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Merged
nbbrooks merged 8 commits into from
Jun 16, 2026
Merged

Remove use of ament_target_dependencies: Take 2 #3726

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216c31b
Remove use of ament_target_dependencies
nbbrooks Jun 8, 2026
76deaaa
Address review feedback: fix Qt linking and drop redundant link deps
nbbrooks Jun 14, 2026
6b51a4b
Remove redundant Qt discovery in moveit_setup_framework
nbbrooks Jun 14, 2026
9f8b2ab
Address review feedback: export Qt dep, drop unused Boost in benchmarks
nbbrooks Jun 15, 2026
e61108a
Address review feedback: link Boost::date_time, drop redundant class_…
nbbrooks Jun 15, 2026
5d7f205
Address review feedback: export Qt Core/Widgets component packages
nbbrooks Jun 15, 2026
223834d
Address review feedback: link/export tf2_ros where used in public hea…
nbbrooks Jun 15, 2026
65d0256
Link tf2_geometry_msgs via its imported target, not ${tf2_geometry_ms…
nbbrooks Jun 15, 2026
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37 changes: 36 additions & 1 deletion moveit_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ find_package(eigen_stl_containers REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(eigen3_cmake_module REQUIRED)
find_package(fcl REQUIRED)
find_package(fmt REQUIRED)
find_package(generate_parameter_library REQUIRED)
find_package(geometric_shapes REQUIRED)
find_package(geometry_msgs REQUIRED)
Expand All @@ -22,10 +23,12 @@ find_package(moveit_msgs REQUIRED)
# https://github.com/moveit/moveit2/issues/2862
find_package(octomap 1.9.7...<1.10.0 REQUIRED)
find_package(octomap_msgs REQUIRED)
find_package(orocos_kdl REQUIRED)
find_package(osqp REQUIRED)
find_package(pluginlib REQUIRED)
find_package(random_numbers REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rmw_implementation REQUIRED)
find_package(rsl REQUIRED)
find_package(ruckig REQUIRED)
find_package(sensor_msgs REQUIRED)
Expand Down Expand Up @@ -68,8 +71,37 @@ add_subdirectory(transforms)
add_subdirectory(utils)
add_subdirectory(version)

# Create an umbrella INTERFACE target so downstream packages can use
# moveit_core::moveit_core to link all moveit_core libraries at once.
add_library(moveit_core INTERFACE)
target_link_libraries(
moveit_core
INTERFACE moveit_collision_detection
moveit_collision_detection_bullet
moveit_collision_detection_fcl
moveit_collision_distance_field
moveit_constraint_samplers
moveit_distance_field
moveit_dynamics_solver
moveit_exceptions
moveit_kinematic_constraints
moveit_kinematics_base
moveit_kinematics_metrics
moveit_macros
moveit_planning_interface
moveit_planning_scene
moveit_robot_model
moveit_robot_state
moveit_robot_trajectory
moveit_smoothing_base
moveit_test_utils
moveit_trajectory_processing
moveit_transforms
moveit_utils)

install(
TARGETS moveit_collision_detection
TARGETS moveit_core
moveit_collision_detection
moveit_collision_detection_bullet
moveit_collision_detection_fcl
moveit_collision_distance_field
Expand Down Expand Up @@ -119,17 +151,20 @@ ament_export_dependencies(
Eigen3
eigen3_cmake_module
fcl
fmt
generate_parameter_library
geometric_shapes
geometry_msgs
kdl_parser
moveit_msgs
octomap
octomap_msgs
orocos_kdl
osqp
pluginlib
random_numbers
rclcpp
rmw_implementation
rsl
ruckig
sensor_msgs
Expand Down
22 changes: 10 additions & 12 deletions moveit_core/collision_detection/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,19 +16,17 @@ target_include_directories(
include(GenerateExportHeader)
generate_export_header(moveit_collision_detection)

