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Cleanup CMakeLists target dependencies #228

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Jul 18, 2020
Merged

Cleanup CMakeLists target dependencies #228

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f499e2d
Cleanup CMakeLists target dependencies
henningkayser Jun 25, 2020
1525b39
Remove global include dependencies in moveit_core
henningkayser Jun 26, 2020
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16 changes: 2 additions & 14 deletions moveit_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ find_library(LIBFCL_LIBRARIES_FULL ${LIBFCL_LIBRARIES} ${LIBFCL_LIBRARY_DIRS})
set(LIBFCL_LIBRARIES "${LIBFCL_LIBRARIES_FULL}")


find_package(octomap REQUIRED)
find_package(OCTOMAP REQUIRED)
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find_package(urdfdom REQUIRED)
find_package(urdf REQUIRED)
find_package(urdfdom_headers REQUIRED)
Expand Down Expand Up @@ -169,19 +169,7 @@ include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS}
# ${BULLET_INCLUDE_DIRS}
)

include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
${VERSION_FILE_PATH}
${rclcpp_INCLUDE_DIRS}
${rmw_implementation_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${urdfdom_INCLUDE_DIRS}
${urdfdom_headers_INCLUDE_DIRS}
${OCTOMAP_INCLUDE_DIRS}
${moveit_msgs_INCLUDE_DIRS}
${random_numbers_INCLUDE_DIRS}
${srdfdom_INCLUDE_DIRS}
${geometric_shapes_INCLUDE_DIRS}
)
include_directories(${THIS_PACKAGE_INCLUDE_DIRS} ${VERSION_FILE_PATH})

# Generate and install version.h
string(REGEX REPLACE "^([0-9]+)\\..*" "\\1" MOVEIT_VERSION_MAJOR "${${PROJECT_NAME}_VERSION}")
Expand Down
16 changes: 8 additions & 8 deletions moveit_core/background_processing/CMakeLists.txt
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Expand Up @@ -2,16 +2,16 @@ set(MOVEIT_LIB_NAME moveit_background_processing)

add_library(${MOVEIT_LIB_NAME} SHARED src/background_processing.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

target_link_libraries(${MOVEIT_LIB_NAME}
${rclcpp_LIBRARIES}
${rmw_implementation_LIBRARIES}
${urdfdom_LIBRARIES}
${urdfdom_headers_LIBRARIES}
${Boost_LIBRARIES})
ament_target_dependencies(${MOVEIT_LIB_NAME}
Boost
rclcpp
urdfdom
urdfdom_headers
)

install(TARGETS ${MOVEIT_LIB_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib)
LIBRARY DESTINATION lib
)

install(DIRECTORY include/ DESTINATION include)
29 changes: 4 additions & 25 deletions moveit_core/collision_detection/CMakeLists.txt
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Expand Up @@ -21,7 +21,7 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
tf2_eigen
geometric_shapes
Boost
octomap
OCTOMAP
)

target_link_libraries(${MOVEIT_LIB_NAME}
Expand All @@ -30,7 +30,6 @@ target_link_libraries(${MOVEIT_LIB_NAME}

# unit tests
if(BUILD_TESTING)
find_package(resource_retriever REQUIRED)
if(WIN32)
# TODO add window paths
else()
Expand All @@ -39,35 +38,15 @@ if(BUILD_TESTING)

ament_add_gtest(test_world test/test_world.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
target_link_libraries(test_world
${MOVEIT_LIB_NAME}
${urdfdom}
${urdfdom_headers}
${Boost_LIBRARIES}
${geometric_shapes_LIBRARIES}
)
target_link_libraries(test_world ${MOVEIT_LIB_NAME})

ament_add_gtest(test_world_diff test/test_world_diff.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
target_link_libraries(test_world_diff
${MOVEIT_LIB_NAME}
${urdfdom}
${urdfdom_headers}
${Boost_LIBRARIES}
${geometric_shapes_LIBRARIES}
)
target_link_libraries(test_world_diff ${MOVEIT_LIB_NAME})

ament_add_gtest(test_all_valid test/test_all_valid.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
target_link_libraries(test_all_valid
${MOVEIT_LIB_NAME}
moveit_robot_model
${urdfdom}
${urdfdom_headers}
${Boost_LIBRARIES}
${geometric_shapes_LIBRARIES}
resource_retriever::resource_retriever
)
target_link_libraries(test_all_valid ${MOVEIT_LIB_NAME} moveit_robot_model)
endif()

install(TARGETS ${MOVEIT_LIB_NAME}
Expand Down
21 changes: 6 additions & 15 deletions moveit_core/collision_detection_fcl/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -33,34 +33,25 @@ target_link_libraries(collision_detector_fcl_plugin
)

