Deprecated ament_target_dependencies

elsayedelsheikh · elsayedelsheikh · commit 208ff5ef3aa8 · 2025-10-01T06:00:57.000+03:00
Signed-off-by: ElSayed ElSheikh &lt;elsayed.elsheikh97@gmail.com&gt;
diff --git a/behaviortree_ros2/CMakeLists.txt b/behaviortree_ros2/CMakeLists.txt
@@ -29,13 +29,18 @@ add_library(${PROJECT_NAME}
     src/bt_utils.cpp
     src/tree_execution_server.cpp )
 
-ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_DEPS})
-
 target_include_directories(${PROJECT_NAME} PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include>)
 
-target_link_libraries(${PROJECT_NAME}  bt_executor_parameters)
+target_link_libraries(${PROJECT_NAME} PUBLIC
+    rclcpp::rclcpp
+    rclcpp_action::rclcpp_action
+    ament_index_cpp::ament_index_cpp
+    behaviortree_cpp::behaviortree_cpp
+    ${btcpp_ros2_interfaces_TARGETS}
+    bt_executor_parameters
+)
 
 
 ######################################################
diff --git a/btcpp_ros2_interfaces/CMakeLists.txt b/btcpp_ros2_interfaces/CMakeLists.txt
@@ -7,7 +7,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
-rosidl_generate_interfaces(btcpp_ros2_interfaces
+rosidl_generate_interfaces(${PROJECT_NAME}
     "msg/NodeStatus.msg"
     "action/ExecuteTree.action"
     "action/Sleep.action")
diff --git a/btcpp_ros2_samples/CMakeLists.txt b/btcpp_ros2_samples/CMakeLists.txt
@@ -11,54 +11,54 @@ find_package(btcpp_ros2_interfaces REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 
-set(THIS_PACKAGE_DEPS
-    behaviortree_ros2
-    std_msgs
-    std_srvs
-    btcpp_ros2_interfaces )
+set(THIS_PACKAGE_AMENT_TARGETS
+    behaviortree_ros2::behaviortree_ros2
+    ${std_msgs_TARGETS}
+    ${std_srvs_TARGETS}
+    ${btcpp_ros2_interfaces_TARGETS} )
 
 ######################################################
 # Simple example showing how to use and customize the BtExecutionServer
 add_executable(sample_bt_executor src/sample_bt_executor.cpp)
-ament_target_dependencies(sample_bt_executor ${THIS_PACKAGE_DEPS})
+target_link_libraries(sample_bt_executor ${THIS_PACKAGE_AMENT_TARGETS})
 
 ######################################################
 # Build an Action Client that calls the sleep action (STATIC version)
 
 add_executable(sleep_client
   src/sleep_action.cpp
   src/sleep_client.cpp)
-ament_target_dependencies(sleep_client ${THIS_PACKAGE_DEPS})
+target_link_libraries(sleep_client ${THIS_PACKAGE_AMENT_TARGETS})
 
 ######################################################
 # Build a client that call the sleep action (Plugin version)
 
 add_library(sleep_plugin SHARED src/sleep_action.cpp)
 target_compile_definitions(sleep_plugin PRIVATE  BT_PLUGIN_EXPORT )
-ament_target_dependencies(sleep_plugin ${THIS_PACKAGE_DEPS})
+target_link_libraries(sleep_plugin ${THIS_PACKAGE_AMENT_TARGETS})
 
 add_executable(sleep_client_dyn src/sleep_client.cpp)
 target_compile_definitions(sleep_client_dyn PRIVATE USE_SLEEP_PLUGIN )
 target_link_libraries(sleep_client_dyn sleep_plugin )
-ament_target_dependencies(sleep_client_dyn ${THIS_PACKAGE_DEPS})
+target_link_libraries(sleep_client_dyn ${THIS_PACKAGE_AMENT_TARGETS})
 
 ######################################################
 # Build Server
 add_executable(sleep_server src/sleep_server.cpp)
-ament_target_dependencies(sleep_server ${THIS_PACKAGE_DEPS})
+target_link_libraries(sleep_server ${THIS_PACKAGE_AMENT_TARGETS})
 
 ######################################################
 # Build subscriber_test
 add_executable(subscriber_test src/subscriber_test.cpp)
-ament_target_dependencies(subscriber_test ${THIS_PACKAGE_DEPS})
+target_link_libraries(subscriber_test ${THIS_PACKAGE_AMENT_TARGETS})
 
 ######################################################
 # the SetBool test
 add_executable(bool_client src/bool_client.cpp src/set_bool_node.cpp)
-ament_target_dependencies(bool_client ${THIS_PACKAGE_DEPS})
+target_link_libraries(bool_client ${THIS_PACKAGE_AMENT_TARGETS})
 
 add_executable(bool_server src/bool_server.cpp )
-ament_target_dependencies(bool_server ${THIS_PACKAGE_DEPS})
+target_link_libraries(bool_server ${THIS_PACKAGE_AMENT_TARGETS})
 
 ######################################################
 # INSTALL
