From a16b4c8885fbfdf2ff71b53b0c77b298ff043df1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Fri, 1 Mar 2024 13:53:20 +0100
Subject: [PATCH] Use CMake targets for eigen (#50)

(cherry picked from commit f252dcb8661f6f175446a2418b7805e308b3684d)
---
 kinematics_interface/CMakeLists.txt     | 5 ++++-
 kinematics_interface_kdl/CMakeLists.txt | 5 ++++-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/kinematics_interface/CMakeLists.txt b/kinematics_interface/CMakeLists.txt
index 7decbdb..88eaf9e 100644
--- 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
index cf71efd..afeadae 100644
--- 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)