Stop using ament_target_dependencies. (#86) (#87)

We are slowly moving away from its use, so stop using it
here.  While we are in here, notice some things that makes
this easier:

1. pluginlib is absolutely a public dependency of this package.
Because of that, we can just rely on the PUBLIC export of it,
and we don't need to link it into every test.  But that also means
we don't need some of the forward-declarations that were in
loader_fwds.hpp, as we can just get those through the header file.
2. republish.hpp doesn't really need to exist at all.  That's
because it is only a header file, but the implementation is in
an executable.  Thus, no downstream could ever use it.  So just
remove the file and put the declaration straight into the cpp file.

Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 8e13f6c)

Co-authored-by: Chris Lalancette <[email protected]>

point_cloud_transport/CMakeLists.txt

@@ -18,8 +18,9 @@ find_package(message_filters REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
-find_package(sensor_msgs REQUIRED)
 find_package(rcpputils REQUIRED)
+find_package(rmw REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
 # Build libpoint_cloud_transport
 add_library(${PROJECT_NAME}
@@ -40,23 +41,24 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${PROJECT_NAME} PUBLIC
   message_filters::message_filters
+  pluginlib::pluginlib
   rclcpp::rclcpp
+  rcpputils::rcpputils
+  rmw::rmw
   ${sensor_msgs_TARGETS}
-  rcpputils::rcpputils)
-target_link_libraries(${PROJECT_NAME} PRIVATE
-  pluginlib::pluginlib)
-
+)
 target_compile_definitions(${PROJECT_NAME} PRIVATE "POINT_CLOUD_TRANSPORT_BUILDING_DLL")
 
 # Build libpoint_cloud_transport_plugins
 add_library(${PROJECT_NAME}_plugins
   src/manifest.cpp
 )
 add_library(${PROJECT_NAME}::${PROJECT_NAME}_plugins ALIAS ${PROJECT_NAME}_plugins)
-
 target_link_libraries(${PROJECT_NAME}_plugins PRIVATE
   ${PROJECT_NAME}
-  pluginlib::pluginlib)
+  pluginlib::pluginlib
+  ${sensor_msgs_TARGETS}
+)
 
 add_library(pc_republish_node SHARED src/republish.cpp)
 target_link_libraries(pc_republish_node PRIVATE
@@ -106,7 +108,7 @@ ament_export_include_directories("include/${PROJECT_NAME}")
 
 ament_export_targets(export_${PROJECT_NAME})
 
-ament_export_dependencies(message_filters rclcpp sensor_msgs pluginlib rcpputils)
+ament_export_dependencies(message_filters rclcpp sensor_msgs pluginlib rcpputils rmw)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -121,67 +123,43 @@ if(BUILD_TESTING)
 
   ament_add_gtest(${PROJECT_NAME}-publisher test/test_publisher.cpp)
   if(TARGET ${PROJECT_NAME}-publisher)
-    target_link_libraries(${PROJECT_NAME}-publisher ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-publisher
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-publisher ${PROJECT_NAME} rclcpp::rclcpp)
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-codec test/test_point_cloud_codec.cpp)
   if(TARGET ${PROJECT_NAME}-codec)
-    target_link_libraries(${PROJECT_NAME}-codec ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-codec
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-codec ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-subscriber test/test_subscriber.cpp)
   if(TARGET ${PROJECT_NAME}-subscriber)
-    target_link_libraries(${PROJECT_NAME}-subscriber ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-subscriber
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-subscriber ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-message_passing test/test_message_passing.cpp)
   if(TARGET ${PROJECT_NAME}-message_passing)
-    target_link_libraries(${PROJECT_NAME}-message_passing ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-message_passing
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-message_passing ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-qos_override test/test_qos_override.cpp)
   if(TARGET ${PROJECT_NAME}-qos_override)
-    target_link_libraries(${PROJECT_NAME}-qos_override ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-qos_override
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-qos_override ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-remapping test/test_remapping.cpp)
   if(TARGET ${PROJECT_NAME}-remapping)
-    target_link_libraries(${PROJECT_NAME}-remapping ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-remapping
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-remapping ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-message-filter test/test_message_filter.cpp)
   if(TARGET ${PROJECT_NAME}-message-filter)
-    target_link_libraries(${PROJECT_NAME}-message-filter ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-message-filter
-      message_filters
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-message-filter
+      ${PROJECT_NAME} message_filters::message_filters rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-single_subscriber_publisher test/test_single_subscriber_publisher.cpp)
   if(TARGET ${PROJECT_NAME}-single_subscriber_publisher)
-    target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-single_subscriber_publisher
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 endif()
 

