Using ament_target_dependencies where possible (#400)

* Using ament_target_dependencies where possible

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Modified rcl_add_custom_* to use AMENT_DEPENDENCIES where possible

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Added again osrf_testing_tools_cpp::memory_tools library where needed.

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Modified with PR comment, and replaced forgotten osrf_testing_tools_cpp including

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

rcl/test/CMakeLists.txt

@@ -35,11 +35,10 @@ function(test_target_function)
 
   rcl_add_custom_gtest(test_client${target_suffix}
     SRCS rcl/test_client.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
   )
 
   rcl_add_custom_gtest(test_time${target_suffix}
@@ -71,11 +70,10 @@ function(test_target_function)
 
   rcl_add_custom_gtest(test_get_node_names${target_suffix}
     SRCS rcl/test_get_node_names.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation}
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
   )
 
   rcl_add_custom_gtest(test_lexer${target_suffix}
@@ -88,11 +86,10 @@ function(test_target_function)
 
   rcl_add_custom_gtest(test_lexer_lookahead${target_suffix}
     SRCS rcl/test_lexer_lookahead.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation}
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
   )
 
   set(AMENT_GTEST_ARGS "")
@@ -107,21 +104,19 @@ function(test_target_function)
   endif()
   rcl_add_custom_gtest(test_graph${target_suffix}
     SRCS rcl/test_graph.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
     ${AMENT_GTEST_ARGS}
   )
 
   rcl_add_custom_gtest(test_count_matched${target_suffix}
     SRCS rcl/test_count_matched.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
   )
 
   rcl_add_custom_gtest(test_init${target_suffix}
@@ -134,11 +129,10 @@ function(test_target_function)
 
   rcl_add_custom_gtest(test_node${target_suffix}
     SRCS rcl/test_node.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES ${rmw_implementation}
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
   )
 
   rcl_add_custom_gtest(test_arguments${target_suffix}
@@ -150,90 +144,81 @@ function(test_target_function)
 
   rcl_add_custom_gtest(test_remap${target_suffix}
     SRCS rcl/test_remap.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
+    AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
   )
 
   rcl_add_custom_gtest(test_remap_integration${target_suffix}
     SRCS rcl/test_remap_integration.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     TIMEOUT 200
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES "test_msgs"
+    AMENT_DEPENDENCIES "osrf_testing_tools_cpp" "test_msgs"
   )
 
   rcl_add_custom_gtest(test_guard_condition${target_suffix}
     SRCS rcl/test_guard_condition.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES ${rmw_implementation}
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
   )
 
   rcl_add_custom_gtest(test_publisher${target_suffix}
     SRCS rcl/test_publisher.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
   )
 
   rcl_add_custom_gtest(test_service${target_suffix}
     SRCS rcl/test_service.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
   )
 
   rcl_add_custom_gtest(test_subscription${target_suffix}
     SRCS rcl/test_subscription.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
   )
 
   rcl_add_custom_gtest(test_wait${target_suffix}
     SRCS rcl/test_wait.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation}
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
   )
 
   rcl_add_custom_gtest(test_namespace${target_suffix}
     SRCS test_namespace.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
   )
 
   # Launch tests
 
   rcl_add_custom_executable(service_fixture${target_suffix}
     SRCS rcl/service_fixture.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
   )
 
   rcl_add_custom_executable(client_fixture${target_suffix}
     SRCS rcl/client_fixture.cpp
-    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
   )
 
   rcl_add_custom_launch_test(test_services
@@ -296,9 +281,9 @@ rcl_add_custom_gtest(test_expand_topic_name
 
 rcl_add_custom_gtest(test_timer${target_suffix}
   SRCS rcl/test_timer.cpp
-  INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
   LIBRARIES ${PROJECT_NAME}
+  AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
 )
 
 rcl_add_custom_gtest(test_security_directory

rcl_action/CMakeLists.txt

@@ -87,12 +87,11 @@ if(BUILD_TESTING)
   if(TARGET test_action_client)
     target_include_directories(test_action_client PUBLIC
       include
-      ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     )
     target_link_libraries(test_action_client
       ${PROJECT_NAME}
     )
-    ament_target_dependencies(test_action_client "rcl" "test_msgs")
+    ament_target_dependencies(test_action_client "osrf_testing_tools_cpp" "rcl" "test_msgs")
   endif()
 