install(TARGETS ${MOVEIT_LIB_NAME} collision_detector_fcl_plugin
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY include/ DESTINATION include)

if(BUILD_TESTING)
find_package(moveit_resources REQUIRED)
include_directories(${moveit_resources_INCLUDE_DIRS})
find_package(resource_retriever REQUIRED)

if(WIN32)
# set(append_library_dirs "$<TARGET_FILE_DIR:${PROJECT_NAME}>;$<TARGET_FILE_DIR:${PROJECT_NAME}_TestPlugins1>")
else()
set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/../collision_detection;${CMAKE_CURRENT_BINARY_DIR}/../robot_state;${CMAKE_CURRENT_BINARY_DIR}/../robot_model;${CMAKE_CURRENT_BINARY_DIR}/../utils")
endif()

ament_add_gtest(test_fcl_collision_env test/test_fcl_env.cpp)
target_link_libraries(test_fcl_collision_env
moveit_test_utils
${MOVEIT_LIB_NAME}
${Boost_LIBRARIES}
moveit_robot_state
)
target_link_libraries(test_fcl_collision_env moveit_test_utils ${MOVEIT_LIB_NAME})

ament_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection_pr2.cpp)
target_link_libraries(test_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
target_link_libraries(test_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})

ament_add_gtest(test_fcl_collision_detection_panda test/test_fcl_collision_detection_panda.cpp)
target_link_libraries(test_fcl_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
target_link_libraries(test_fcl_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME})
endif()
2 changes: 1 addition & 1 deletion moveit_core/collision_distance_field/CMakeLists.txt
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Expand Up @@ -13,7 +13,7 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
visualization_msgs
tf2_eigen
geometric_shapes
octomap
OCTOMAP
)

target_link_libraries(${MOVEIT_LIB_NAME}
Expand Down
25 changes: 4 additions & 21 deletions moveit_core/constraint_samplers/CMakeLists.txt
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Expand Up @@ -23,9 +23,9 @@ target_link_libraries(${MOVEIT_LIB_NAME}
)

install(TARGETS ${MOVEIT_LIB_NAME}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)

install(DIRECTORY include/ DESTINATION include)
Expand All @@ -49,30 +49,13 @@ 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_constraint_samplers
moveit_kinematic_constraints
moveit_planning_scene
moveit_test_utils
moveit_utils
moveit_robot_state
${MOVEIT_LIB_NAME}
${angles_LIBRARIES}
${urdf_LIBRARIES}
${tf2_LIBRARIES}
${tf2_kdl_LIBRARIES}
${tf2_ros_LIBRARIES}
${kdl_parser_LIBRARIES}
${OCTOMAP_LIBRARIES}
${orcos_kdl_LIBRARIES}
${urdfdom_LIBRARIES}
${urdfdom_headers_LIBRARIES}
${rclcpp_headers_LIBRARIES}
${geometric_shapes_LIBRARIES}
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why are none of these needed anymore?

the test does use, e.g., moveit_constraint_samplers for all that I can see.

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moveit_constraint_samplers is ${MOVEIT_LIB_NAME}. All other targets are provided with $MOVEIT_LIB_NAME so I didn't specify the same deps again for the test.

)
endif()
23 changes: 6 additions & 17 deletions moveit_core/distance_field/CMakeLists.txt
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Expand Up @@ -15,33 +15,22 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
visualization_msgs
geometric_shapes
tf2_eigen
octomap
OCTOMAP
)

install(TARGETS ${MOVEIT_LIB_NAME}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY include/ DESTINATION include)

if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)

ament_add_gtest(test_voxel_grid test/test_voxel_grid.cpp)
target_link_libraries(test_voxel_grid
${MOVEIT_LIB_NAME}
)
target_link_libraries(test_voxel_grid ${MOVEIT_LIB_NAME})

ament_add_gtest(test_distance_field test/test_distance_field.cpp)

target_link_libraries(test_distance_field
${MOVEIT_LIB_NAME}
${visualization_msgs_LIBRARIES}
${tf2_eigen_LIBRARIES}
${Boost_LIBRARIES}
${geometric_shapes_LIBRARIES}
${OCTOMAP_LIBRARIES}
${console_bridge_LIBRARIES}
)
target_link_libraries(test_distance_field ${MOVEIT_LIB_NAME})
endif()
16 changes: 10 additions & 6 deletions moveit_core/exceptions/CMakeLists.txt
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Expand Up @@ -2,11 +2,15 @@ set(MOVEIT_LIB_NAME moveit_exceptions)

add_library(${MOVEIT_LIB_NAME} SHARED src/exceptions.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

target_link_libraries(${MOVEIT_LIB_NAME} ${rclcpp_LIBRARIES} ${rmw_implementation_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})

