Removing ament_target_dependencies

2026-10-07 18:27:46 +08:00 · 2026-05-06 17:09:02 +00:00
parent 8871f934b5
commit e7b90c6c95
10 changed files with 246 additions and 158 deletions
@@ -28,28 +28,28 @@ find_package(std_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)

 find_package(RTABMap 0.23.5 REQUIRED)

-include_directories(
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
-)
-
 # libraries
 SET(Libraries
-   cv_bridge
-   geometry_msgs
-   image_geometry
-   laser_geometry
-   pcl_conversions
-   rclcpp
-   rtabmap_msgs
-   sensor_msgs
-   std_msgs
-   tf2
-   tf2_eigen
-   tf2_geometry_msgs
-   RTABMap
+   geometry_msgs::geometry_msgs
+   image_geometry::image_geometry
+   laser_geometry::laser_geometry
+   pcl_conversions::pcl_conversions
+   rclcpp::rclcpp
+   rtabmap_msgs::rtabmap_msgs
+   sensor_msgs::sensor_msgs
+   std_msgs::std_msgs
+   tf2::tf2
+   tf2_eigen::tf2_eigen
+   tf2_geometry_msgs::tf2_geometry_msgs
+)
+SET(PublicLibraries
+    rtabmap::core
+    cv_bridge::cv_bridge
+    tf2_ros::tf2_ros
 )

 if("$ENV{ROS_DISTRO}" STRLESS "humble")
@@ -74,7 +74,7 @@ target_include_directories(rtabmap_conversions
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
 )
-ament_target_dependencies(rtabmap_conversions ${Libraries})
+target_link_libraries(rtabmap_conversions PRIVATE ${Libraries} PUBLIC ${PublicLibraries})

 IF("$ENV{ROS_DISTRO}" STRLESS "iron")
  target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON -DPRE_ROS_KILTED)
@@ -85,8 +85,22 @@ ENDIF()
 #############
 ## Install ##
 #############
-
-ament_export_dependencies(${Libraries})
+SET(Depends
+   cv_bridge
+   geometry_msgs
+   image_geometry
+   laser_geometry
+   pcl_conversions
+   rclcpp
+   rtabmap_msgs
+   sensor_msgs
+   std_msgs
+   tf2
+   tf2_eigen
+   tf2_geometry_msgs
+   RTABMap
+)
+ament_export_dependencies(${Depends})
 ament_export_include_directories(include)
 ament_export_targets(${PROJECT_NAME})          # To include downstream with targets
 ament_export_libraries(rtabmap_conversions)    # To include downstream without targets
@@ -28,6 +28,7 @@
  <depend>tf2</depend>
  <depend>tf2_eigen</depend>
  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_ros</depend>

  <export>
 	<build_type>ament_cmake</build_type>
@@ -16,10 +16,10 @@ include_directories(
 )

 SET(Libraries
-  pluginlib
-  rclcpp
-  nav2_costmap_2d
-  visualization_msgs
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  nav2_costmap_2d::nav2_costmap_2d
+  visualization_msgs::visualization_msgs
 )

 ###########
@@ -39,7 +39,7 @@ IF("$ENV{ROS_DISTRO}" STRLESS "jazzy")
  target_compile_definitions(rtabmap_costmap_plugins PRIVATE -DPRE_ROS_JAZZY)
 ENDIF()

-ament_target_dependencies(rtabmap_costmap_plugins ${Libraries})
+target_link_libraries(rtabmap_costmap_plugins PUBLIC ${Libraries})

 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
@@ -57,8 +57,13 @@ set_target_properties(rtabmap_costmap_voxel_marker PROPERTIES OUTPUT_NAME "voxel
 #############
 ## Install ##
 #############
-
-ament_export_dependencies(${Libraries})
+SET(Depends
+  pluginlib
+  rclcpp
+  nav2_costmap_2d
+  visualization_msgs
+)
+ament_export_dependencies(${Depends})
 ament_export_include_directories(include)
 ament_export_targets(${PROJECT_NAME})           # To include downstream with targets
 ament_export_libraries(rtabmap_costmap_plugins) # To include downstream without targets
@@ -41,19 +41,18 @@ include_directories(
 )

