From 8d34a65f8201bb6a6ecca4c3f7995687e4792c73 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Date: Tue, 26 May 2026 13:04:39 +0200
Subject: [PATCH] replace 'ament_target_dependencies' macro

---
 orbbec_camera/CMakeLists.txt | 110 ++++++++++++++++++++++++-----------
 1 file changed, 76 insertions(+), 34 deletions(-)

diff --git a/orbbec_camera/CMakeLists.txt b/orbbec_camera/CMakeLists.txt
index 907c8a5c..15fc98b6 100644
--- a/orbbec_camera/CMakeLists.txt
+++ b/orbbec_camera/CMakeLists.txt
@@ -114,26 +114,8 @@ set(COMMON_INCLUDE_DIRS
     $<INSTALL_INTERFACE:include> ${ORBBEC_INCLUDE_DIR} ${OpenCV_INCLUDED_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/tools
 )
 
-set(COMMON_LIBRARIES
-    ${ORBBEC_SDK_LIBRARIES}
-    ${OpenCV_LIBS}
-    Eigen3::Eigen
-    -lOrbbecSDK
-    -L${ORBBEC_LIBS_DIR}
-    Threads::Threads
-    -lrt
-    -ldw
-    yaml-cpp
-    OpenSSL::Crypto
+set(EXTRA_TARGETS
 )
-if(USE_RK_HW_DECODER)
-    list(APPEND COMMON_LIBRARIES ${RK_MPP_LIBRARIES} ${RGA_LIBRARIES})
-
-endif()
-
-if(USE_NV_HW_DECODER)
-    list(APPEND COMMON_LIBRARIES ${NV_LIBRARIES})
-endif()
 
 set(SOURCE_FILES
   src/d2c_viewer.cpp
@@ -154,15 +136,16 @@ if(USE_RK_HW_DECODER)
     add_definitions(-DUSE_RK_HW_DECODER)
     list(APPEND SOURCE_FILES src/rk_mpp_decoder.cpp)
     list(APPEND COMMON_INCLUDE_DIRS ${RK_MPP_INCLUDE_DIRS} ${RGA_INCLUDE_DIRS})
-    list(APPEND COMMON_LIBRARIES ${RGA_LIBRARIES} ${RK_MPP_LIBRARIES})
+    list(APPEND EXTRA_TARGETS ${RGA_LIBRARIES} ${RK_MPP_LIBRARIES})
     if(NOT RGA_FOUND)
-        list(APPEND COMMON_LIBRARIES -lyuv)
+        list(APPEND EXTRA_TARGETS yuv)
     endif()
 endif()
 
 if(USE_NV_HW_DECODER)
     list(APPEND SOURCE_FILES src/jetson_nv_decoder.cpp)
     list(APPEND COMMON_INCLUDE_DIRS ${JETSON_MULTI_MEDIA_API_INCLUDE_DIR} ${LIBJPEG8B_INCLUDE_DIR})
+    list(APPEND EXTRA_TARGETS ${NV_LIBRARIES})
     # append jetson_multimedia_api source files
     list(
         APPEND
@@ -185,16 +168,42 @@ endif()
 macro(add_orbbec_executable TARGET SOURCE)
     add_executable(${TARGET} ${SOURCE})
     target_include_directories(${TARGET} PUBLIC ${COMMON_INCLUDE_DIRS})
-    target_link_libraries(${TARGET} ${COMMON_LIBRARIES} ${PROJECT_NAME})
-    ament_target_dependencies(${TARGET} ${dependencies})
+    target_link_directories(${TARGET} PRIVATE
+        ${ORBBEC_LIBS_DIR}
+    )
+    target_link_libraries(${TARGET}
+        ${OpenCV_LIBS}
+        ${PROJECT_NAME}
+        OrbbecSDK
+        yaml-cpp
+    )
 endmacro()
 
