Use CMake targets for eigen (#50)

(cherry picked from commit f252dcb)
ros-controls · Mar 1, 2024 · a16b4c8 · a16b4c8
1 parent be5b6bf
commit a16b4c8
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/kinematics_interface/CMakeLists.txt b/kinematics_interface/CMakeLists.txt
@@ -6,7 +6,6 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
-  Eigen3
   rclcpp
   rclcpp_lifecycle
 )
@@ -16,6 +15,7 @@ find_package(ament_cmake REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+find_package(Eigen3 REQUIRED NO_MODULE)
 
 # Create interface library for kinematics base class
 add_library(kinematics_interface SHARED src/kinematics_interface.cpp)
@@ -24,6 +24,9 @@ target_include_directories(kinematics_interface PUBLIC
   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/kinematics_interface>
 )
+target_link_libraries(kinematics_interface PUBLIC
+  Eigen3::Eigen
+)
 ament_target_dependencies(kinematics_interface PUBLIC
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )

diff --git a/kinematics_interface_kdl/CMakeLists.txt b/kinematics_interface_kdl/CMakeLists.txt
@@ -6,7 +6,6 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
-  Eigen3
   kdl_parser
   kinematics_interface
   pluginlib
@@ -18,6 +17,7 @@ find_package(ament_cmake REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+find_package(Eigen3 REQUIRED NO_MODULE)
 
 add_library(
   kinematics_interface_kdl
@@ -32,6 +32,9 @@ target_compile_features(kinematics_interface_kdl PUBLIC cxx_std_17)
 ament_target_dependencies(kinematics_interface_kdl PUBLIC
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
+target_link_libraries(kinematics_interface_kdl PUBLIC
+  Eigen3::Eigen
+)
 
 pluginlib_export_plugin_description_file(kinematics_interface kinematics_interface_kdl.xml)