 SET(Libraries
-   cv_bridge
-   image_geometry
-   laser_geometry
-   message_filters
-   nav_msgs
-   pcl_conversions
-   pcl_ros
-   rclcpp
-   sensor_msgs
-   rtabmap_conversions
-   rtabmap_msgs
-   rtabmap_util
-   rtabmap_sync
+   cv_bridge::cv_bridge
+   image_geometry::image_geometry
+   laser_geometry::laser_geometry
+   message_filters::message_filters
+   nav_msgs::nav_msgs
+   pcl_conversions::pcl_conversions
+   rclcpp::rclcpp
+   sensor_msgs::sensor_msgs
+   rtabmap_conversions::rtabmap_conversions
+   rtabmap_msgs::rtabmap_msgs
+   rtabmap_util::rtabmap_util_plugins
+   rtabmap_sync::rtabmap_sync
 )

 ###########
@@ -81,10 +80,8 @@ target_include_directories(rtabmap_odom
 )
 add_library(rtabmap_odom_plugins SHARED ${rtabmap_odom_plugins_lib_src})

-ament_target_dependencies(rtabmap_odom ${Libraries})
-ament_target_dependencies(rtabmap_odom_plugins ${Libraries})
-
-target_link_libraries(rtabmap_odom_plugins rtabmap_odom)
+target_link_libraries(rtabmap_odom PRIVATE ${Libraries})
+target_link_libraries(rtabmap_odom_plugins PUBLIC ${Libraries} rtabmap_odom)

 rclcpp_components_register_nodes(rtabmap_odom_plugins "rtabmap_odom::RGBDOdometry")
 rclcpp_components_register_nodes(rtabmap_odom_plugins "rtabmap_odom::StereoOdometry")
@@ -92,25 +89,36 @@ rclcpp_components_register_nodes(rtabmap_odom_plugins "rtabmap_odom::ICPOdometry


 add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp)
-ament_target_dependencies(rtabmap_rgbd_odometry ${Libraries})
-target_link_libraries(rtabmap_rgbd_odometry rtabmap_odom_plugins)
+target_link_libraries(rtabmap_rgbd_odometry PRIVATE ${Libraries} rtabmap_odom_plugins)
 set_target_properties(rtabmap_rgbd_odometry PROPERTIES OUTPUT_NAME "rgbd_odometry")

 add_executable(rtabmap_stereo_odometry src/StereoOdometryNode.cpp)
-ament_target_dependencies(rtabmap_stereo_odometry ${Libraries})
-target_link_libraries(rtabmap_stereo_odometry rtabmap_odom_plugins)
+target_link_libraries(rtabmap_stereo_odometry PRIVATE ${Libraries} rtabmap_odom_plugins)
 set_target_properties(rtabmap_stereo_odometry PROPERTIES OUTPUT_NAME "stereo_odometry")

 add_executable(rtabmap_icp_odometry src/ICPOdometryNode.cpp)
-ament_target_dependencies(rtabmap_icp_odometry ${Libraries})
-target_link_libraries(rtabmap_icp_odometry rtabmap_odom_plugins)
+target_link_libraries(rtabmap_icp_odometry PRIVATE ${Libraries} rtabmap_odom_plugins)
 set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")

 #############
 ## Install ##
 #############
-
-ament_export_dependencies(${Libraries})
+SET(Depends
+   cv_bridge
+   image_geometry
+   laser_geometry
+   message_filters
+   nav_msgs
+   pcl_conversions
+   pcl_ros
+   rclcpp
+   sensor_msgs
+   rtabmap_conversions
+   rtabmap_msgs
+   rtabmap_util
+   rtabmap_sync
+)
+ament_export_dependencies(${Depends})
 ament_export_include_directories(include)
 ament_export_targets(${PROJECT_NAME})          # To include downstream with targets
 ament_export_libraries(rtabmap_odom rtabmap_odom_plugins) # To include downstream without targets
@@ -33,17 +33,17 @@ include_directories(
 )

 SET(Libraries
-  pcl_conversions
-  pluginlib
-  rclcpp
-  rviz_common
-  rviz_rendering
-  rviz_default_plugins
-  sensor_msgs
-  std_msgs
-  tf2
-  rtabmap_conversions
-  rtabmap_msgs
+  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
 )

