From 776df762e50b2d17757d0a42c1c07f6c173418c2 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Wed, 8 Nov 2023 11:28:01 +0000
Subject: [PATCH] ros2: use recommended ament install destinations

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 terrain_navigation/CMakeLists.txt     | 12 ++++++------
 terrain_navigation_ros/CMakeLists.txt | 18 +++++++-----------
 terrain_planner/CMakeLists.txt        | 21 ++++++++-------------
 3 files changed, 21 insertions(+), 30 deletions(-)

diff --git a/terrain_navigation/CMakeLists.txt b/terrain_navigation/CMakeLists.txt
index a3d8e48b..7f196396 100644
--- a/terrain_navigation/CMakeLists.txt
+++ b/terrain_navigation/CMakeLists.txt
@@ -57,13 +57,13 @@ target_include_directories(${PROJECT_NAME}
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 
-target_link_libraries(${PROJECT_NAME}
+target_link_libraries(${PROJECT_NAME} PUBLIC
   Eigen3::Eigen
   GDAL::GDAL
   ${OpenCV_LIBRARIES}
 )
 
-ament_target_dependencies(${PROJECT_NAME} SYSTEM
+ament_target_dependencies(${PROJECT_NAME} PUBLIC
   grid_map_core
   grid_map_geo
 )
@@ -78,13 +78,13 @@ install(
   TARGETS
   ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
-  ARCHIVE DESTINATION lib/${PROJECT_NAME}
-  LIBRARY DESTINATION lib/${PROJECT_NAME}
-  RUNTIME DESTINATION bin/${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-# ament_export_dependencies(GDAL)
+ament_export_dependencies(GDAL)
 
 # Test
 if(BUILD_TESTING)
diff --git a/terrain_navigation_ros/CMakeLists.txt b/terrain_navigation_ros/CMakeLists.txt
index ea56b7a4..a7eeda58 100644
--- a/terrain_navigation_ros/CMakeLists.txt
+++ b/terrain_navigation_ros/CMakeLists.txt
@@ -65,7 +65,7 @@ target_include_directories(${PROJECT_NAME}
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 
-target_link_libraries(${PROJECT_NAME}
+target_link_libraries(${PROJECT_NAME} PUBLIC
   ${Boost_LIBRARIES}
   ${GeographicLib_LIBRARIES}
   ${OMPL_LIBRARIES}
@@ -83,7 +83,7 @@ target_link_libraries(${PROJECT_NAME}
   ${visualization_msgs_TARGETS}
 )
 
-ament_target_dependencies(${PROJECT_NAME} SYSTEM
+ament_target_dependencies(${PROJECT_NAME} PUBLIC
   grid_map_core
   grid_map_ros
   terrain_navigation
@@ -94,11 +94,9 @@ add_executable(terrain_planner_node
   src/terrain_planner_node.cpp
 )
 
-target_link_libraries(terrain_planner_node
+target_link_libraries(terrain_planner_node PUBLIC
   ${PROJECT_NAME}
-  # ${GDAL_LIBRARY}
   ${ODE_LIBRARIES}
-  # ${OpenCV_LIBRARIES}
 )
 
 target_link_directories(terrain_planner_node PUBLIC
@@ -116,9 +114,9 @@ install(
   TARGETS
   ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
-  ARCHIVE DESTINATION lib/${PROJECT_NAME}
-  LIBRARY DESTINATION lib/${PROJECT_NAME}
-  RUNTIME DESTINATION bin/${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
@@ -126,9 +124,7 @@ ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 install(
   TARGETS
   terrain_planner_node
-  ARCHIVE DESTINATION lib/${PROJECT_NAME}
-  LIBRARY DESTINATION lib/${PROJECT_NAME}
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
 )
 
 install(DIRECTORY
diff --git a/terrain_planner/CMakeLists.txt b/terrain_planner/CMakeLists.txt
index 1eb59ffa..47dc287d 100644
--- a/terrain_planner/CMakeLists.txt
+++ b/terrain_planner/CMakeLists.txt
@@ -40,9 +40,6 @@ find_package(ompl REQUIRED)
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(ODE REQUIRED ode)
-# message("ODE_FOUND: ${ODE_FOUND}")
-# message("ODE_LIBRARIES: ${ODE_LIBRARIES}")
-# message("ODE_LIBRARY_DIRS: ${ODE_LIBRARY_DIRS}")
 
 # Libraries
 add_library(${PROJECT_NAME}
@@ -62,7 +59,7 @@ target_include_directories(${PROJECT_NAME}
   ${OMPL_INCLUDE_DIR}
 )
 
-target_link_libraries(${PROJECT_NAME}
+target_link_libraries(${PROJECT_NAME} PUBLIC
   ${Boost_LIBRARIES}
   ${OMPL_LIBRARIES}
   ${OpenCV_LIBRARIES}
@@ -70,7 +67,7 @@ target_link_libraries(${PROJECT_NAME}
   tf2_eigen::tf2_eigen
 )
 
-ament_target_dependencies(${PROJECT_NAME} SYSTEM
+ament_target_dependencies(${PROJECT_NAME} PUBLIC
   grid_map_core
   grid_map_geo
   terrain_navigation
@@ -113,7 +110,7 @@ target_link_directories(test_ompl_dubins PUBLIC
   ${yaml_cpp_vendor_LIBRARY_DIRS}
 )
 
-target_link_libraries(test_ompl_dubins
+target_link_libraries(test_ompl_dubins PUBLIC
   ${PROJECT_NAME}
   ${OpenCV_LIBRARIES}
   ${ODE_LIBRARIES}
@@ -136,7 +133,7 @@ target_link_directories(test_ompl_dubins_to_circle PUBLIC
   ${yaml_cpp_vendor_LIBRARY_DIRS}
 )
 
-target_link_libraries(test_ompl_dubins_to_circle
+target_link_libraries(test_ompl_dubins_to_circle PUBLIC
   ${PROJECT_NAME}
   ${OpenCV_LIBRARIES}
   ${ODE_LIBRARIES}
@@ -156,9 +153,9 @@ install(
   TARGETS
   ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
-  ARCHIVE DESTINATION lib/${PROJECT_NAME}
-  LIBRARY DESTINATION lib/${PROJECT_NAME}
-  RUNTIME DESTINATION bin/${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
@@ -168,9 +165,7 @@ install(
   test_rrt_node
   test_ompl_dubins
   test_ompl_dubins_to_circle
-  ARCHIVE DESTINATION lib/${PROJECT_NAME}
-  LIBRARY DESTINATION lib/${PROJECT_NAME}
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
 )
 
 install(DIRECTORY