Fix ament_target_dependencies

plansys2_bt_example/CMakeLists.txt

@@ -1,41 +1,21 @@
 cmake_minimum_required(VERSION 3.5)
 project(plansys2_bt_example)
 
-
 find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
+find_package(behaviortree_cpp REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
 find_package(nav2_msgs REQUIRED)
-find_package(plansys2_msgs REQUIRED)
+find_package(plansys2_bt_actions REQUIRED)
 find_package(plansys2_domain_expert REQUIRED)
 find_package(plansys2_executor REQUIRED)
+find_package(plansys2_msgs REQUIRED)
+find_package(plansys2_pddl_parser REQUIRED)
 find_package(plansys2_planner REQUIRED)
 find_package(plansys2_problem_expert REQUIRED)
-find_package(plansys2_pddl_parser REQUIRED)
-find_package(ament_index_cpp REQUIRED)
-find_package(plansys2_bt_actions REQUIRED)
-
-
-
-set(dependencies
-    rclcpp::rclcpp
-    rclcpp_action::rclcpp_action
-    plansys2_domain_expert::plansys2_domain_expert
-    plansys2_executor::plansys2_executor
-    plansys2_planner::plansys2_planner
-    plansys2_problem_expert::plansys2_problem_expert
-    plansys2_pddl_parser::plansys2_pddl_parser
-    ament_index_cpp::ament_index_cpp
-    plansys2_bt_actions::plansys2_bt_actions
-    ${geometry_msgs_TARGETS}
-    ${tf2_geometry_msgs_TARGETS}
-    ${nav2_msgs_TARGETS}
-    ${plansys2_msgs_TARGETS}
-)
-
-include_directories(include)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 
 add_library(plansys2_recharge_bt_node SHARED src/behavior_tree_nodes/Recharge.cpp)
 list(APPEND plugin_libs plansys2_recharge_bt_node)
@@ -53,36 +33,108 @@ add_library(plansys2_approach_object_bt_node SHARED src/behavior_tree_nodes/Appr
 list(APPEND plugin_libs plansys2_approach_object_bt_node)
 
 foreach(bt_plugin ${plugin_libs})
-  target_link_libraries(${bt_plugin} PUBLIC ${dependencies})
+  target_include_directories(${bt_plugin} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+  target_link_libraries(${bt_plugin}
+    PUBLIC
+    behaviortree_cpp::behaviortree_cpp
+    ${geometry_msgs_TARGETS}
+    ${nav2_msgs_TARGETS}
+    plansys2_bt_actions::plansys2_bt_actions
+    PRIVATE
+    ${tf2_geometry_msgs_TARGETS}
+    rclcpp_lifecycle::rclcpp_lifecycle
+  )
   target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
 endforeach()
 
 add_executable(assemble_action_node src/assemble_action_node.cpp)
-target_link_libraries(assemble_action_node PUBLIC ${dependencies})
+target_include_directories(assemble_action_node PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(assemble_action_node
+  PRIVATE
+  rclcpp::rclcpp
+  rclcpp_action::rclcpp_action
+  plansys2_executor::plansys2_executor
+)
 
 add_executable(assemble_controller_node src/assemble_controller_node.cpp)
-target_link_libraries(assemble_controller_node PUBLIC ${dependencies})
+target_include_directories(assemble_controller_node PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(assemble_controller_node
+  PRIVATE
+  plansys2_domain_expert::plansys2_domain_expert
+  plansys2_executor::plansys2_executor
+  ${plansys2_msgs_TARGETS}
+  plansys2_pddl_parser::plansys2_pddl_parser
+  plansys2_planner::plansys2_planner
+  plansys2_problem_expert::plansys2_problem_expert
+  rclcpp::rclcpp
+  rclcpp_action::rclcpp_action
+)
 
 add_executable(nav2_sim_node src/nav2_sim_node.cpp)
-target_link_libraries(nav2_sim_node PUBLIC ${dependencies})
+target_include_directories(nav2_sim_node PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+target_link_libraries(nav2_sim_node
+  PRIVATE
+  ${nav2_msgs_TARGETS}
+  rclcpp::rclcpp
+  rclcpp_action::rclcpp_action
+  ${tf2_geometry_msgs_TARGETS}
+)
 
-install(DIRECTORY launch pddl behavior_trees_xml config DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch pddl behavior_trees_xml config
+  DESTINATION share/${PROJECT_NAME}
+)
 
-install(TARGETS
-  assemble_action_node
-  assemble_controller_node
-  nav2_sim_node
-  ${plugin_libs}
+install(TARGETS ${plugin_libs}
+  EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
+install(TARGETS assemble_action_node assemble_controller_node nav2_sim_node
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
 endif()
 
+ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(${PROJECT_NAME})
+ament_export_dependencies(
+  behaviortree_cpp
+  geometry_msgs
+  nav2_msgs
+  plansys2_msgs
+  plansys2_domain_expert
+  plansys2_executor
+  plansys2_planner
+  plansys2_problem_expert
+  plansys2_pddl_parser
+  plansys2_bt_actions
+  rclcpp
+  rclcpp_action
+  tf2_geometry_msgs
+)
+
 ament_package()

plansys2_bt_example/package.xml

@@ -12,6 +12,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>behaviortree_cpp</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>geometry_msgs</depend>
@@ -23,7 +24,6 @@
   <depend>plansys2_planner</depend>
   <depend>plansys2_problem_expert</depend>
   <depend>plansys2_pddl_parser</depend>
-  <depend>ament_index_cpp</depend>
   <depend>plansys2_bt_actions</depend>
 
   <exec_depend>plansys2_bringup</exec_depend>

plansys2_cascade_example/CMakeLists.txt

@@ -1,43 +1,52 @@
 cmake_minimum_required(VERSION 3.5)
 project(plansys2_cascade_example)
 
-
 find_package(ament_cmake REQUIRED)
+find_package(plansys2_executor REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
-find_package(plansys2_msgs REQUIRED)
-find_package(plansys2_executor REQUIRED)
-
-
-
-set(dependencies
-    rclcpp::rclcpp
-    rclcpp_action::rclcpp_action
-    plansys2_executor::plansys2_executor
-    ${plansys2_msgs_TARGETS}
-)
+find_package(rclcpp_cascade_lifecycle REQUIRED)
 
 add_executable(move_action_node src/move_action_node.cpp)
-target_link_libraries(move_action_node PUBLIC ${dependencies})
+target_link_libraries(move_action_node
+  PRIVATE
+  plansys2_executor::plansys2_executor
+  rclcpp::rclcpp
+  rclcpp_action::rclcpp_action
+)
 
 add_executable(charge_action_node src/charge_action_node.cpp)
-target_link_libraries(charge_action_node PUBLIC ${dependencies})
+target_link_libraries(charge_action_node
+  PRIVATE
+  plansys2_executor::plansys2_executor
+  rclcpp::rclcpp
+  rclcpp_action::rclcpp_action
+)
 
 add_executable(ask_charge_action_node src/ask_charge_action_node.cpp)
-target_link_libraries(ask_charge_action_node PUBLIC ${dependencies})
+target_link_libraries(ask_charge_action_node
+  PRIVATE
+  plansys2_executor::plansys2_executor
+  rclcpp::rclcpp
+  rclcpp_action::rclcpp_action
+)
 
 add_executable(check_obstacles_node src/check_obstacles_node.cpp)
-target_link_libraries(check_obstacles_node PUBLIC ${dependencies})
+target_link_libraries(check_obstacles_node
+  PRIVATE
+  rclcpp::rclcpp
+  rclcpp_cascade_lifecycle::rclcpp_cascade_lifecycle
+)
 
-install(DIRECTORY launch pddl DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch pddl
+  DESTINATION share/${PROJECT_NAME}
+)
 
 install(TARGETS
   move_action_node
   charge_action_node
   ask_charge_action_node
   check_obstacles_node
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
@@ -48,4 +57,11 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
 endif()
 
+ament_export_dependencies(
+  rclcpp
+  rclcpp_action
+  rclcpp_cascade_lifecycle
+  plansys2_executor
+)
+
 ament_package()

plansys2_cascade_example/package.xml

@@ -12,10 +12,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>plansys2_executor</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
-  <depend>plansys2_msgs</depend>
-  <depend>plansys2_executor</depend>
+  <depend>rclcpp_cascade_lifecycle</depend>
 
   <exec_depend>plansys2_bringup</exec_depend>
   <exec_depend>plansys2_terminal</exec_depend>

plansys2_examples/CMakeLists.txt

@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 3.5)
+project(plansys2_examples)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()

plansys2_examples/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>plansys2_examples</name>
+  <version>3.0.0</version>
+
+  <description>ROS2 Planning System Examples</description>
+
+  <maintainer email="[email protected]">Francisco Martin Rico</maintainer>
+
+  <license>Apache License, Version 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>plansys2_bt_example</exec_depend>
+  <exec_depend>plansys2_cascade_example</exec_depend>
+  <exec_depend>plansys2_multidomain_example</exec_depend>
+  <exec_depend>plansys2_patrol_navigation_example</exec_depend>
+  <exec_depend>plansys2_simple_example</exec_depend>
+  <exec_depend>plansys2_simple_example_py</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>