 ###########
@@ -74,7 +74,7 @@ target_include_directories(rtabmap_rviz_plugins
    $<INSTALL_INTERFACE:include>
 )

-ament_target_dependencies(rtabmap_rviz_plugins ${Libraries})
+target_link_libraries(rtabmap_rviz_plugins PRIVATE ${Libraries})

 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
@@ -54,6 +54,22 @@ include_directories(

 # libraries
 SET(Libraries
+   cv_bridge::cv_bridge
+   geometry_msgs::geometry_msgs
+   nav_msgs::nav_msgs
+   rclcpp::rclcpp
+   rclcpp_components::component
+   sensor_msgs::sensor_msgs
+   std_msgs::std_msgs
+   std_srvs::std_srvs
+   tf2::tf2
+   tf2_ros::tf2_ros
+   visualization_msgs::visualization_msgs
+   rtabmap_msgs::rtabmap_msgs
+   rtabmap_util::rtabmap_util_plugins
+   rtabmap_sync::rtabmap_sync
+)
+SET(Depends
   cv_bridge
   geometry_msgs
   nav_msgs
@@ -88,6 +104,10 @@ MESSAGE(STATUS "WITH apriltag_msgs")
 ADD_DEFINITIONS("-DWITH_APRILTAG_MSGS")
 SET(Libraries
   ${Libraries}
+   apriltag_msgs::apriltag_msgs
+)
+SET(Depends
+   ${Depends}
   apriltag_msgs
 )
 ENDIF(apriltag_msgs_FOUND)
@@ -98,6 +118,10 @@ MESSAGE(STATUS "WITH aruco_msgs")
 ADD_DEFINITIONS("-DWITH_ARUCO_MSGS")
 SET(Libraries
   ${Libraries}
+   aruco_msgs::aruco_msgs
+)
+SET(Depends
+   ${Depends}
   aruco_msgs
 )
 ENDIF(aruco_msgs_FOUND)
@@ -108,6 +132,10 @@ MESSAGE(STATUS "WITH aruco_opencv_msgs")
 ADD_DEFINITIONS("-DWITH_ARUCO_OPENCV_MSGS")
 SET(Libraries
   ${Libraries}
+   aruco_opencv_msgs::aruco_opencv_msgs
+)
+SET(Depends
+   ${Depends}
   aruco_opencv_msgs
 )
 ENDIF(aruco_opencv_msgs_FOUND)
@@ -118,6 +146,10 @@ MESSAGE(STATUS "WITH aruco_markers_msgs")
 ADD_DEFINITIONS("-DWITH_ARUCO_MARKERS_MSGS")
 SET(Libraries
   ${Libraries}
+   aruco_markers_msgs::aruco_markers_msgs
+)
+SET(Depends
+   ${Depends}
   aruco_markers_msgs
 )
 ENDIF(aruco_markers_msgs_FOUND)
@@ -128,6 +160,10 @@ MESSAGE(STATUS "WITH ros2_aruco_interfaces")
 ADD_DEFINITIONS("-DWITH_ROS2_ARUCO_INTERFACES")
 SET(Libraries
   ${Libraries}
+   ros2_aruco_interfaces::ros2_aruco_interfaces
+)
+SET(Depends
+   ${Depends}
   ros2_aruco_interfaces
 )
 ENDIF(ros2_aruco_interfaces_FOUND)
@@ -138,6 +174,10 @@ MESSAGE(STATUS "WITH nav2_msgs")
 ADD_DEFINITIONS("-DWITH_NAV2_MSGS")
 SET(Libraries
   ${Libraries}
+   nav2_msgs::nav2_msgs
+)
+SET(Depends
+   ${Depends}
   nav2_msgs
 )
 IF(${nav2_msgs_VERSION_MAJOR} EQUAL 0)
@@ -157,20 +197,19 @@ target_include_directories(rtabmap_slam_plugins
    $<INSTALL_INTERFACE:include>
 )

