Use target_link_libraries instead of ament_target_dependencies

composition/CMakeLists.txt

@@ -28,54 +28,54 @@ add_library(talker_component SHARED
   src/talker_component.cpp)
 target_compile_definitions(talker_component
   PRIVATE "COMPOSITION_BUILDING_DLL")
-ament_target_dependencies(talker_component
-  "rclcpp"
-  "rclcpp_components"
-  "std_msgs")
+target_link_libraries(talker_component PUBLIC
+  rclcpp::rclcpp
+  rclcpp_components::component
+  ${std_msgs_TARGETS})
 rclcpp_components_register_nodes(talker_component "composition::Talker")
 set(node_plugins "${node_plugins}composition::Talker;$<TARGET_FILE:talker_component>\n")
 
 add_library(listener_component SHARED
   src/listener_component.cpp)
 target_compile_definitions(listener_component
   PRIVATE "COMPOSITION_BUILDING_DLL")
-ament_target_dependencies(listener_component
-  "rclcpp"
-  "rclcpp_components"
-  "std_msgs")
+target_link_libraries(listener_component PUBLIC
+  rclcpp::rclcpp
+  rclcpp_components::component
+  ${std_msgs_TARGETS})
 rclcpp_components_register_nodes(listener_component "composition::Listener")
 set(node_plugins "${node_plugins}composition::Listener;$<TARGET_FILE:listener_component>\n")
 
 add_library(node_like_listener_component SHARED
   src/node_like_listener_component.cpp)
 target_compile_definitions(node_like_listener_component
   PRIVATE "COMPOSITION_BUILDING_DLL")
-ament_target_dependencies(node_like_listener_component
-  "rclcpp"
-  "rclcpp_components"
-  "std_msgs")
+target_link_libraries(node_like_listener_component PUBLIC
+  rclcpp::rclcpp
+  rclcpp_components::component
+  ${std_msgs_TARGETS})
 rclcpp_components_register_nodes(node_like_listener_component "composition::NodeLikeListener")
 set(node_plugins "${node_plugins}composition::NodeLikeListener;$<TARGET_FILE:node_like_listener_component>\n")
 
 add_library(server_component SHARED
   src/server_component.cpp)
 target_compile_definitions(server_component
   PRIVATE "COMPOSITION_BUILDING_DLL")
-ament_target_dependencies(server_component
-  "example_interfaces"
-  "rclcpp"
-  "rclcpp_components")
+target_link_libraries(server_component PUBLIC
+  ${example_interfaces_TARGETS}
+  rclcpp::rclcpp
+  rclcpp_components::component)
 rclcpp_components_register_nodes(server_component "composition::Server")
 set(node_plugins "${node_plugins}composition::Server;$<TARGET_FILE:server_component>\n")
 
 add_library(client_component SHARED
   src/client_component.cpp)
 target_compile_definitions(client_component
   PRIVATE "COMPOSITION_BUILDING_DLL")
-ament_target_dependencies(client_component
-  "example_interfaces"
-  "rclcpp"
-  "rclcpp_components")
+target_link_libraries(client_component PUBLIC
+  ${example_interfaces_TARGETS}
+  rclcpp::rclcpp
+  rclcpp_components::component)
 rclcpp_components_register_nodes(client_component "composition::Client")
 set(node_plugins "${node_plugins}composition::Client;$<TARGET_FILE:client_component>\n")
 
@@ -88,13 +88,12 @@ endif()
 
 add_executable(manual_composition
   src/manual_composition.cpp)
-target_link_libraries(manual_composition
+target_link_libraries(manual_composition PRIVATE
   talker_component
   listener_component
   server_component
-  client_component)
-ament_target_dependencies(manual_composition
-  "rclcpp")
+  client_component
+  rclcpp::rclcpp)
 
 add_executable(linktime_composition
   src/linktime_composition.cpp)
@@ -109,18 +108,18 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     ${libs}
     "-Wl,--as-needed")
 endif()
-target_link_libraries(linktime_composition ${libs})
-ament_target_dependencies(linktime_composition
-  "class_loader"
-  "rclcpp"
-  "rclcpp_components")
+target_link_libraries(linktime_composition PRIVATE
+  ${libs}
+  class_loader::class_loader
+  rclcpp::rclcpp
+  rclcpp_components::component)
 
 add_executable(dlopen_composition
   src/dlopen_composition.cpp)
-ament_target_dependencies(dlopen_composition
-  "class_loader"
-  "rclcpp"
-  "rclcpp_components")
+target_link_libraries(dlopen_composition PRIVATE
+  class_loader::class_loader
+  rclcpp::rclcpp
+  rclcpp_components::component)
 
 install(TARGETS
   talker_component

demo_nodes_cpp_native/CMakeLists.txt

@@ -30,11 +30,15 @@ add_library(talker_native SHARED
   src/talker.cpp)
 target_compile_definitions(talker_native
   PRIVATE "DEMO_NODES_CPP_NATIVE_BUILDING_DLL")
-ament_target_dependencies(talker_native
-  "rclcpp"
-  "std_msgs"
-  "rclcpp_components"
-  "rmw_fastrtps_cpp")
+target_link_libraries(talker_native PUBLIC
+  rclcpp::rclcpp
+  ${std_msgs_TARGETS}
+  rclcpp_components::component)
+# TODO(sloretz) use target_link_libraries when rmw_fastrtps_cpp uses modern CMake targets)
+target_include_directories(talker_native PRIVATE
+  ${rmw_fastrtps_cpp_INCLUDE_DIRS})
+target_link_libraries(talker_native PRIVATE
+  ${rmw_fastrtps_cpp_LIBRARIES})
 rclcpp_components_register_node(talker_native PLUGIN "demo_nodes_cpp_native::Talker" EXECUTABLE talker)
 install(TARGETS
   talker_native