ament_target_dependencies(
target_link_libraries(
moveit_collision_detection
eigen_stl_containers
pluginlib
rclcpp
rmw_implementation
urdf
urdfdom
urdfdom_headers
srdfdom
visualization_msgs
tf2_eigen
geometric_shapes
eigen_stl_containers::eigen_stl_containers
pluginlib::pluginlib
rclcpp::rclcpp
urdf::urdf
urdfdom::urdf_parser
srdfdom::srdfdom
${visualization_msgs_TARGETS}
tf2_eigen::tf2_eigen
geometric_shapes::geometric_shapes
octomap)
target_include_directories(
moveit_collision_detection BEFORE
Expand Down
45 changes: 23 additions & 22 deletions moveit_core/collision_detection_bullet/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -18,35 +18,36 @@ target_include_directories(
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
set_target_properties(moveit_collision_detection_bullet
PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(moveit_collision_detection_bullet SYSTEM BULLET)
ament_target_dependencies(
target_include_directories(moveit_collision_detection_bullet SYSTEM
PUBLIC ${BULLET_INCLUDE_DIRS})
Comment thread
nbbrooks marked this conversation as resolved.
target_link_libraries(
moveit_collision_detection_bullet
rclcpp
rmw_implementation
urdf
urdfdom
urdfdom_headers
visualization_msgs
octomap_msgs)
target_link_libraries(moveit_collision_detection_bullet
moveit_collision_detection moveit_utils)
moveit_collision_detection
moveit_utils
${BULLET_LIBRARIES}
Comment thread
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rclcpp::rclcpp
urdf::urdf
urdfdom::urdf_parser
${visualization_msgs_TARGETS}
${octomap_msgs_TARGETS})

add_library(collision_detector_bullet_plugin SHARED
src/collision_detector_bullet_plugin_loader.cpp)
set_target_properties(collision_detector_bullet_plugin
PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(collision_detector_bullet_plugin SYSTEM BULLET)
ament_target_dependencies(
collision_detector_bullet_plugin
rclcpp
urdf
visualization_msgs
pluginlib
rmw_implementation
octomap_msgs)
target_include_directories(collision_detector_bullet_plugin SYSTEM
PUBLIC ${BULLET_INCLUDE_DIRS})
target_link_libraries(
collision_detector_bullet_plugin moveit_collision_detection_bullet
moveit_planning_scene moveit_utils)
collision_detector_bullet_plugin
moveit_collision_detection_bullet
moveit_planning_scene
moveit_utils
${BULLET_LIBRARIES}
rclcpp::rclcpp
urdf::urdf
${visualization_msgs_TARGETS}
pluginlib::pluginlib
${octomap_msgs_TARGETS})

install(DIRECTORY include/ DESTINATION include/moveit_core)
install(
Expand Down
29 changes: 16 additions & 13 deletions moveit_core/collision_detection_fcl/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -11,26 +11,29 @@ target_include_directories(
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
set_target_properties(moveit_collision_detection_fcl
PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(
target_link_libraries(
moveit_collision_detection_fcl
rclcpp
rmw_implementation
urdf
urdfdom
urdfdom_headers
visualization_msgs)
target_link_libraries(moveit_collision_detection_fcl moveit_collision_detection
moveit_utils fcl)
moveit_collision_detection
moveit_utils
fcl
rclcpp::rclcpp
urdf::urdf
urdfdom::urdf_parser
${visualization_msgs_TARGETS})

add_library(collision_detector_fcl_plugin SHARED
src/collision_detector_fcl_plugin_loader.cpp)
set_target_properties(collision_detector_fcl_plugin
PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(collision_detector_fcl_plugin rclcpp urdf
visualization_msgs pluginlib rmw_implementation)
target_link_libraries(
collision_detector_fcl_plugin moveit_collision_detection_fcl
moveit_planning_scene moveit_utils)
collision_detector_fcl_plugin
moveit_collision_detection_fcl
moveit_planning_scene
moveit_utils
rclcpp::rclcpp
urdf::urdf
${visualization_msgs_TARGETS}
pluginlib::pluginlib)

install(DIRECTORY include/ DESTINATION include/moveit_core)
install(
Expand Down
23 changes: 15 additions & 8 deletions moveit_core/collision_distance_field/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -15,12 +15,17 @@ target_include_directories(
set_target_properties(moveit_collision_distance_field
PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

ament_target_dependencies(moveit_collision_distance_field urdf
visualization_msgs tf2_eigen geometric_shapes octomap)

target_link_libraries(
moveit_collision_distance_field moveit_planning_scene moveit_distance_field
moveit_collision_detection moveit_robot_state)
moveit_collision_distance_field
moveit_planning_scene
moveit_distance_field
moveit_collision_detection
moveit_robot_state
urdf::urdf
${visualization_msgs_TARGETS}
tf2_eigen::tf2_eigen
geometric_shapes::geometric_shapes
octomap)

install(DIRECTORY include/ DESTINATION include/moveit_core)
install(
Expand All @@ -33,8 +38,6 @@ if(BUILD_TESTING)