-ament_target_dependencies(rtabmap_slam_plugins ${Libraries})
+target_link_libraries(rtabmap_slam_plugins PUBLIC ${Libraries})

 rclcpp_components_register_nodes(rtabmap_slam_plugins "rtabmap_slam::CoreWrapper")

 add_executable(rtabmap_node src/CoreNode.cpp)
-ament_target_dependencies(rtabmap_node ${Libraries})
-target_link_libraries(rtabmap_node rtabmap_slam_plugins)
+target_link_libraries(rtabmap_node PRIVATE ${Libraries} rtabmap_slam_plugins)
 set_target_properties(rtabmap_node PROPERTIES OUTPUT_NAME "rtabmap")

 #############
 ## Install ##
 #############

-ament_export_dependencies(${Libraries})
+ament_export_dependencies(${Depends})
 ament_export_include_directories(include)
 ament_export_targets(${PROJECT_NAME})          # To include downstream with targets
 ament_export_libraries(rtabmap_slam_plugins) # To include downstream without targets
@@ -55,16 +55,18 @@ include_directories(

 # libraries
 SET(Libraries
-   cv_bridge
-   image_transport
-   message_filters
-   nav_msgs
-   rclcpp
-   rclcpp_components
-   rtabmap_conversions
-   rtabmap_msgs
-   sensor_msgs
-   diagnostic_updater
+   cv_bridge::cv_bridge
+   message_filters::message_filters
+   nav_msgs::nav_msgs
+   rclcpp_components::component
+   sensor_msgs::sensor_msgs
+)
+SET(PublicLibraries
+    rclcpp::rclcpp
+    image_transport::image_transport
+    rtabmap_msgs::rtabmap_msgs
+    rtabmap_conversions::rtabmap_conversions
+    diagnostic_updater::diagnostic_updater
 )

 ###########
@@ -117,8 +119,8 @@ target_include_directories(rtabmap_sync
    $<INSTALL_INTERFACE:include>
 )

-ament_target_dependencies(rtabmap_sync ${Libraries})
-ament_target_dependencies(rtabmap_sync_plugins ${Libraries})
+target_link_libraries(rtabmap_sync PRIVATE ${Libraries} PUBLIC ${PublicLibraries})
+target_link_libraries(rtabmap_sync_plugins PUBLIC ${Libraries} ${PublicLibraries})

 rclcpp_components_register_nodes(rtabmap_sync_plugins "rtabmap_sync::RGBDSync")
 rclcpp_components_register_nodes(rtabmap_sync_plugins "rtabmap_sync::StereoSync")
@@ -126,30 +128,38 @@ rclcpp_components_register_nodes(rtabmap_sync_plugins "rtabmap_sync::RGBSync")
 rclcpp_components_register_nodes(rtabmap_sync_plugins "rtabmap_sync::RGBDXSync")

 add_executable(rtabmap_rgbd_sync src/RGBDSyncNode.cpp)
-ament_target_dependencies(rtabmap_rgbd_sync ${Libraries})
-target_link_libraries(rtabmap_rgbd_sync rtabmap_sync_plugins)
+target_link_libraries(rtabmap_rgbd_sync PRIVATE rtabmap_sync_plugins)
 set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync")

 add_executable(rtabmap_rgbdx_sync src/RGBDXSyncNode.cpp)
-ament_target_dependencies(rtabmap_rgbdx_sync ${Libraries})
-target_link_libraries(rtabmap_rgbdx_sync rtabmap_sync_plugins)
+target_link_libraries(rtabmap_rgbdx_sync PRIVATE rtabmap_sync_plugins)
 set_target_properties(rtabmap_rgbdx_sync PROPERTIES OUTPUT_NAME "rgbdx_sync")

 add_executable(rtabmap_stereo_sync src/StereoSyncNode.cpp)
-ament_target_dependencies(rtabmap_stereo_sync ${Libraries})
-target_link_libraries(rtabmap_stereo_sync rtabmap_sync_plugins)
+target_link_libraries(rtabmap_stereo_sync PRIVATE rtabmap_sync_plugins)
 set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync")

 add_executable(rtabmap_rgb_sync src/RGBSyncNode.cpp)
-ament_target_dependencies(rtabmap_rgb_sync ${Libraries})
-target_link_libraries(rtabmap_rgb_sync rtabmap_sync_plugins)
+target_link_libraries(rtabmap_rgb_sync PRIVATE rtabmap_sync_plugins)
 set_target_properties(rtabmap_rgb_sync PROPERTIES OUTPUT_NAME "rgb_sync")

