Removing ament_target_dependencies (#1424)

* Removing ament_target_dependencies

* always update ros

* fixing rtabmap_costmap_plugins

* rtabmap rviz plugins Qt5

* fixing qt5 private, nav2 costmap 2d layers

* backward compatibility humble

* backward comaptibility pre lyrical

* fixing rolling build

* should work on rolling now

* fixed odom

* auto cancel previous jobs

rtabmap_rviz_plugins/CMakeLists.txt

@@ -14,11 +14,13 @@ if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
   )
 endif()
 
+# Make sure it is first to prevent Qt6 from claiming the generic versionless targets first
+find_package(Qt5 QUIET COMPONENTS Widgets)
+
 find_package(ament_cmake_ros REQUIRED)
 find_package(pcl_conversions REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(QT NAMES Qt5 QUIET COMPONENTS Widgets)
 find_package(rviz_common REQUIRED)
 find_package(rviz_rendering REQUIRED)
 find_package(rviz_default_plugins REQUIRED)
@@ -33,6 +35,19 @@ include_directories(
 )
 
 SET(Libraries
+  pcl_conversions::pcl_conversions
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rviz_common::rviz_common
+  rviz_rendering::rviz_rendering
+  rviz_default_plugins::rviz_default_plugins
+  sensor_msgs::sensor_msgs
+  std_msgs::std_msgs
+  tf2::tf2
+  rtabmap_conversions::rtabmap_conversions
+  rtabmap_msgs::rtabmap_msgs
+)
+SET(AmentLibraries
   pcl_conversions
   pluginlib
   rclcpp
@@ -73,8 +88,11 @@ target_include_directories(rtabmap_rviz_plugins
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
 )
-
-ament_target_dependencies(rtabmap_rviz_plugins ${Libraries})
+if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
+  ament_target_dependencies(rtabmap_rviz_plugins ${AmentLibraries})
+ELSE()
+  target_link_libraries(rtabmap_rviz_plugins PRIVATE ${Libraries})
+ENDIF()
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.

rtabmap_rviz_plugins/package.xml

@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <build_depend>ros_environment</build_depend>
+  <build_depend>qtbase5-private-dev</build_depend> <!-- Required on Rolling -->
 
   <depend>pcl_conversions</depend>
   <depend>pluginlib</depend>