
-  ${geometry_msgs_TARGETS}
-  nav2_util::nav2_util_core
-  rclcpp::rclcpp
-  rclcpp_lifecycle::rclcpp_lifecycle
-  ${sensor_msgs_TARGETS}
+  ${library_name} wait_at_waypoint photo_at_waypoint input_at_waypoint
 )
 
 # Test dynamic parameters
 ament_add_gtest(test_dynamic_parameters
   test_dynamic_parameters.cpp
 )
+ament_target_dependencies(test_dynamic_parameters
+  ${dependencies}
+)
 target_link_libraries(test_dynamic_parameters
   ${library_name}
-  nav2_util::nav2_util_core
-  rclcpp::rclcpp
-  rclcpp_lifecycle::rclcpp_lifecycle
 )