 #############
 ## Install ##
 #############

-ament_export_dependencies(${Libraries})
+SET(Depends
+   cv_bridge
+   image_transport
+   message_filters
+   nav_msgs
+   rclcpp
+   rclcpp_components
+   rtabmap_conversions
+   rtabmap_msgs
+   sensor_msgs
+   diagnostic_updater
+)
+ament_export_dependencies(${Depends})
 ament_export_include_directories(include)
 ament_export_targets(${PROJECT_NAME})          # To include downstream with targets
 ament_export_libraries(rtabmap_sync rtabmap_sync_plugins) # To include downstream without targets
@@ -28,6 +28,8 @@ find_package(rtabmap_msgs REQUIRED)
 find_package(rtabmap_conversions REQUIRED)
 find_package(rtabmap_sync REQUIRED)

+find_package(RTABMap COMPONENTS gui REQUIRED)
+
 # Optional components
 find_package(octomap_msgs)
 find_package(grid_map_ros)
@@ -38,24 +40,24 @@ include_directories(

 # libraries
 SET(Libraries
-   cv_bridge
-   image_transport
-   rclcpp
-   rclcpp_components
-   sensor_msgs
-   stereo_msgs
-   nav_msgs
-   std_msgs
-   tf2
-   tf2_geometry_msgs
-   tf2_ros
-   laser_geometry
-   pcl_conversions
-   pcl_ros
-   message_filters
-   rtabmap_msgs
-   rtabmap_conversions
-   rtabmap_sync
+   cv_bridge::cv_bridge
+   image_transport::image_transport
+   rclcpp::rclcpp
+   rclcpp_components::component
+   sensor_msgs::sensor_msgs
+   stereo_msgs::stereo_msgs
+   nav_msgs::nav_msgs
+   std_msgs::std_msgs
+   tf2::tf2
+   tf2_geometry_msgs::tf2_geometry_msgs
+   tf2_ros::tf2_ros
+   laser_geometry::laser_geometry
+   image_geometry::image_geometry
+   pcl_conversions::pcl_conversions
+   message_filters::message_filters
+   rtabmap_msgs::rtabmap_msgs
+   rtabmap_conversions::rtabmap_conversions
+   rtabmap_sync::rtabmap_sync
 )

 if("$ENV{ROS_DISTRO}" STRLESS "jazzy")
@@ -82,31 +84,53 @@ SET(rtabmap_util_plugins_lib_src
   src/nodelets/rgbd_split.cpp
   src/nodelets/map_assembler.cpp
 )
+SET(Depends
+   cv_bridge
+   image_transport
+   rclcpp
+   rclcpp_components
+   sensor_msgs
+   stereo_msgs
+   nav_msgs
+   std_msgs
+   tf2
+   tf2_geometry_msgs
+   tf2_ros
+   laser_geometry
+   pcl_conversions
+   pcl_ros
+   message_filters
+   rtabmap_msgs
+   rtabmap_conversions
+   rtabmap_sync
+)


 # If octomap is found, add dependency
 IF(octomap_msgs_FOUND)
 MESSAGE(STATUS "WITH octomap_msgs")
-include_directories(
-  ${octomap_msgs_INCLUDE_DIRS}
-)
 SET(Libraries
-  octomap_msgs
+  octomap_msgs::octomap_msgs
  ${Libraries}
 )
+SET(Depends
+  octomap_msgs
+  ${Depends}
+)
 ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
 ENDIF(octomap_msgs_FOUND)

 # If grid_map is found, add dependency
 IF(grid_map_ros_FOUND)
 MESSAGE(STATUS "WITH grid_map_ros")
-include_directories(
-  ${grid_map_ros_INCLUDE_DIRS}
-)
 SET(Libraries
-  grid_map_ros
+  grid_map_ros::grid_map_ros
  ${Libraries}
 )
+SET(Depends
+  grid_map_ros
+  ${Depends}
+)
 ENDIF(grid_map_ros_FOUND)

