Remove use of ament_target_dependencies: Take 2

moveit_core/CMakeLists.txt

@@ -13,6 +13,7 @@ find_package(eigen_stl_containers REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(fcl REQUIRED)
+find_package(fmt REQUIRED)
 find_package(generate_parameter_library REQUIRED)
 find_package(geometric_shapes REQUIRED)
 find_package(geometry_msgs REQUIRED)
@@ -22,10 +23,12 @@ find_package(moveit_msgs REQUIRED)
 # https://github.com/moveit/moveit2/issues/2862
 find_package(octomap 1.9.7...<1.10.0 REQUIRED)
 find_package(octomap_msgs REQUIRED)
+find_package(orocos_kdl REQUIRED)
 find_package(osqp REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(random_numbers REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rmw_implementation REQUIRED)
 find_package(rsl REQUIRED)
 find_package(ruckig REQUIRED)
 find_package(sensor_msgs REQUIRED)
@@ -68,8 +71,37 @@ add_subdirectory(transforms)
 add_subdirectory(utils)
 add_subdirectory(version)
 
+# Create an umbrella INTERFACE target so downstream packages can use
+# moveit_core::moveit_core to link all moveit_core libraries at once.
+add_library(moveit_core INTERFACE)
+target_link_libraries(
+  moveit_core
+  INTERFACE moveit_collision_detection
+            moveit_collision_detection_bullet
+            moveit_collision_detection_fcl
+            moveit_collision_distance_field
+            moveit_constraint_samplers
+            moveit_distance_field
+            moveit_dynamics_solver
+            moveit_exceptions
+            moveit_kinematic_constraints
+            moveit_kinematics_base
+            moveit_kinematics_metrics
+            moveit_macros
+            moveit_planning_interface
+            moveit_planning_scene
+            moveit_robot_model
+            moveit_robot_state
+            moveit_robot_trajectory
+            moveit_smoothing_base
+            moveit_test_utils
+            moveit_trajectory_processing
+            moveit_transforms
+            moveit_utils)
+
 install(
-  TARGETS moveit_collision_detection
+  TARGETS moveit_core
+          moveit_collision_detection
           moveit_collision_detection_bullet
           moveit_collision_detection_fcl
           moveit_collision_distance_field
@@ -119,17 +151,20 @@ ament_export_dependencies(
   Eigen3
   eigen3_cmake_module
   fcl
+  fmt
   generate_parameter_library
   geometric_shapes
   geometry_msgs
   kdl_parser
   moveit_msgs
   octomap
   octomap_msgs
+  orocos_kdl
   osqp
   pluginlib
   random_numbers
   rclcpp
+  rmw_implementation
   rsl
   ruckig
   sensor_msgs

moveit_core/collision_detection/CMakeLists.txt

@@ -16,19 +16,19 @@ target_include_directories(
 include(GenerateExportHeader)
 generate_export_header(moveit_collision_detection)
 
-ament_target_dependencies(
+target_link_libraries(
   moveit_collision_detection
-  eigen_stl_containers
-  pluginlib
-  rclcpp
-  rmw_implementation
-  urdf
-  urdfdom
-  urdfdom_headers
-  srdfdom
-  visualization_msgs
-  tf2_eigen
-  geometric_shapes
+  eigen_stl_containers::eigen_stl_containers
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rmw_implementation::rmw_implementation
+  urdf::urdf
+  urdfdom::urdf_parser
+  urdfdom_headers::urdfdom_headers
+  srdfdom::srdfdom
+  ${visualization_msgs_TARGETS}
+  tf2_eigen::tf2_eigen
+  geometric_shapes::geometric_shapes
   octomap)
 target_include_directories(
   moveit_collision_detection BEFORE

moveit_core/collision_detection_bullet/CMakeLists.txt

@@ -18,35 +18,39 @@ target_include_directories(
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 set_target_properties(moveit_collision_detection_bullet
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(moveit_collision_detection_bullet SYSTEM BULLET)
-ament_target_dependencies(
+target_include_directories(moveit_collision_detection_bullet SYSTEM
+                           PUBLIC ${BULLET_INCLUDE_DIRS})
+target_link_libraries(
   moveit_collision_detection_bullet
-  rclcpp
-  rmw_implementation
-  urdf
-  urdfdom
-  urdfdom_headers
-  visualization_msgs
-  octomap_msgs)
-target_link_libraries(moveit_collision_detection_bullet
-                      moveit_collision_detection moveit_utils)
+  moveit_collision_detection
+  moveit_utils
+  ${BULLET_LIBRARIES}
+  rclcpp::rclcpp
+  rmw_implementation::rmw_implementation
+  urdf::urdf
+  urdfdom::urdf_parser
+  urdfdom_headers::urdfdom_headers
+  ${visualization_msgs_TARGETS}
+  ${octomap_msgs_TARGETS})
 
