Bundle and ensure the exportation of rosidl generated targets (#601)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
ros2 · Jun 30, 2021 · 204d920 · 204d920
1 parent 01d1c3c
commit 204d920
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Showing 5 changed files with 14 additions and 12 deletions.
diff --git a/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake b/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake
@@ -220,6 +220,12 @@ macro(rosidl_generate_interfaces target)
   )
 
   if(NOT _ARG_SKIP_INSTALL)
+    # Ensure exported targets are imported before first use in downstream packages.
+    # This hook registers the ament_export_targets() extension, which populates
+    # ${PROJECT_NAME}_CONFIG_EXTRAS upon ament_package() invocation. It is crucial
+    # that ament_export_targets() configuration extras are found and included before
+    # any other configuration extras that make use of imported targets.
+    _ament_cmake_export_targets_register_package_hook()
     if(NOT _ARG_SKIP_GROUP_MEMBERSHIP_CHECK)
       set(_group_name "rosidl_interface_packages")
       if(NOT _AMENT_PACKAGE_NAME)
@@ -301,6 +307,7 @@ macro(rosidl_generate_interfaces target)
   endif()
 
   if(NOT _ARG_SKIP_INSTALL)
+    ament_export_targets(${rosidl_generate_interfaces_TARGET})
     foreach(_idl_tuple ${_idl_tuples})
       string(REGEX REPLACE ":([^:]*)$" ";\\1" _idl_list "${_idl_tuple}")
       list(GET _idl_list 1 _idl_relpath)

diff --git a/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake b/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake
@@ -152,10 +152,9 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
     )
   endif()
   ament_export_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix})
-  ament_export_targets(${rosidl_generate_interfaces_TARGET}${_target_suffix})
   install(
     TARGETS ${rosidl_generate_interfaces_TARGET}${_target_suffix}
-    EXPORT ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    EXPORT ${rosidl_generate_interfaces_TARGET}
     ARCHIVE DESTINATION lib
     LIBRARY DESTINATION lib
     RUNTIME DESTINATION bin

diff --git a/rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake b/rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake
@@ -126,9 +126,8 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
 
   install(
     TARGETS ${rosidl_generate_interfaces_TARGET}${_target_suffix}
-    EXPORT ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    EXPORT ${rosidl_generate_interfaces_TARGET}
   )
-  ament_export_targets(${rosidl_generate_interfaces_TARGET}${_target_suffix})
 endif()
 
 if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)

diff --git a/...upport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake b/...upport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
@@ -142,14 +142,13 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
   endif()
   install(
     TARGETS ${rosidl_generate_interfaces_TARGET}${_target_suffix}
-    EXPORT ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    EXPORT ${rosidl_generate_interfaces_TARGET}
     ARCHIVE DESTINATION lib
     LIBRARY DESTINATION lib
     RUNTIME DESTINATION bin
   )
   rosidl_export_typesupport_targets(${_target_suffix}
     ${rosidl_generate_interfaces_TARGET}${_target_suffix})
-  ament_export_targets(${rosidl_generate_interfaces_TARGET}${_target_suffix})
 endif()
 
 if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)

diff --git a/...rt_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake b/...rt_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
@@ -99,10 +99,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     COMPILE_OPTIONS -Wall -Wextra -Wpedantic
   )
 endif()
-target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}
-  PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp>"
-)
+target_link_libraries(
+  ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  ${rosidl_generate_interfaces_TARGET}__rosidl_generator_cpp)
 ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
   "rosidl_runtime_c"
   "rosidl_typesupport_interface"
@@ -135,14 +134,13 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
   endif()
   install(
     TARGETS ${rosidl_generate_interfaces_TARGET}${_target_suffix}
-    EXPORT ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    EXPORT ${rosidl_generate_interfaces_TARGET}
     ARCHIVE DESTINATION lib
     LIBRARY DESTINATION lib
     RUNTIME DESTINATION bin
   )
   rosidl_export_typesupport_targets(${_target_suffix}
     ${rosidl_generate_interfaces_TARGET}${_target_suffix})
-  ament_export_targets(${rosidl_generate_interfaces_TARGET}${_target_suffix})
 endif()
 
 if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)