dummy_robot/dummy_map_server/CMakeLists.txt

@@ -17,9 +17,9 @@ find_package(rclcpp REQUIRED)
 find_package(rmw REQUIRED)
 
 add_executable(dummy_map_server src/dummy_map_server.cpp)
-ament_target_dependencies(dummy_map_server
-  "rclcpp"
-  "nav_msgs"
+target_link_libraries(dummy_map_server PRIVATE
+  rclcpp::rclcpp
+  ${nav_msgs_TARGETS}
 )
 
 install(TARGETS dummy_map_server

dummy_robot/dummy_sensors/CMakeLists.txt

@@ -17,15 +17,16 @@ find_package(rmw REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
 add_executable(dummy_laser src/dummy_laser.cpp)
-ament_target_dependencies(dummy_laser
-  "rclcpp"
-  "sensor_msgs"
+target_link_libraries(dummy_laser PRIVATE
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
 )
 
 add_executable(dummy_joint_states src/dummy_joint_states.cpp)
-ament_target_dependencies(dummy_joint_states
-  "rclcpp"
-  "sensor_msgs")
+target_link_libraries(dummy_joint_states PRIVATE
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
+)
 install(TARGETS
   dummy_joint_states
   dummy_laser

lifecycle/CMakeLists.txt

@@ -21,24 +21,24 @@ find_package(std_msgs REQUIRED)
 ### demos
 add_executable(lifecycle_talker
   src/lifecycle_talker.cpp)
-ament_target_dependencies(lifecycle_talker
-  "lifecycle_msgs"
-  "rclcpp"
-  "rclcpp_lifecycle"
-  "std_msgs"
+target_link_libraries(lifecycle_talker PRIVATE
+  ${lifecycle_msgs_TARGETS}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${std_msgs_TARGETS}
 )
 add_executable(lifecycle_listener
   src/lifecycle_listener.cpp)
-ament_target_dependencies(lifecycle_listener
-  "lifecycle_msgs"
-  "rclcpp"
-  "std_msgs"
+target_link_libraries(lifecycle_listener PRIVATE
+  ${lifecycle_msgs_TARGETS}
+  rclcpp::rclcpp
+  ${std_msgs_TARGETS}
 )
 add_executable(lifecycle_service_client
   src/lifecycle_service_client.cpp)
-ament_target_dependencies(lifecycle_service_client
-  "lifecycle_msgs"
-  "rclcpp"
+target_link_libraries(lifecycle_service_client PRIVATE
+  ${lifecycle_msgs_TARGETS}
+  rclcpp::rclcpp
 )
 
 install(TARGETS

logging_demo/CMakeLists.txt

@@ -29,30 +29,29 @@ add_library(logger_config_component SHARED
   src/logger_config_component.cpp)
 target_compile_definitions(logger_config_component
   PRIVATE "LOGGING_DEMO_BUILDING_DLL")
-ament_target_dependencies(logger_config_component
-  "rclcpp"
-  "rclcpp_components")
+target_link_libraries(logger_config_component PUBLIC
+  rclcpp::rclcpp
+  rclcpp_components::component)
 rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
-target_link_libraries(logger_config_component "${cpp_typesupport_target}")
+target_link_libraries(logger_config_component PUBLIC "${cpp_typesupport_target}")
 rclcpp_components_register_nodes(logger_config_component "logging_demo::LoggerConfig")
 
 add_library(logger_usage_component SHARED
   src/logger_usage_component.cpp)
 target_compile_definitions(logger_usage_component
   PRIVATE "LOGGING_DEMO_BUILDING_DLL")
-ament_target_dependencies(logger_usage_component
-  "rclcpp"
-  "rclcpp_components"
-  "std_msgs")
+target_link_libraries(logger_usage_component PUBLIC
+  rclcpp::rclcpp
+  rclcpp_components::component
+  ${std_msgs_TARGETS})
 rclcpp_components_register_nodes(logger_usage_component "logging_demo::LoggerUsage")
 
 add_executable(logging_demo_main
   src/logging_demo_main.cpp)
-target_link_libraries(logging_demo_main
+target_link_libraries(logging_demo_main PRIVATE
   logger_config_component
-  logger_usage_component)
-ament_target_dependencies(logging_demo_main
-  "rclcpp")
+  logger_usage_component
+  rclcpp::rclcpp)
 
 install(TARGETS
   logger_config_component

pendulum_control/CMakeLists.txt

@@ -33,25 +33,25 @@ endif()
 
 add_executable(pendulum_demo
   src/pendulum_demo.cpp)
-ament_target_dependencies(pendulum_demo
-  "pendulum_msgs"
-  "rclcpp"
-  "rttest"
-  "tlsf_cpp")
+target_link_libraries(pendulum_demo PRIVATE
+  ${pendulum_msgs_TARGETS}
+  rclcpp::rclcpp
+  rttest::rttest
+  tlsf_cpp::tlsf_cpp)
 
 add_executable(pendulum_logger
   src/pendulum_logger.cpp)
-ament_target_dependencies(pendulum_logger
-  "pendulum_msgs"
-  "rclcpp"
-  "rttest")
+target_link_libraries(pendulum_logger PRIVATE
+  ${pendulum_msgs_TARGETS}
+  rclcpp::rclcpp
+  rttest::rttest)
 
 add_executable(pendulum_teleop
   src/pendulum_teleop.cpp)
-ament_target_dependencies(pendulum_teleop
-  "pendulum_msgs"
-  "rclcpp"
-  "rttest")
+target_link_libraries(pendulum_teleop PRIVATE
+  ${pendulum_msgs_TARGETS}
+  rclcpp::rclcpp
+  rttest::rttest)
 
 install(TARGETS
   pendulum_demo