From 43b10d3f08d71a03fd0229081cf1345165bd5367 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <maybe@tylerjw.dev>
Date: Wed, 1 Feb 2023 10:31:20 -0700
Subject: [PATCH] Fix overriding of package

---
 CMakeLists.txt | 74 ++++++++++++++++++++++++--------------------------
 package.xml    |  5 +---
 2 files changed, 37 insertions(+), 42 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 537d764e..fda0ecb7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,12 +1,7 @@
-cmake_minimum_required(VERSION 3.5)
-project(control_toolbox)
+cmake_minimum_required(VERSION 3.16)
+project(control_toolbox LANGUAGES CXX)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
@@ -18,26 +13,33 @@ if(WIN32)
   )
 endif()
 
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  control_msgs
+  rclcpp
+  rcutils
+  realtime_tools
+)
+
 find_package(ament_cmake REQUIRED)
-find_package(control_msgs REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rcutils REQUIRED)
-find_package(realtime_tools REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
 
-add_library(${PROJECT_NAME} SHARED
+add_library(control_toolbox SHARED
   src/dither.cpp
   src/limited_proxy.cpp
   src/pid_ros.cpp
   src/pid.cpp
   src/sine_sweep.cpp
-  src/sinusoid.cpp)
-target_include_directories(${PROJECT_NAME} PUBLIC include)
-target_compile_definitions(${PROJECT_NAME} PRIVATE "CONTROL_TOOLBOX_BUILDING_LIBRARY")
-ament_target_dependencies(${PROJECT_NAME}
-    control_msgs
-    rclcpp
-    rcutils
-    realtime_tools)
+  src/sinusoid.cpp
+)
+target_compile_features(control_toolbox PUBLIC cxx_std_17)
+target_include_directories(control_toolbox PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/control_toolbox>
+)
+ament_target_dependencies(control_toolbox PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_compile_definitions(control_toolbox PRIVATE "CONTROL_TOOLBOX_BUILDING_LIBRARY")
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
@@ -45,31 +47,27 @@ if(BUILD_TESTING)
   find_package(rclcpp_lifecycle REQUIRED)
 
   ament_add_gmock(pid_tests test/pid_tests.cpp)
-  target_link_libraries(pid_tests ${PROJECT_NAME})
+  target_link_libraries(pid_tests control_toolbox)
 
   ament_add_gtest(pid_parameters_tests test/pid_parameters_tests.cpp)
-  target_link_libraries(pid_parameters_tests ${PROJECT_NAME})
+  target_link_libraries(pid_parameters_tests control_toolbox)
 
   ament_add_gtest(pid_publisher_tests test/pid_publisher_tests.cpp)
-  target_link_libraries(pid_publisher_tests ${PROJECT_NAME})
+  target_link_libraries(pid_publisher_tests control_toolbox)
   ament_target_dependencies(pid_publisher_tests rclcpp_lifecycle)
 endif()
 
-# Install
-install(DIRECTORY include/
-  DESTINATION include)
-
-install(TARGETS ${PROJECT_NAME}
+install(
+  DIRECTORY include/
+  DESTINATION include/control_toolbox
+)
+install(TARGETS control_toolbox
+  EXPORT export_control_toolbox
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin)
-
-ament_export_dependencies(
-  control_msgs
-  rclcpp
-  rcutils
-  realtime_tools)
-ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME})
+  RUNTIME DESTINATION bin
+)
 
+ament_export_targets(export_control_toolbox HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
diff --git a/package.xml b/package.xml
index 3e972271..4bf4ee10 100644
--- a/package.xml
+++ b/package.xml
@@ -18,10 +18,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>control_msgs</build_depend>
-
-  <exec_depend>control_msgs</exec_depend>
-
+  <depend>control_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rcutils</depend>
   <depend>realtime_tools</depend>