[kilted] Update deprecated call to ament_target_dependencies

moveit_core/collision_detection_bullet/CMakeLists.txt

@@ -18,32 +18,31 @@ target_include_directories(
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 set_target_properties(moveit_collision_detection_bullet
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(moveit_collision_detection_bullet SYSTEM BULLET)
-ament_target_dependencies(
-  moveit_collision_detection_bullet
-  rclcpp
-  rmw_implementation
-  urdf
-  urdfdom
-  urdfdom_headers
-  visualization_msgs
-  octomap_msgs)
+target_link_libraries(moveit_collision_detection_bullet SYSTEM BULLET
+  PUBLIC
+  ${octomap_msgs_TARGETS}
+  ${visualization_msgs_TARGETS}
+  rclcpp::rclcpp
+  rmw_implementation::rmw_implementation
+  urdf::urdf
+)
 target_link_libraries(moveit_collision_detection_bullet
                       moveit_collision_detection moveit_utils)
 
 add_library(collision_detector_bullet_plugin SHARED
             src/collision_detector_bullet_plugin_loader.cpp)
 set_target_properties(collision_detector_bullet_plugin
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(collision_detector_bullet_plugin SYSTEM BULLET)
-ament_target_dependencies(
-  collision_detector_bullet_plugin
-  rclcpp
-  urdf
-  visualization_msgs
-  pluginlib
-  rmw_implementation
-  octomap_msgs)
+target_link_libraries(collision_detector_bullet_plugin SYSTEM BULLET)
+target_link_libraries(collision_detector_bullet_plugin
+  PUBLIC
+  ${octomap_msgs_TARGETS}
+  ${visualization_msgs_TARGETS}
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rmw_implementation::rmw_implementation
+  urdf::urdf
+)
 target_link_libraries(
   collision_detector_bullet_plugin moveit_collision_detection_bullet
   moveit_planning_scene moveit_utils)

moveit_core/collision_distance_field/CMakeLists.txt

@@ -15,12 +15,10 @@ target_include_directories(
 set_target_properties(moveit_collision_distance_field
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-ament_target_dependencies(moveit_collision_distance_field urdf
-                          visualization_msgs tf2_eigen geometric_shapes octomap)
 
 target_link_libraries(
-  moveit_collision_distance_field moveit_planning_scene moveit_distance_field
-  moveit_collision_detection moveit_robot_state)
+  moveit_collision_distance_field moveit_planning_scene moveit_distance_field moveit_collision_detection moveit_robot_state PUBLIC ${visualization_msgs_TARGETS} geometric_shapes::geometric_shapes tf2_eigen::tf2_eigen urdf::urdf
+)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
 install(
@@ -33,8 +31,6 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_collision_distance_field
                   test/test_collision_distance_field.cpp)
-  ament_target_dependencies(test_collision_distance_field geometric_shapes
-                            octomap srdfdom resource_retriever)
   target_link_libraries(
     test_collision_distance_field
     moveit_collision_distance_field
@@ -44,5 +40,6 @@ if(BUILD_TESTING)
     moveit_robot_state
     moveit_test_utils
     moveit_transforms
-    moveit_planning_scene)
+    moveit_planning_scene PUBLIC geometric_shapes::geometric_shapes resource_retriever::resource_retriever srdfdom::srdfdom
+)
 endif()

moveit_core/constraint_samplers/CMakeLists.txt

@@ -9,16 +9,15 @@ target_include_directories(
          $<INSTALL_INTERFACE:include/moveit_core>)
 set_target_properties(moveit_constraint_samplers
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(moveit_constraint_samplers urdf urdfdom
-                          urdfdom_headers visualization_msgs)
 target_link_libraries(
   moveit_constraint_samplers
   moveit_robot_trajectory
   moveit_robot_state
   moveit_kinematic_constraints
   moveit_kinematics_base
   moveit_planning_scene
-  moveit_utils)
+  moveit_utils PUBLIC ${visualization_msgs_TARGETS} urdf::urdf
+)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
 
