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switch to modern cmake target-based build #104

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39 changes: 16 additions & 23 deletions dynamixel_hardware/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -29,31 +29,29 @@ add_library(
SHARED
src/dynamixel_hardware.cpp
)
target_include_directories(
${PROJECT_NAME}
PRIVATE
include
)
ament_target_dependencies(
${PROJECT_NAME}
rclcpp
rclcpp_lifecycle
lifecycle_msgs
hardware_interface
pluginlib
dynamixel_workbench_toolbox
)

target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
target_link_libraries(${PROJECT_NAME} PUBLIC
${lifecycle_msgs_TARGETS}
dynamixel_workbench_toolbox::dynamixel_workbench_toolbox
hardware_interface::hardware_interface
pluginlib::pluginlib
rclcpp_lifecycle::rclcpp_lifecycle
rclcpp::rclcpp)

pluginlib_export_plugin_description_file(hardware_interface dynamixel_hardware.xml)

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

if(BUILD_TESTING)
Expand All @@ -67,12 +65,7 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(
include
)
ament_export_libraries(
${PROJECT_NAME}
)
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(
rclcpp
hardware_interface
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