 ############################
@@ -129,7 +153,7 @@ IF(grid_map_ros_FOUND)
  target_compile_definitions(rtabmap_util_plugins PUBLIC -DWITH_GRID_MAP_ROS)
 ENDIF(grid_map_ros_FOUND)

-ament_target_dependencies(rtabmap_util_plugins ${Libraries})
+target_link_libraries(rtabmap_util_plugins PUBLIC ${Libraries})

 rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::RGBDRelay")
 rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::RGBDSplit")
@@ -146,85 +170,70 @@ rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::PointCloudA
 rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::MapAssembler")

 add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
-ament_target_dependencies(rtabmap_rgbd_relay ${Libraries})
-target_link_libraries(rtabmap_rgbd_relay rtabmap_util_plugins)
+target_link_libraries(rtabmap_rgbd_relay PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_rgbd_relay PROPERTIES OUTPUT_NAME "rgbd_relay")

 add_executable(rtabmap_rgbd_split src/RGBDSplitNode.cpp)
-ament_target_dependencies(rtabmap_rgbd_split ${Libraries})
-target_link_libraries(rtabmap_rgbd_split rtabmap_util_plugins)
+target_link_libraries(rtabmap_rgbd_split PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_rgbd_split PROPERTIES OUTPUT_NAME "rgbd_split")

 #add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
-#ament_target_dependencies(rtabmap_map_optimizer ${Libraries})
 #target_link_libraries(rtabmap_map_optimizer rtabmap_util_plugins)
 #set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")

 add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp)
-ament_target_dependencies(rtabmap_map_assembler ${Libraries})
-target_link_libraries(rtabmap_map_assembler rtabmap_util_plugins)
+target_link_libraries(rtabmap_map_assembler PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler")

 add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
-ament_target_dependencies(rtabmap_imu_to_tf ${Libraries})
-target_link_libraries(rtabmap_imu_to_tf rtabmap_util_plugins)
+target_link_libraries(rtabmap_imu_to_tf PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")

 add_executable(rtabmap_disparity_to_depth src/DisparityToDepthNode.cpp)
-ament_target_dependencies(rtabmap_disparity_to_depth ${Libraries})
-target_link_libraries(rtabmap_disparity_to_depth rtabmap_util_plugins)
+target_link_libraries(rtabmap_disparity_to_depth PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_disparity_to_depth PROPERTIES OUTPUT_NAME "disparity_to_depth")

 add_executable(rtabmap_lidar_deskewing src/LidarDeskewingNode.cpp)
-ament_target_dependencies(rtabmap_lidar_deskewing ${Libraries})
-target_link_libraries(rtabmap_lidar_deskewing rtabmap_util_plugins)
+target_link_libraries(rtabmap_lidar_deskewing PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_lidar_deskewing PROPERTIES OUTPUT_NAME "lidar_deskewing")

 add_executable(rtabmap_point_cloud_xyz src/PointCloudXYZNode.cpp)
-ament_target_dependencies(rtabmap_point_cloud_xyz ${Libraries})
-target_link_libraries(rtabmap_point_cloud_xyz rtabmap_util_plugins)
+target_link_libraries(rtabmap_point_cloud_xyz PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_point_cloud_xyz PROPERTIES OUTPUT_NAME "point_cloud_xyz")

 add_executable(rtabmap_point_cloud_xyzrgb src/PointCloudXYZRGBNode.cpp)
-ament_target_dependencies(rtabmap_point_cloud_xyzrgb ${Libraries})
-target_link_libraries(rtabmap_point_cloud_xyzrgb rtabmap_util_plugins)
+target_link_libraries(rtabmap_point_cloud_xyzrgb PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_point_cloud_xyzrgb PROPERTIES OUTPUT_NAME "point_cloud_xyzrgb")

 add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
-ament_target_dependencies(rtabmap_data_player ${Libraries})
-target_link_libraries(rtabmap_data_player rtabmap_util_plugins)
+target_link_libraries(rtabmap_data_player PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")