@@ -43,7 +42,5 @@ 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_test_utils moveit_utils
-                        moveit_constraint_samplers)
+  target_link_libraries(test_constraint_samplers moveit_test_utils moveit_utils moveit_constraint_samplers PUBLIC kdl_parser::kdl_parser)
 endif()

moveit_core/dynamics_solver/CMakeLists.txt

@@ -6,8 +6,6 @@ target_include_directories(
 set_target_properties(moveit_dynamics_solver
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-ament_target_dependencies(moveit_dynamics_solver urdf urdfdom_headers
-                          orocos_kdl visualization_msgs kdl_parser)
-target_link_libraries(moveit_dynamics_solver moveit_robot_state moveit_utils)
+target_link_libraries(moveit_dynamics_solver moveit_robot_state moveit_utils PUBLIC ${visualization_msgs_TARGETS} kdl_parser::kdl_parser urdf::urdf)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)

moveit_core/exceptions/CMakeLists.txt

@@ -5,8 +5,6 @@ target_include_directories(
          $<INSTALL_INTERFACE:include/moveit_core>)
 set_target_properties(moveit_exceptions PROPERTIES VERSION
                                                    "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(moveit_exceptions Boost rclcpp urdfdom
-                          urdfdom_headers)
-target_link_libraries(moveit_exceptions moveit_utils)
+target_link_libraries(moveit_exceptions moveit_utils PUBLIC rclcpp::rclcpp)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)

moveit_core/kinematics_base/CMakeLists.txt

@@ -3,24 +3,22 @@ target_include_directories(
   moveit_kinematics_base
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
          $<INSTALL_INTERFACE:include/moveit_core>)
-target_link_libraries(moveit_kinematics_base moveit_macros moveit_robot_model
-                      moveit_utils)
+target_link_libraries(moveit_kinematics_base moveit_macros moveit_robot_model moveit_utils
+  PUBLIC
+  ${geometry_msgs_TARGETS}
+  ${moveit_msgs_TARGETS}
+  geometric_shapes::geometric_shapes
+  rclcpp::rclcpp
+  srdfdom::srdfdom
+  urdf::urdf
+)
 include(GenerateExportHeader)
 generate_export_header(moveit_kinematics_base)
 target_include_directories(
   moveit_kinematics_base PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
 )# for this library
 
 # This line ensures that messages are built before the library is built
-ament_target_dependencies(
-  moveit_kinematics_base
-  rclcpp
-  urdf
-  urdfdom_headers
-  srdfdom
-  moveit_msgs
-  geometric_shapes
-  geometry_msgs)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_kinematics_base_export.h

moveit_core/kinematics_metrics/CMakeLists.txt

@@ -6,10 +6,7 @@ target_include_directories(
 set_target_properties(moveit_kinematics_metrics
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-ament_target_dependencies(moveit_kinematics_metrics urdf urdfdom_headers
-                          visualization_msgs)
 
-target_link_libraries(moveit_kinematics_metrics moveit_robot_model
-                      moveit_robot_state moveit_utils)
+target_link_libraries(moveit_kinematics_metrics moveit_robot_model moveit_robot_state moveit_utils PUBLIC ${visualization_msgs_TARGETS} urdf::urdf)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)

moveit_core/online_signal_smoothing/CMakeLists.txt

@@ -5,12 +5,11 @@ target_include_directories(
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
          $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
          $<INSTALL_INTERFACE:include/moveit_core>)
-target_link_libraries(moveit_smoothing_base ${Eigen_LIBRARIES} moveit_macros)
+target_link_libraries(moveit_smoothing_base ${Eigen_LIBRARIES} moveit_macros PUBLIC rclcpp::rclcpp tf2_eigen::tf2_eigen)
 include(GenerateExportHeader)
 generate_export_header(moveit_smoothing_base)
 set_target_properties(moveit_smoothing_base
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(moveit_smoothing_base rclcpp tf2_eigen)
 
 # Plugin implementations
 add_library(moveit_acceleration_filter SHARED src/acceleration_filter.cpp)
@@ -23,12 +22,9 @@ set_target_properties(moveit_acceleration_filter
 generate_parameter_library(moveit_acceleration_filter_parameters
                            src/acceleration_filter_parameters.yaml)
 target_link_libraries(
-  moveit_acceleration_filter moveit_acceleration_filter_parameters
-  moveit_robot_state moveit_smoothing_base osqp::osqp)
-ament_target_dependencies(
-  moveit_acceleration_filter srdfdom # include dependency from
-                                     # moveit_robot_model
-  pluginlib)
+  moveit_acceleration_filter moveit_acceleration_filter_parameters moveit_robot_state moveit_smoothing_base osqp::osqp
+  PUBLIC pluginlib::pluginlib srdfdom::srdfdom
+)
 