 add_library(collision_detector_bullet_plugin SHARED
             src/collision_detector_bullet_plugin_loader.cpp)
 set_target_properties(collision_detector_bullet_plugin
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(collision_detector_bullet_plugin SYSTEM BULLET)
-ament_target_dependencies(
-  collision_detector_bullet_plugin
-  rclcpp
-  urdf
-  visualization_msgs
-  pluginlib
-  rmw_implementation
-  octomap_msgs)
+target_include_directories(collision_detector_bullet_plugin SYSTEM
+                           PUBLIC ${BULLET_INCLUDE_DIRS})
 target_link_libraries(
-  collision_detector_bullet_plugin moveit_collision_detection_bullet
-  moveit_planning_scene moveit_utils)
+  collision_detector_bullet_plugin
+  moveit_collision_detection_bullet
+  moveit_planning_scene
+  moveit_utils
+  ${BULLET_LIBRARIES}
+  rclcpp::rclcpp
+  urdf::urdf
+  ${visualization_msgs_TARGETS}
+  pluginlib::pluginlib
+  rmw_implementation::rmw_implementation
+  ${octomap_msgs_TARGETS})
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
 install(

moveit_core/collision_detection_fcl/CMakeLists.txt

@@ -11,26 +11,32 @@ target_include_directories(
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 set_target_properties(moveit_collision_detection_fcl
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(
+target_link_libraries(
   moveit_collision_detection_fcl
-  rclcpp
-  rmw_implementation
-  urdf
-  urdfdom
-  urdfdom_headers
-  visualization_msgs)
-target_link_libraries(moveit_collision_detection_fcl moveit_collision_detection
-                      moveit_utils fcl)
+  moveit_collision_detection
+  moveit_utils
+  fcl
+  rclcpp::rclcpp
+  rmw_implementation::rmw_implementation
+  urdf::urdf
+  urdfdom::urdf_parser
+  urdfdom_headers::urdfdom_headers
+  ${visualization_msgs_TARGETS})
 
 add_library(collision_detector_fcl_plugin SHARED
             src/collision_detector_fcl_plugin_loader.cpp)
 set_target_properties(collision_detector_fcl_plugin
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(collision_detector_fcl_plugin rclcpp urdf
-                          visualization_msgs pluginlib rmw_implementation)
 target_link_libraries(
-  collision_detector_fcl_plugin moveit_collision_detection_fcl
-  moveit_planning_scene moveit_utils)
+  collision_detector_fcl_plugin
+  moveit_collision_detection_fcl
+  moveit_planning_scene
+  moveit_utils
+  rclcpp::rclcpp
+  urdf::urdf
+  ${visualization_msgs_TARGETS}
+  pluginlib::pluginlib
+  rmw_implementation::rmw_implementation)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
 install(

moveit_core/collision_distance_field/CMakeLists.txt

@@ -15,12 +15,17 @@ target_include_directories(
 set_target_properties(moveit_collision_distance_field
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-ament_target_dependencies(moveit_collision_distance_field urdf
-                          visualization_msgs tf2_eigen geometric_shapes octomap)
-
 target_link_libraries(
-  moveit_collision_distance_field moveit_planning_scene moveit_distance_field
-  moveit_collision_detection moveit_robot_state)
+  moveit_collision_distance_field
+  moveit_planning_scene
+  moveit_distance_field
+  moveit_collision_detection
+  moveit_robot_state
+  urdf::urdf
+  ${visualization_msgs_TARGETS}
+  tf2_eigen::tf2_eigen
+  geometric_shapes::geometric_shapes
+  octomap)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
 install(
@@ -33,8 +38,6 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_collision_distance_field
                   test/test_collision_distance_field.cpp)
-  ament_target_dependencies(test_collision_distance_field geometric_shapes
-                            octomap srdfdom resource_retriever)
   target_link_libraries(
     test_collision_distance_field
     moveit_collision_distance_field
@@ -44,5 +47,9 @@ if(BUILD_TESTING)
     moveit_robot_state
     moveit_test_utils
     moveit_transforms
-    moveit_planning_scene)
+    moveit_planning_scene
+    geometric_shapes::geometric_shapes
+    octomap
+    srdfdom::srdfdom
+    resource_retriever::resource_retriever)
 endif()

moveit_core/constraint_samplers/CMakeLists.txt

@@ -9,16 +9,18 @@ target_include_directories(
          $<INSTALL_INTERFACE:include/moveit_core>)
 set_target_properties(moveit_constraint_samplers
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(moveit_constraint_samplers urdf urdfdom
-                          urdfdom_headers visualization_msgs)
 target_link_libraries(
   moveit_constraint_samplers
   moveit_robot_trajectory
   moveit_robot_state
   moveit_kinematic_constraints
   moveit_kinematics_base
   moveit_planning_scene
-  moveit_utils)
+  moveit_utils
+  urdf::urdf
+  urdfdom::urdf_parser
+  urdfdom_headers::urdfdom_headers
+  ${visualization_msgs_TARGETS})
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
 
