Switch to target_link_libraries everywhere.

There is no need to use ament_target_dependencies. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Nov 27, 2023 · 971a6ae · 971a6ae
1 parent 9855072
commit 971a6ae
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Showing 5 changed files with 41 additions and 65 deletions.
diff --git a/mcap_vendor/CMakeLists.txt b/mcap_vendor/CMakeLists.txt
@@ -61,7 +61,7 @@ macro(build_mcap_vendor)
     "$<BUILD_INTERFACE:${_mcap_include_dir}>"
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
   )
-  ament_target_dependencies(mcap zstd)
+  target_link_libraries(mcap zstd::zstd)
 
   install(
     FILES ${_mcap_installed_headers}

diff --git a/rosbag2_cpp/CMakeLists.txt b/rosbag2_cpp/CMakeLists.txt
@@ -170,22 +170,24 @@ if(BUILD_TESTING)
     test/rosbag2_cpp/test_info.cpp
     WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
   if(TARGET test_info)
-    target_link_libraries(test_info ${PROJECT_NAME})
-    ament_target_dependencies(test_info rosbag2_test_common test_msgs)
+    target_link_libraries(test_info ${PROJECT_NAME} rosbag2_test_common::rosbag2_test_common ${test_msgs_TARGETS})
   endif()
 
   ament_add_gmock(test_sequential_reader
     test/rosbag2_cpp/test_sequential_reader.cpp test/rosbag2_cpp/fake_data.cpp)
   if(TARGET test_sequential_reader)
-    ament_target_dependencies(test_sequential_reader rosbag2_storage rosbag2_test_common test_msgs)
-    target_link_libraries(test_sequential_reader ${PROJECT_NAME})
+    target_link_libraries(test_sequential_reader
+      ${PROJECT_NAME}
+      rosbag2_storage::rosbag2_storage
+      rosbag2_test_common::rosbag2_test_common
+      ${test_msgs_TARGETS}
+    )
   endif()
 
   ament_add_gmock(test_storage_without_metadata_file
     test/rosbag2_cpp/test_storage_without_metadata_file.cpp)
   if(TARGET test_storage_without_metadata_file)
-    ament_target_dependencies(test_storage_without_metadata_file rosbag2_storage)
-    target_link_libraries(test_storage_without_metadata_file ${PROJECT_NAME})
+    target_link_libraries(test_storage_without_metadata_file ${PROJECT_NAME} rosbag2_storage::rosbag2_storage)
   endif()
 
   ament_add_gmock(test_local_message_definition_source

diff --git a/rosbag2_py/CMakeLists.txt b/rosbag2_py/CMakeLists.txt
@@ -44,8 +44,8 @@ ament_python_install_package(${PROJECT_NAME})
 pybind11_add_module(_compression_options SHARED
   src/rosbag2_py/_compression_options.cpp
 )
-ament_target_dependencies(_compression_options PUBLIC
-  "rosbag2_compression"
+target_link_libraries(_compression_options PUBLIC
+  rosbag2_compression::rosbag2_compression
 )
 
 pybind11_add_module(_reader SHARED

diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
@@ -106,129 +106,106 @@ function(create_tests_for_rmw_implementation)
 
   rosbag2_transport_add_gmock(test_play
     test/rosbag2_transport/test_play.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common
     ${SKIP_TEST})
 
   rosbag2_transport_add_gmock(test_play_loop
     test/rosbag2_transport/test_play_loop.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common
     ${SKIP_TEST})
 
   rosbag2_transport_add_gmock(test_play_publish_clock
     test/rosbag2_transport/test_play_publish_clock.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common
     ${SKIP_TEST})
 
   rosbag2_transport_add_gmock(test_play_timing
     test/rosbag2_transport/test_play_timing.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_play_callbacks
     test/rosbag2_transport/test_play_callbacks.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_player_stop
     test/rosbag2_transport/test_player_stop.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_play_seek
     test/rosbag2_transport/test_play_seek.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_play_services
     test/rosbag2_transport/test_play_services.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_play_topic_remap
     test/rosbag2_transport/test_play_topic_remap.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common
     ${SKIP_TEST})
 
