fix ament deprecation

.

Update CMakeLists.txt
Update CMakeLists.txt
Update CMakeLists.txt

Author: mosfet80

CMakeLists.txt

@@ -20,21 +20,6 @@ find_package(tf2_ros REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-  Boost
-  geometry_msgs
-  graph_msgs
-  moveit_core
-  moveit_ros_planning
-  rclcpp
-  rviz_visual_tools
-  std_msgs
-  tf2_eigen
-  tf2_ros
-  trajectory_msgs
-  visualization_msgs
-)
-
 # Visualization Tools Library
 add_library(${PROJECT_NAME} SHARED
   src/${PROJECT_NAME}.cpp
@@ -44,23 +29,67 @@ add_library(${PROJECT_NAME} SHARED
 
 target_include_directories(${PROJECT_NAME}
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  PUBLIC $<INSTALL_INTERFACE:include>
+  PUBLIC $<INSTALL_INTERFACE:include> ${BULLET_INCLUDE_DIR}
 )
-ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-# Demo executable
-add_executable(${PROJECT_NAME}_demo
-  src/${PROJECT_NAME}_demo.cpp
-)
-target_link_libraries(${PROJECT_NAME}_demo
-  ${PROJECT_NAME}
-)
-ament_target_dependencies(${PROJECT_NAME}_demo ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
+target_link_libraries(moveit_visual_tools PUBLIC
+  ${geometry_msgs_TARGETS}
+  ${graph_msgs_TARGETS}
+  ${std_msgs_TARGETS}
+  ${trajectory_msgs_TARGETS}
+  ${visualization_msgs_TARGETS}
+  moveit_core::moveit_collision_detection
+  moveit_core::moveit_collision_detection_bullet
+  moveit_core::moveit_collision_detection_fcl
+  moveit_core::moveit_collision_distance_field
+  moveit_core::moveit_constraint_samplers
+  moveit_core::moveit_distance_field
+  moveit_core::moveit_dynamics_solver
+  moveit_core::moveit_exceptions
+  moveit_core::moveit_kinematic_constraints
+  moveit_core::moveit_kinematics_base
+  moveit_core::moveit_kinematics_metrics
+  moveit_core::moveit_macros
+  moveit_core::moveit_planning_interface
+  moveit_core::moveit_planning_scene
+  moveit_core::moveit_robot_model
+  moveit_core::moveit_robot_state
+  moveit_core::moveit_robot_trajectory
+  moveit_core::moveit_smoothing_base
+  moveit_core::moveit_test_utils
+  moveit_core::moveit_trajectory_processing
+  moveit_core::moveit_transforms
+  moveit_core::moveit_utils
+  moveit_ros_planning::default_request_adapter_parameters
+  moveit_ros_planning::default_response_adapter_parameters
+  moveit_ros_planning::kinematics_parameters
+  moveit_ros_planning::moveit_collision_plugin_loader
+  moveit_ros_planning::moveit_constraint_sampler_manager_loader
+  moveit_ros_planning::moveit_cpp
+  moveit_ros_planning::moveit_kinematics_plugin_loader
+  moveit_ros_planning::moveit_plan_execution
+  moveit_ros_planning::moveit_planning_pipeline
+  moveit_ros_planning::moveit_planning_pipeline_interfaces
+  moveit_ros_planning::moveit_planning_scene_monitor
+  moveit_ros_planning::moveit_rdf_loader
+  moveit_ros_planning::moveit_robot_model_loader
+  moveit_ros_planning::moveit_trajectory_execution_manager
+  moveit_ros_planning::planning_pipeline_parameters
+  moveit_ros_planning::srdf_publisher_node
+  rclcpp::rclcpp
+  rviz_visual_tools::rviz_visual_tools
+  rviz_visual_tools::rviz_visual_tools_gui
+  rviz_visual_tools::rviz_visual_tools_imarker_simple
+  rviz_visual_tools::rviz_visual_tools_remote_control
+  tf2_eigen::tf2_eigen
+  tf2_ros::static_transform_broadcaster_node
+  tf2_ros::tf2_ros
+)
 
 # Exports
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+
 
 #############
 ## Install ##
@@ -75,12 +104,6 @@ install(
   LIBRARY DESTINATION lib
 )
 
-# Install executables
-install(
-  TARGETS ${PROJECT_NAME}_demo
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
-
 # Install header files
 install(DIRECTORY include/ DESTINATION include)
 
@@ -92,12 +115,29 @@ install(DIRECTORY launch resources DESTINATION share/${PROJECT_NAME})
 #############
 
 if(BUILD_TESTING)
+# Demo executable
+add_executable(${PROJECT_NAME}_demo
+  src/${PROJECT_NAME}_demo.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}_demo
+  ${PROJECT_NAME} rclcpp::rclcpp
+  ament_index_cpp::ament_index_cpp
+)
+
+# Install executables
+install(
+  TARGETS ${PROJECT_NAME}_demo
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
   find_package(ament_lint_auto REQUIRED)
   set(ament_cmake_cppcheck_FOUND TRUE)
   set(ament_cmake_cpplint_FOUND TRUE)
   set(ament_cmake_uncrustify_FOUND TRUE)
   set(ament_cmake_flake8_CONFIG_FILE ".ament_flake8.ini")
   ament_lint_auto_find_test_dependencies()
+
 endif()
 
 ament_package()