@@ -43,7 +45,6 @@ if(BUILD_TESTING)
                   test/pr2_arm_kinematics_plugin.cpp test/pr2_arm_ik.cpp)
   target_include_directories(test_constraint_samplers
                              PUBLIC ${geometry_msgs_INCLUDE_DIRS})
-  ament_target_dependencies(test_constraint_samplers kdl_parser)
   target_link_libraries(test_constraint_samplers moveit_test_utils moveit_utils
-                        moveit_constraint_samplers)
+                        moveit_constraint_samplers kdl_parser::kdl_parser)
 endif()

moveit_core/distance_field/CMakeLists.txt

@@ -6,19 +6,21 @@ target_include_directories(
   moveit_distance_field
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
          $<INSTALL_INTERFACE:include/moveit_core>)
-target_link_libraries(moveit_distance_field moveit_macros moveit_utils)
-set_target_properties(moveit_distance_field
-                      PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(
+target_link_libraries(
   moveit_distance_field
-  Boost
-  eigen_stl_containers
-  urdfdom
-  urdfdom_headers
-  visualization_msgs
-  geometric_shapes
-  tf2_eigen
+  moveit_macros
+  moveit_utils
+  Boost::headers
+  Boost::iostreams
+  eigen_stl_containers::eigen_stl_containers
+  urdfdom::urdf_parser
+  urdfdom_headers::urdfdom_headers
+  ${visualization_msgs_TARGETS}
+  geometric_shapes::geometric_shapes
+  tf2_eigen::tf2_eigen
   octomap)
+set_target_properties(moveit_distance_field
+                      PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
 

moveit_core/dynamics_solver/CMakeLists.txt

@@ -6,8 +6,14 @@ target_include_directories(
 set_target_properties(moveit_dynamics_solver
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-ament_target_dependencies(moveit_dynamics_solver urdf urdfdom_headers
-                          orocos_kdl visualization_msgs kdl_parser)
-target_link_libraries(moveit_dynamics_solver moveit_robot_state moveit_utils)
+target_link_libraries(
+  moveit_dynamics_solver
+  moveit_robot_state
+  moveit_utils
+  urdf::urdf
+  urdfdom_headers::urdfdom_headers
+  ${orocos_kdl_LIBRARIES}
+  ${visualization_msgs_TARGETS}
+  kdl_parser::kdl_parser)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)

moveit_core/exceptions/CMakeLists.txt

@@ -5,8 +5,8 @@ target_include_directories(
          $<INSTALL_INTERFACE:include/moveit_core>)
 set_target_properties(moveit_exceptions PROPERTIES VERSION
                                                    "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(moveit_exceptions Boost rclcpp urdfdom
-                          urdfdom_headers)
-target_link_libraries(moveit_exceptions moveit_utils)
+target_link_libraries(
+  moveit_exceptions moveit_utils Boost::headers rclcpp::rclcpp
+  urdfdom::urdf_parser urdfdom_headers::urdfdom_headers)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)

moveit_core/kinematic_constraints/CMakeLists.txt

@@ -16,19 +16,20 @@ target_include_directories(
 set_target_properties(moveit_kinematic_constraints
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-ament_target_dependencies(
-  moveit_kinematic_constraints
-  urdf
-  urdfdom
-  urdfdom_headers
-  tf2_geometry_msgs
-  geometry_msgs
-  visualization_msgs
-  tf2_eigen)
-
 target_link_libraries(
-  moveit_kinematic_constraints moveit_collision_detection_fcl
-  moveit_kinematics_base moveit_robot_state moveit_robot_model moveit_utils)
+  moveit_kinematic_constraints
+  moveit_collision_detection_fcl
+  moveit_kinematics_base
+  moveit_robot_state
+  moveit_robot_model
+  moveit_utils
+  urdf::urdf
+  urdfdom::urdf_parser
+  urdfdom_headers::urdfdom_headers
+  ${tf2_geometry_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  ${visualization_msgs_TARGETS}
+  tf2_eigen::tf2_eigen)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)