   rosbag2_transport_add_gmock(test_play_duration
-      test/rosbag2_transport/test_play_duration.cpp
-      INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
-      LINK_LIBS rosbag2_transport
-      AMENT_DEPS test_msgs rosbag2_test_common)
+    test/rosbag2_transport/test_play_duration.cpp
+    INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_play_next
-      test/rosbag2_transport/test_play_next.cpp
-      INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
-      LINK_LIBS rosbag2_transport
-      AMENT_DEPS test_msgs rosbag2_test_common)
+    test/rosbag2_transport/test_play_next.cpp
+    INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_play_until
-      test/rosbag2_transport/test_play_until.cpp
-      INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
-      LINK_LIBS rosbag2_transport
-      AMENT_DEPS test_msgs rosbag2_test_common)
+    test/rosbag2_transport/test_play_until.cpp
+    INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_burst
     test/rosbag2_transport/test_burst.cpp
     INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_record
     test/rosbag2_transport/test_record.cpp
     INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common
     ${SKIP_TEST})
 
   rosbag2_transport_add_gmock(test_record_all
     test/rosbag2_transport/test_record_all.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_record_all_ignore_leaf_topics
     test/rosbag2_transport/test_record_all_ignore_leaf_topics.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_record_all_include_unpublished_topics
     test/rosbag2_transport/test_record_all_include_unpublished_topics.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_record_all_no_discovery
     test/rosbag2_transport/test_record_all_no_discovery.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_record_all_use_sim_time
     test/rosbag2_transport/test_record_all_use_sim_time.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_keyboard_controls
     test/rosbag2_transport/test_keyboard_controls.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_record_regex
     test/rosbag2_transport/test_record_regex.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common
     ${SKIP_TEST})
 
   rosbag2_transport_add_gmock(test_record_services
     test/rosbag2_transport/test_record_services.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_component_parameters
       test/rosbag2_transport/test_composable_recorder.cpp
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    LINK_LIBS rosbag2_transport ${test_msgs_TARGETS} rosbag2_test_common::rosbag2_test_common)
 
   if(${rmw_implementation} MATCHES "rmw_cyclonedds(.*)")
     ament_add_test_label(test_play_services__rmw_cyclonedds_cpp xfail)

diff --git a/rosbag2_transport/cmake/rosbag2_transport_add_gmock.cmake b/rosbag2_transport/cmake/rosbag2_transport_add_gmock.cmake
@@ -28,16 +28,14 @@
 # :type GENERATE_DEFAULT: option
 # :param LINK_LIBS: libraries to link to the test executable
 # :type LINK_LIBS: list of strings
-# :param AMENT_DEPS: ament dependencies to declare for the test executable
-# :type AMENT_DEPS: list of strings
 # :param INCLUDE_DIRS: extra include directories to use for building the test
 # :type INCLUDE_DIRS: list of strings
 #
 function(rosbag2_transport_add_gmock target_base)
   cmake_parse_arguments(ARG
     "SKIP_TEST"
     ""
-    "LINK_LIBS;AMENT_DEPS;INCLUDE_DIRS"
+    "LINK_LIBS;INCLUDE_DIRS"
     ${ARGN})
   if(NOT ARG_UNPARSED_ARGUMENTS)
     message(FATAL_ERROR "rosbag2_transport_add_gmock() must be invoked with "
@@ -57,7 +55,6 @@ function(rosbag2_transport_add_gmock target_base)
     WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
     ${SKIP_TEST})
   if(TARGET ${target_name})
-    ament_target_dependencies(${target_name} ${ARG_AMENT_DEPS})
     target_link_libraries(${target_name} ${ARG_LINK_LIBS})
     target_include_directories(${target_name} PUBLIC ${ARG_INCLUDE_DIRS})
   endif()