 add_library(moveit_butterworth_filter SHARED src/butterworth_filter.cpp)
 generate_export_header(moveit_butterworth_filter)
@@ -40,12 +36,11 @@ set_target_properties(moveit_butterworth_filter
 generate_parameter_library(moveit_butterworth_filter_parameters
                            src/butterworth_parameters.yaml)
 target_link_libraries(
-  moveit_butterworth_filter moveit_butterworth_filter_parameters
-  moveit_robot_model moveit_smoothing_base)
-ament_target_dependencies(
-  moveit_butterworth_filter
-  srdfdom # include dependency from moveit_robot_model
-  pluginlib)
+  moveit_butterworth_filter moveit_butterworth_filter_parameters moveit_robot_model moveit_smoothing_base
+  PUBLIC
+  pluginlib::pluginlib
+  srdfdom::srdfdom
+)
 
 add_library(moveit_ruckig_filter SHARED src/ruckig_filter.cpp)
 generate_export_header(moveit_ruckig_filter)
@@ -56,11 +51,9 @@ set_target_properties(moveit_ruckig_filter
 generate_parameter_library(moveit_ruckig_filter_parameters
                            src/ruckig_filter_parameters.yaml)
 target_link_libraries(
-  moveit_ruckig_filter moveit_robot_state moveit_ruckig_filter_parameters
-  moveit_smoothing_base ruckig::ruckig)
-ament_target_dependencies(
-  moveit_ruckig_filter srdfdom # include dependency from moveit_robot_model
-  pluginlib)
+  moveit_ruckig_filter moveit_robot_state moveit_ruckig_filter_parameters moveit_smoothing_base ruckig::ruckig
+  PUBLIC pluginlib::pluginlib srdfdom::srdfdom
+)
 
 # Installation
 install(DIRECTORY include/ DESTINATION include/moveit_core)

moveit_core/planning_interface/CMakeLists.txt

@@ -6,9 +6,6 @@ target_include_directories(
          $<INSTALL_INTERFACE:include/moveit_core>)
 set_target_properties(moveit_planning_interface
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(moveit_planning_interface moveit_msgs urdf urdfdom
-                          urdfdom_headers)
-target_link_libraries(moveit_planning_interface moveit_robot_trajectory
-                      moveit_robot_state moveit_planning_scene moveit_utils)
+target_link_libraries(moveit_planning_interface moveit_robot_trajectory moveit_robot_state moveit_planning_scene moveit_utils PUBLIC ${moveit_msgs_TARGETS} urdf::urdf)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)

moveit_core/planning_scene/CMakeLists.txt

@@ -10,14 +10,6 @@ target_include_directories(
 # TODO: Fix the versioning
 set_target_properties(moveit_planning_scene
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(
-  moveit_planning_scene
-  Boost
-  rclcpp
-  urdfdom
-  urdfdom_headers
-  octomap_msgs
-  octomap)
 
 target_link_libraries(
   moveit_planning_scene
@@ -30,7 +22,11 @@ target_link_libraries(
   moveit_kinematic_constraints
   moveit_robot_trajectory
   moveit_trajectory_processing
-  moveit_utils)
+  moveit_utils
+  PUBLIC
+  ${octomap_msgs_TARGETS}
+  rclcpp::rclcpp
+)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_planning_scene_export.h
@@ -47,9 +43,7 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_planning_scene test/test_planning_scene.cpp
                   APPEND_LIBRARY_DIRS "${APPEND_LIBRARY_DIRS}")
-  ament_target_dependencies(test_planning_scene geometric_shapes srdfdom)
-  target_link_libraries(test_planning_scene moveit_test_utils
-                        moveit_planning_scene)
+  target_link_libraries(test_planning_scene moveit_test_utils moveit_planning_scene PUBLIC geometric_shapes::geometric_shapes srdfdom::srdfdom)
 
   ament_add_gtest(test_collision_objects test/test_collision_objects.cpp
                   APPEND_LIBRARY_DIRS "${APPEND_LIBRARY_DIRS}")

moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt

@@ -5,8 +5,6 @@ find_package(ur_kinematics QUIET)
 add_library(moveit_cached_ik_kinematics_base SHARED src/ik_cache.cpp)
 set_target_properties(moveit_cached_ik_kinematics_base
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(moveit_cached_ik_kinematics_base PUBLIC rclcpp
-                          moveit_core moveit_msgs)
 
