Removing ament_target_dependencies

rtabmap_conversions/CMakeLists.txt

@@ -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

rtabmap_conversions/package.xml

@@ -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>