point_cloud_transport/include/point_cloud_transport/loader_fwds.hpp

@@ -32,18 +32,9 @@
 #ifndef POINT_CLOUD_TRANSPORT__LOADER_FWDS_HPP_
 #define POINT_CLOUD_TRANSPORT__LOADER_FWDS_HPP_
 
-
 #include <memory>
 
-
-// Forward-declare some classes most users shouldn't care about so that
-// point_cloud_transport.hpp doesn't bring them in.
-
-namespace pluginlib
-{
-template<class T>
-class ClassLoader;
-}  // namespace pluginlib
+#include "pluginlib/class_loader.hpp"
 
 namespace point_cloud_transport
 {
@@ -56,4 +47,5 @@ typedef std::shared_ptr<PubLoader> PubLoaderPtr;
 typedef pluginlib::ClassLoader<SubscriberPlugin> SubLoader;
 typedef std::shared_ptr<SubLoader> SubLoaderPtr;
 }  // namespace point_cloud_transport
+
 #endif  // POINT_CLOUD_TRANSPORT__LOADER_FWDS_HPP_

point_cloud_transport/include/point_cloud_transport/publisher.hpp

@@ -32,8 +32,8 @@
 #ifndef POINT_CLOUD_TRANSPORT__PUBLISHER_HPP_
 #define POINT_CLOUD_TRANSPORT__PUBLISHER_HPP_
 
-#include <string>
 #include <memory>
+#include <string>
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"

point_cloud_transport/package.xml

@@ -24,6 +24,7 @@
   <depend>rclcpp_components</depend>
   <depend>rclcpp</depend>
   <depend>rcpputils</depend>
+  <depend>rmw</depend>
   <depend>sensor_msgs</depend>
 
   <test_depend>ament_lint_common</test_depend>

point_cloud_transport/src/republish.cpp

@@ -42,13 +42,29 @@
 #include "point_cloud_transport/point_cloud_transport.hpp"
 #include "point_cloud_transport/publisher.hpp"
 #include "point_cloud_transport/publisher_plugin.hpp"
-#include "point_cloud_transport/republish.hpp"
 #include "point_cloud_transport/subscriber.hpp"
 
 using namespace std::chrono_literals;
 
 namespace point_cloud_transport
 {
+class Republisher : public rclcpp::Node
+{
+public:
+  //! Constructor
+  explicit Republisher(const rclcpp::NodeOptions & options);
+
+private:
+  void initialize();
+
+  std::shared_ptr<point_cloud_transport::PointCloudTransport> pct;
+  rclcpp::TimerBase::SharedPtr timer_;
+  bool initialized_{false};
+  point_cloud_transport::Subscriber sub;
+  std::shared_ptr<point_cloud_transport::PublisherPlugin> pub;
+  std::shared_ptr<point_cloud_transport::Publisher> simple_pub;
+};
+
 Republisher::Republisher(const rclcpp::NodeOptions & options)
 : Node("point_cloud_republisher", options)
 {

point_cloud_transport/test/test_subscriber.cpp

@@ -33,6 +33,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
 #include "point_cloud_transport/point_cloud_transport.hpp"
 
 class TestSubscriber : public ::testing::Test