 if(trac_ik_kinematics_plugin_FOUND)
   include_directories(${trac_ik_kinematics_plugin_INCLUDE_DIRS})
@@ -20,19 +18,21 @@ generate_parameter_library(
 )
 
 target_link_libraries(
-  moveit_cached_ik_kinematics_base PUBLIC cached_ik_kinematics_parameters
-                                          kdl_kinematics_parameters)
+  moveit_cached_ik_kinematics_base PUBLIC ${moveit_msgs_TARGETS}
+                                          cached_ik_kinematics_parameters
+                                          kdl_kinematics_parameters
+                                          moveit_core::moveit_collision_detection
+                                          rclcpp::rclcpp
+)
 
 add_library(moveit_cached_ik_kinematics_plugin SHARED
             src/cached_ik_kinematics_plugin.cpp)
 set_target_properties(moveit_cached_ik_kinematics_plugin
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-ament_target_dependencies(moveit_cached_ik_kinematics_plugin PUBLIC rclcpp
-                          moveit_core moveit_msgs rsl)
 target_link_libraries(
   moveit_cached_ik_kinematics_plugin
-  PRIVATE cached_ik_kinematics_parameters moveit_kdl_kinematics_plugin
-          moveit_srv_kinematics_plugin moveit_cached_ik_kinematics_base)
+  PRIVATE cached_ik_kinematics_parameters moveit_kdl_kinematics_plugin moveit_srv_kinematics_plugin moveit_cached_ik_kinematics_base PUBLIC ${moveit_msgs_TARGETS} moveit_core::moveit_collision_detection rclcpp::rclcpp
+)
 if(trac_ik_kinematics_plugin_FOUND)
   target_link_libraries(moveit_cached_ik_kinematics_plugin
                         PRIVATE ${trac_ik_kinematics_plugin_LIBRARIES})

moveit_kinematics/srv_kinematics_plugin/CMakeLists.txt

@@ -7,9 +7,7 @@ add_library(moveit_srv_kinematics_plugin SHARED src/srv_kinematics_plugin.cpp)
 set_target_properties(moveit_srv_kinematics_plugin
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-ament_target_dependencies(moveit_srv_kinematics_plugin rclcpp moveit_core
-                          moveit_msgs)
 
-target_link_libraries(moveit_srv_kinematics_plugin srv_kinematics_parameters)
+target_link_libraries(moveit_srv_kinematics_plugin srv_kinematics_parameters PUBLIC ${moveit_msgs_TARGETS} moveit_core::moveit_collision_detection rclcpp::rclcpp)
 
 install(DIRECTORY include/ DESTINATION include/moveit_kinematics)

moveit_planners/chomp/chomp_interface/CMakeLists.txt

@@ -22,13 +22,20 @@ add_library(moveit_chomp_interface SHARED src/chomp_interface.cpp
                                           src/chomp_planning_context.cpp)
 set_target_properties(moveit_chomp_interface
                       PROPERTIES VERSION "${moveit_planners_chomp_VERSION}")
-ament_target_dependencies(moveit_chomp_interface
-                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(moveit_chomp_interface PUBLIC
+                          chomp_motion_planner::chomp_motion_planner
+                          moveit_core::moveit_collision_detection
+                          pluginlib::pluginlib
+                          rclcpp::rclcpp
+)
 
 add_library(moveit_chomp_planner_plugin SHARED src/chomp_plugin.cpp)
-ament_target_dependencies(moveit_chomp_planner_plugin
-                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-target_link_libraries(moveit_chomp_planner_plugin moveit_chomp_interface)
+target_link_libraries(moveit_chomp_planner_plugin moveit_chomp_interface PUBLIC
+                          chomp_motion_planner::chomp_motion_planner
+                          moveit_core::moveit_collision_detection
+                          pluginlib::pluginlib
+                          rclcpp::rclcpp
+)
 
 install(
   TARGETS moveit_chomp_interface moveit_chomp_planner_plugin

moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt

@@ -23,7 +23,7 @@ add_library(
   src/chomp_optimizer.cpp src/chomp_planner.cpp)
 set_target_properties(chomp_motion_planner
                       PROPERTIES VERSION "${chomp_motion_planner_VERSION}")
-ament_target_dependencies(chomp_motion_planner ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(chomp_motion_planner PUBLIC ${trajectory_msgs_TARGETS} ${visualization_msgs_TARGETS} moveit_core::moveit_collision_detection rclcpp::rclcpp)
 
 install(
   TARGETS chomp_motion_planner