 # Define library and nodes
 add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES})
 
-ament_target_dependencies(${PROJECT_NAME} ${dependencies})
-target_include_directories(${PROJECT_NAME} PUBLIC ${COMMON_INCLUDE_DIRS})
-target_link_libraries(${PROJECT_NAME} ${COMMON_LIBRARIES})
+target_include_directories(${PROJECT_NAME} PUBLIC ${COMMON_INCLUDE_DIRS} ${image_publisher_INCLUDE_DIRS})
+target_link_directories(${PROJECT_NAME} PRIVATE ${ORBBEC_LIBS_DIR})
+target_link_libraries(${PROJECT_NAME}
+    ${OpenCV_LIBS}
+    ${orbbec_camera_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${std_srvs_TARGETS}
+    ament_index_cpp::ament_index_cpp
+    camera_info_manager::camera_info_manager
+    cv_bridge::cv_bridge
+    diagnostic_updater::diagnostic_updater
+    Eigen3::Eigen
+    image_transport::image_transport
+    message_filters::message_filters
+    OpenSSL::Crypto
+    OrbbecSDK
+    rclcpp::rclcpp
+    rclcpp_components::component
+    tf2::tf2
+    tf2_ros::tf2_ros
+    ${EXTRA_TARGETS}
+)
 
 rclcpp_components_register_node(
     ${PROJECT_NAME} PLUGIN "orbbec_camera::OBCameraNodeDriver" EXECUTABLE orbbec_camera_node
@@ -221,24 +230,57 @@ install(
 
 add_library(frame_latency SHARED tools/frame_latency.cpp)
 target_include_directories(frame_latency PUBLIC ${COMMON_INCLUDE_DIRS})
-target_link_libraries(frame_latency ${COMMON_LIBRARIES})
-ament_target_dependencies(frame_latency ${dependencies})
+target_link_libraries(frame_latency
+    ${orbbec_camera_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${tf2_msgs_TARGETS}
+    diagnostic_updater::diagnostic_updater
+    rclcpp::rclcpp
+    rclcpp_components::component
+)
 
 rclcpp_components_register_node(frame_latency PLUGIN "orbbec_camera::FrameLatencyNode" EXECUTABLE frame_latency_node)
 
 add_library(start_benchmark SHARED tools/start_benchmark.cpp)
-target_include_directories(start_benchmark PUBLIC ${COMMON_INCLUDE_DIRS})
-target_link_libraries(start_benchmark ${COMMON_LIBRARIES})
-ament_target_dependencies(start_benchmark ${dependencies})
+target_include_directories(start_benchmark PUBLIC ${COMMON_INCLUDE_DIRS} ${image_publisher_INCLUDE_DIRS})
+target_link_libraries(start_benchmark
+    ${OpenCV_LIBS}
+    ${orbbec_camera_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${std_srvs_TARGETS}
+    camera_info_manager::camera_info_manager
+    diagnostic_updater::diagnostic_updater
+    Eigen3::Eigen
+    image_transport::image_transport
+    rclcpp::rclcpp
+    rclcpp_components::component
+    tf2_ros::tf2_ros
+)
 
 rclcpp_components_register_node(
     start_benchmark PLUGIN "orbbec_camera::tools::StartBenchmark" EXECUTABLE start_benchmark_node
 )
 
 add_library(multi_save_rgbir SHARED tools/multi_save_rgbir.cpp src/utils.cpp)
-target_include_directories(multi_save_rgbir PUBLIC ${COMMON_INCLUDE_DIRS})
-target_link_libraries(multi_save_rgbir ${COMMON_LIBRARIES})
-ament_target_dependencies(multi_save_rgbir ${dependencies})
+target_include_directories(multi_save_rgbir PUBLIC ${COMMON_INCLUDE_DIRS} ${image_publisher_INCLUDE_DIRS})
+target_link_directories(multi_save_rgbir PRIVATE ${ORBBEC_LIBS_DIR})
+target_link_libraries(multi_save_rgbir
+    ${OpenCV_LIBS}
+    ${orbbec_camera_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${std_srvs_TARGETS}
+    camera_info_manager::camera_info_manager
+    cv_bridge::cv_bridge
+    diagnostic_updater::diagnostic_updater
+    Eigen3::Eigen
+    image_transport::image_transport
+    OpenSSL::Crypto
+    OrbbecSDK
+    rclcpp::rclcpp
+    rclcpp_components::component
+    tf2::tf2
+    tf2_ros::tf2_ros
+)
 
 rclcpp_components_register_node(
     multi_save_rgbir PLUGIN "orbbec_camera::tools::MultiCameraSubscriber" EXECUTABLE multi_save_rgbir_node