ament_add_gtest(test_collision_distance_field
test/test_collision_distance_field.cpp)
ament_target_dependencies(test_collision_distance_field geometric_shapes
octomap srdfdom resource_retriever)
target_link_libraries(
test_collision_distance_field
moveit_collision_distance_field
Expand All @@ -44,5 +47,9 @@ if(BUILD_TESTING)
moveit_robot_state
moveit_test_utils
moveit_transforms
moveit_planning_scene)
moveit_planning_scene
geometric_shapes::geometric_shapes
octomap
srdfdom::srdfdom
resource_retriever::resource_retriever)
endif()
10 changes: 5 additions & 5 deletions moveit_core/constraint_samplers/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,16 +9,17 @@ target_include_directories(
$<INSTALL_INTERFACE:include/moveit_core>)
set_target_properties(moveit_constraint_samplers
PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(moveit_constraint_samplers urdf urdfdom
urdfdom_headers visualization_msgs)
target_link_libraries(
moveit_constraint_samplers
moveit_robot_trajectory
moveit_robot_state
moveit_kinematic_constraints
moveit_kinematics_base
moveit_planning_scene
moveit_utils)
moveit_utils
urdf::urdf
urdfdom::urdf_parser
${visualization_msgs_TARGETS})

install(DIRECTORY include/ DESTINATION include/moveit_core)

Expand All @@ -43,7 +44,6 @@ if(BUILD_TESTING)
test/pr2_arm_kinematics_plugin.cpp test/pr2_arm_ik.cpp)
target_include_directories(test_constraint_samplers
PUBLIC ${geometry_msgs_INCLUDE_DIRS})
ament_target_dependencies(test_constraint_samplers kdl_parser)
target_link_libraries(test_constraint_samplers moveit_test_utils moveit_utils
moveit_constraint_samplers)
moveit_constraint_samplers kdl_parser::kdl_parser)
endif()
23 changes: 12 additions & 11 deletions moveit_core/distance_field/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,19 +6,20 @@ target_include_directories(
moveit_distance_field
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/moveit_core>)
target_link_libraries(moveit_distance_field moveit_macros moveit_utils)
set_target_properties(moveit_distance_field
PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(
target_link_libraries(
moveit_distance_field
Boost
eigen_stl_containers
urdfdom
urdfdom_headers
visualization_msgs
geometric_shapes
tf2_eigen
moveit_macros
moveit_utils
Boost::headers
Boost::iostreams
eigen_stl_containers::eigen_stl_containers
urdfdom::urdf_parser
${visualization_msgs_TARGETS}
geometric_shapes::geometric_shapes
tf2_eigen::tf2_eigen
octomap)
set_target_properties(moveit_distance_field
PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

install(DIRECTORY include/ DESTINATION include/moveit_core)

Expand Down
11 changes: 8 additions & 3 deletions moveit_core/dynamics_solver/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,13 @@ target_include_directories(
set_target_properties(moveit_dynamics_solver
PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

ament_target_dependencies(moveit_dynamics_solver urdf urdfdom_headers
orocos_kdl visualization_msgs kdl_parser)
target_link_libraries(moveit_dynamics_solver moveit_robot_state moveit_utils)
target_link_libraries(
moveit_dynamics_solver
moveit_robot_state
moveit_utils
urdf::urdf
${orocos_kdl_LIBRARIES}
${visualization_msgs_TARGETS}
kdl_parser::kdl_parser)

install(DIRECTORY include/ DESTINATION include/moveit_core)
5 changes: 2 additions & 3 deletions moveit_core/exceptions/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,7 @@ target_include_directories(
$<INSTALL_INTERFACE:include/moveit_core>)
set_target_properties(moveit_exceptions PROPERTIES VERSION
"${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(moveit_exceptions Boost rclcpp urdfdom
urdfdom_headers)
target_link_libraries(moveit_exceptions moveit_utils)
target_link_libraries(moveit_exceptions moveit_utils Boost::headers
rclcpp::rclcpp urdfdom::urdf_parser)

install(DIRECTORY include/ DESTINATION include/moveit_core)
24 changes: 12 additions & 12 deletions moveit_core/kinematic_constraints/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,19 +16,19 @@ target_include_directories(
set_target_properties(moveit_kinematic_constraints
PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

ament_target_dependencies(
moveit_kinematic_constraints
urdf
urdfdom
urdfdom_headers
tf2_geometry_msgs
geometry_msgs
visualization_msgs
tf2_eigen)

target_link_libraries(
moveit_kinematic_constraints moveit_collision_detection_fcl
moveit_kinematics_base moveit_robot_state moveit_robot_model moveit_utils)
moveit_kinematic_constraints
moveit_collision_detection_fcl
moveit_kinematics_base
moveit_robot_state
moveit_robot_model
moveit_utils
urdf::urdf
urdfdom::urdf_parser
tf2_geometry_msgs::tf2_geometry_msgs
${geometry_msgs_TARGETS}
${visualization_msgs_TARGETS}
tf2_eigen::tf2_eigen)

install(DIRECTORY include/ DESTINATION include/moveit_core)

Expand Down
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