Cleanup the package.xml and CMakeLists.txt

Signed-off-by: Chris Lalancette <[email protected]>
ros2 · May 9, 2019 · ec63e8b · ec63e8b
1 parent ae5652d
commit ec63e8b
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Showing 2 changed files with 27 additions and 43 deletions.
diff --git a/tf2_kdl/CMakeLists.txt b/tf2_kdl/CMakeLists.txt
@@ -11,61 +11,45 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(orocos_kdl REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(rclcpp REQUIRED)
 
-ament_python_install_package(${PROJECT_NAME}
-     PACKAGE_DIR src/${PROJECT_NAME})
-
-link_directories(${orocos_kdl_LIBRARY_DIRS})
-include_directories(include ${rclpy_INCLUDE_DIRS}
-                    ${rmw_implementation_INCLUDE_DIRS}
-                    ${std_msgs_INCLUDE_DIRS}
-                    ${Eigen3_INCLUDE_DIRS}
-                    ${GTEST_INCLUDE_DIRS})
+# TODO(clalancette): Port python once https://github.com/ros2/geometry2/pull/99 is merged
+# ament_python_install_package(${PROJECT_NAME}
+#      PACKAGE_DIR src/${PROJECT_NAME})
 
 install(DIRECTORY include/${PROJECT_NAME}/
     DESTINATION include/${PROJECT_NAME}
 )
 
-install(PROGRAMS scripts/test.py
-         DESTINATION lib/${PROJECT_NAME}
-)
+# TODO(clalancette): Port python tests once https://github.com/ros2/geometry/pull/99 is merged
+# install(PROGRAMS scripts/test.py
+#     DESTINATION lib/${PROJECT_NAME}
+# )
 
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
-  find_package (Threads)
-  find_package(Eigen3 REQUIRED)
-  find_package(tf2 REQUIRED)
-  find_package(tf2_ros REQUIRED)
+  find_package(rclcpp REQUIRED)
   find_package(tf2_msgs REQUIRED)
+
   ament_add_gtest(test_kdl test/test_tf2_kdl.cpp)
   target_include_directories(test_kdl PUBLIC
-                                include
-                                ${tf2_INCLUDE_DIRS}
-                                ${tf2_ros_INCLUDE_DIRS}
-                                ${EIGEN3_INCLUDE_DIRS}
-                                ${rclcpp_INCLUDE_DIRS}
-                                ${orocos_kdl_INCLUDE_DIRS}
+    include
   )
-
-  target_link_libraries(test_kdl ${rclpy_LIBRARIES}
-  		                          ${rclcpp_LIBRARIES}
-                                ${rmw_implementation_LIBRARIES}
-                                ${GTEST_LIBRARIES}
-                                ${orocos_kdl_LIBRARIES}
-                                ${CMAKE_THREAD_LIBS_INIT})
-
   ament_target_dependencies(test_kdl
+    builtin_interfaces
+    orocos_kdl
+    rclcpp
     tf2
     tf2_ros
     tf2_msgs)
 endif()
 
-ament_export_include_directories(include ${Eigen3_INCLUDE_DIRS})
-ament_export_dependencies(Eigen3 orocos_kdl)
+ament_export_include_directories(include)
+ament_export_dependencies(builtin_interfaces Eigen3 geometry_msgs orocos_kdl tf2 tf2_ros)
 ament_package()
diff --git a/tf2_kdl/package.xml b/tf2_kdl/package.xml
@@ -1,4 +1,4 @@
-<package>
+<package format="2">
   <name>tf2_kdl</name>
   <version>0.9.1</version>
   <description>
@@ -12,16 +12,16 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>eigen</build_depend> <!-- needed by kdl interally -->
-  <build_depend>orocos_kdl</build_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>tf2_ros</build_depend>
+  <depend>builtin_interfaces</depend>
+  <depend>eigen</depend> <!-- needed by kdl interally -->
+  <depend>geometry_msgs</depend>
+  <depend>orocos_kdl</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
 
-  <run_depend>eigen</run_depend>
-  <run_depend>orocos_kdl</run_depend>
-  <run_depend>tf2</run_depend>
-  <run_depend>tf2_ros</run_depend>
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>rclcpp</test_depend>
+  <test_depend>tf2_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>