 #add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
-#ament_target_dependencies(rtabmap_odom_msg_to_tf ${Libraries})
-#target_link_libraries(rtabmap_odom_msg_to_tf rtabmap_util_plugins)
+#target_link_libraries(rtabmap_odom_msg_to_tf PRIVATE ${Libraries})
+#target_link_libraries(rtabmap_odom_msg_to_tf PRIVATE rtabmap_util_plugins)
 #set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")

 add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
-ament_target_dependencies(rtabmap_pointcloud_to_depthimage ${Libraries})
-target_link_libraries(rtabmap_pointcloud_to_depthimage rtabmap_util_plugins)
+target_link_libraries(rtabmap_pointcloud_to_depthimage PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")

 add_executable(rtabmap_obstacles_detection src/ObstaclesDetectionNode.cpp)
-ament_target_dependencies(rtabmap_obstacles_detection ${Libraries})
-target_link_libraries(rtabmap_obstacles_detection rtabmap_util_plugins)
+target_link_libraries(rtabmap_obstacles_detection PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_obstacles_detection PROPERTIES OUTPUT_NAME "obstacles_detection")

 add_executable(rtabmap_point_cloud_aggregator src/PointCloudAggregatorNode.cpp)
-ament_target_dependencies(rtabmap_point_cloud_aggregator ${Libraries})
-target_link_libraries(rtabmap_point_cloud_aggregator rtabmap_util_plugins)
+target_link_libraries(rtabmap_point_cloud_aggregator PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_point_cloud_aggregator PROPERTIES OUTPUT_NAME "point_cloud_aggregator")

 add_executable(rtabmap_point_cloud_assembler src/PointCloudAssemblerNode.cpp)
-ament_target_dependencies(rtabmap_point_cloud_assembler ${Libraries})
-target_link_libraries(rtabmap_point_cloud_assembler rtabmap_util_plugins)
+target_link_libraries(rtabmap_point_cloud_assembler PRIVATE rtabmap_util_plugins)
 set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler")

 #############
 ## Install ##
 #############
-
-ament_export_dependencies(${Libraries})
+ament_export_dependencies(${Depends})
 ament_export_include_directories(include)
 ament_export_targets(${PROJECT_NAME})          # To include downstream with targets
 ament_export_libraries(rtabmap_util_plugins) # To include downstream without targets
@@ -27,6 +27,7 @@
  <depend>tf2_geometry_msgs</depend>
  <depend>tf2_ros</depend>
  <depend>laser_geometry</depend>
+  <depend>image_geometry</depend>
  <depend>pcl_conversions</depend>
  <depend>pcl_ros</depend>
  <depend>message_filters</depend>
@@ -43,15 +43,16 @@ include_directories(

 # libraries
 SET(Libraries
-   cv_bridge
-   geometry_msgs
-   rclcpp
-   std_msgs
-   std_srvs
-   nav_msgs
-   rtabmap_msgs
-   rtabmap_sync
-   tf2
+   cv_bridge::cv_bridge
+   geometry_msgs::geometry_msgs
+   rclcpp::rclcpp
+   std_msgs::std_msgs
+   std_srvs::std_srvs
+   nav_msgs::nav_msgs
+   rtabmap_msgs::rtabmap_msgs
+   rtabmap_sync::rtabmap_sync
+   tf2::tf2
+   rtabmap::gui
 )

 ###########
@@ -59,7 +60,7 @@ SET(Libraries
 ###########

 add_executable(rtabmap_viz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp include/${PROJECT_NAME}/PreferencesDialogROS.h)
-ament_target_dependencies(rtabmap_viz ${Libraries})
+target_link_libraries(rtabmap_viz PRIVATE ${Libraries})
 SET_TARGET_PROPERTIES(
  rtabmap_viz
   PROPERTIES
@@ -69,7 +70,7 @@ SET_TARGET_PROPERTIES(
 )

 add_executable(rgbd_image_viewer src/RGBDImageViewerNode.cpp src/rgbd_image_viewer.cpp include/${PROJECT_NAME}/rgbd_image_viewer.hpp)
-ament_target_dependencies(rgbd_image_viewer ${Libraries})
+target_link_libraries(rgbd_image_viewer PRIVATE ${Libraries})
 SET_TARGET_PROPERTIES(
  rgbd_image_viewer
   PROPERTIES