ament_target_dependencies(${MOVEIT_LIB_NAME}
Boost
rclcpp
urdfdom
urdfdom_headers
)
install(TARGETS ${MOVEIT_LIB_NAME}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin)
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY include/ DESTINATION include)
17 changes: 1 addition & 16 deletions moveit_core/kinematic_constraints/CMakeLists.txt
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Expand Up @@ -41,24 +41,9 @@ install(DIRECTORY include/ DESTINATION include)

if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(moveit_resources REQUIRED)
find_package(resource_retriever REQUIRED)

include_directories(${moveit_resources_INCLUDE_DIRS})

ament_add_gtest(test_constraints test/test_constraints.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}"
)

target_link_libraries(test_constraints
moveit_kinematic_constraints
moveit_collision_detection_fcl
moveit_robot_model
moveit_robot_state
moveit_utils
moveit_test_utils
${geometric_shapes_LIBRARIES}
resource_retriever::resource_retriever
${MOVEIT_LIB_NAME}
)
target_link_libraries(test_constraints moveit_test_utils ${MOVEIT_LIB_NAME})
endif()
3 changes: 2 additions & 1 deletion moveit_core/kinematics_base/CMakeLists.txt
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Expand Up @@ -5,7 +5,8 @@ add_library(${MOVEIT_LIB_NAME} SHARED src/kinematics_base.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

# This line is needed to ensure that messages are done being built before this is built
ament_target_dependencies(${MOVEIT_LIB_NAME} urdf urdfdom_headers)
ament_target_dependencies(${MOVEIT_LIB_NAME} rclcpp urdf urdfdom_headers moveit_msgs geometry_msgs Boost)
target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_model)

install(TARGETS ${MOVEIT_LIB_NAME}
LIBRARY DESTINATION lib
Expand Down
38 changes: 13 additions & 25 deletions moveit_core/planning_scene/CMakeLists.txt
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Expand Up @@ -3,10 +3,13 @@ set(MOVEIT_LIB_NAME moveit_planning_scene)
add_library(${MOVEIT_LIB_NAME} SHARED src/planning_scene.cpp)
#TODO: Fix the versioning
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

target_include_directories(${MOVEIT_LIB_NAME} PUBLIC
${octomap_msgs_INCLUDE_DIRS}
${octomap_INCLUDE_DIRS}
ament_target_dependencies(${MOVEIT_LIB_NAME}
Boost
rclcpp
urdfdom
urdfdom_headers
octomap_msgs
OCTOMAP
)
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This added public target includes for octomap before so that other libs linking with moveit_planning_scene automatically include the octomap headers. Does ament_target_dependencies automagically add the correct target includes as public/interface/private? How would it differentiate between private and non-private includes?

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It's not PUBLIC in MoveIt 1, so I removed it. We can specify octomap PUBLIC with ament_target_dependencies though.


target_link_libraries(${MOVEIT_LIB_NAME}
Expand All @@ -20,14 +23,6 @@ target_link_libraries(${MOVEIT_LIB_NAME}
moveit_robot_trajectory
moveit_trajectory_processing
moveit_utils
${LIBOCTOMAP_LIBRARIES}
${rclcpp_LIBRARIES}
${rmw_implementation_LIBRARIES}
${urdfdom_LIBRARIES}
${urdfdom_headers_LIBRARIES}
${Boost_LIBRARIES}
${octomap_msgs_LIBRARIES}
${OCTOMAP_LIBRARIES}
)

install(TARGETS ${MOVEIT_LIB_NAME}
Expand All @@ -47,21 +42,14 @@ if(BUILD_TESTING)

ament_add_gtest(test_planning_scene test/test_planning_scene.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
target_link_libraries(test_planning_scene
${MOVEIT_LIB_NAME}
${srdfdom_LIBRARIES}
${urdf_LIBRARIES}
${geometric_shapes_LIBRARIES}
${OCTOMAP_LIBRARIES}
${ament_index_cpp_LIBRARIES}
ament_target_dependencies(test_planning_scene
ament_index_cpp
geometric_shapes
srdfdom
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urdf_parser is included, but not listed here?

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provided by ${MOVEIT_LIB_NAME}

)
target_link_libraries(test_planning_scene ${MOVEIT_LIB_NAME})

ament_add_gtest(test_multi_threaded test/test_multi_threaded.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
target_link_libraries(test_multi_threaded
moveit_planning_scene
moveit_test_utils
${MOVEIT_LIB_NAME}
${urdfdom_LIBRARIES}
${urdfdom_headers_LIBRARIES})
target_link_libraries(test_multi_threaded moveit_test_utils ${MOVEIT_LIB_NAME})
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robot_state, robot_model and collision_detection are included, but not listed here?

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same

endif()
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