   # get the rmw implementations ahead of time
@@ -118,13 +117,14 @@ if(BUILD_TESTING)
         PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
       target_include_directories(${target}${target_suffix} PUBLIC
         include
-        ${rcl_INCLUDE_DIRS}
       )
       target_link_libraries(${target}${target_suffix}
         ${PROJECT_NAME}
       )
       ament_target_dependencies(${target}${target_suffix}
-        "test_msgs")
+        "rcl"
+        "test_msgs"
+      )
     endif()
   endfunction()
 
@@ -156,12 +156,14 @@ if(BUILD_TESTING)
   if(TARGET test_action_server)
     target_include_directories(test_action_server PUBLIC
       include
-      ${rcl_INCLUDE_DIRS}
     )
     target_link_libraries(test_action_server
       ${PROJECT_NAME}
     )
-    ament_target_dependencies(test_action_server "test_msgs")
+    ament_target_dependencies(test_action_server
+      "rcl"
+      "test_msgs"
+    )
   endif()
   ament_add_gtest(test_goal_handle
     test/rcl_action/test_goal_handle.cpp
@@ -169,22 +171,20 @@ if(BUILD_TESTING)
   if(TARGET test_goal_handle)
     target_include_directories(test_goal_handle PUBLIC
       include
-      ${rcl_INCLUDE_DIRS}
     )
     target_link_libraries(test_goal_handle
       ${PROJECT_NAME}
     )
+    ament_target_dependencies(test_action_server "rcl")
   endif()
   ament_add_gtest(test_goal_state_machine
     test/rcl_action/test_goal_state_machine.cpp
   )
   if(TARGET test_goal_state_machine)
-    target_include_directories(test_goal_state_machine PUBLIC
-      ${rcl_INCLUDE_DIRS}
-    )
     target_link_libraries(test_goal_state_machine
       ${PROJECT_NAME}
     )
+    ament_target_dependencies(test_action_server "rcl")
   endif()
   ament_add_gtest(test_types
     test/rcl_action/test_types.cpp
@@ -192,22 +192,20 @@ if(BUILD_TESTING)
   if(TARGET test_types)
     target_include_directories(test_types PUBLIC
       include
-      ${rcl_INCLUDE_DIRS}
     )
     target_link_libraries(test_types
       ${PROJECT_NAME}
     )
+    ament_target_dependencies(test_action_server "rcl")
   endif()
   ament_add_gtest(test_names
     test/rcl_action/test_names.cpp
   )
   if(TARGET test_names)
-    target_include_directories(test_names PUBLIC
-      ${rcl_INCLUDE_DIRS}
-    )
     target_link_libraries(test_names
       ${PROJECT_NAME}
     )
+    ament_target_dependencies(test_action_server "rcl")
   endif()
 endif()
 

rcl_lifecycle/CMakeLists.txt

@@ -70,9 +70,9 @@ if(BUILD_TESTING)
     test/test_default_state_machine.cpp
   )
   if(TARGET test_default_state_machine)
-    target_include_directories(test_default_state_machine PUBLIC
-      ${rcl_INCLUDE_DIRS}
-      ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ament_target_dependencies(test_default_state_machine
+      "rcl"
+      "osrf_testing_tools_cpp"
     )
     target_link_libraries(test_default_state_machine ${PROJECT_NAME})
   endif()
@@ -80,9 +80,9 @@ if(BUILD_TESTING)
     test/test_multiple_instances.cpp
   )
   if(TARGET test_multiple_instances)
-    target_include_directories(test_multiple_instances PUBLIC
-      ${rcl_INCLUDE_DIRS}
-      ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ament_target_dependencies(test_multiple_instances
+      "rcl"
+      "osrf_testing_tools_cpp"
     )
     target_link_libraries(test_multiple_instances ${PROJECT_NAME})
   endif()
@@ -90,8 +90,8 @@ if(BUILD_TESTING)
     test/test_transition_map.cpp
   )
   if(TARGET test_transition_map)
-    target_include_directories(test_transition_map PUBLIC
-      ${rcl_INCLUDE_DIRS}
+    ament_target_dependencies(test_transition_map
+      "rcl"
     )
     target_link_libraries(test_transition_map ${PROJECT_NAME})
   endif()