[CMakeLists.txt] Updating to lyrical

Author: mmmarinho

CMakeLists.txt

@@ -1,6 +1,11 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(sas_robot_driver)
 
+# Default to C++20
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 20)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
@@ -15,41 +20,52 @@ add_subdirectory(pybind11)
 ###############################
 
 find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(Eigen3 REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(sas_common REQUIRED)
 find_package(sas_core REQUIRED)
 find_package(sas_conversions REQUIRED)
-find_package(Eigen3 REQUIRED)
 
-##### CPP LIBRARY #####
+####################################
+# CPP Shared Library Block [BEGIN] #
+# vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv #
+# https://ros2-tutorial.readthedocs.io/en/latest/
+# The most common use case is to merge everything you need to export
+# into the same shared library called ${PROJECT_NAME}.
 
 add_library(${PROJECT_NAME} SHARED
     src/sas_robot_driver_server.cpp
     src/sas_robot_driver_client.cpp
     src/sas_robot_driver_ros.cpp
     )
 
-ament_target_dependencies(${PROJECT_NAME} rclcpp geometry_msgs std_msgs sensor_msgs sas_common sas_core sas_conversions)
-
 target_include_directories(${PROJECT_NAME}
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(Eigen3 rclcpp geometry_msgs std_msgs sensor_msgs sas_common sas_core sas_conversions)
 
 install(
     DIRECTORY include/
     DESTINATION include
     )
 
 target_link_libraries(${PROJECT_NAME}
+    PUBLIC
     -ldqrobotics
     Eigen3::Eigen
+    rclcpp::rclcpp
+    geometry_msgs::geometry_msgs
+    std_msgs::std_msgs
+    sensor_msgs::sensor_msgs
+    sas_common::sas_common
+    sas_core::sas_core
+    sas_conversions::sas_conversions
     )
 
 install(
@@ -61,23 +77,27 @@ install(
     INCLUDES DESTINATION include
     )
 
-##END## CPP LIBRARY #####
+# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ #
+# CPP Shared Library Block [END] #
+##################################
 
 ##### PYBIND11 LIBRARY #####
 
 ament_python_install_package(${PROJECT_NAME})
 
-pybind11_add_module(_${PROJECT_NAME} SHARED src/sas_robot_driver_py.cpp src/sas_robot_driver_client.cpp src/sas_robot_driver_server.cpp)
+pybind11_add_module(_${PROJECT_NAME} SHARED
+    src/sas_robot_driver_py.cpp
+    src/sas_robot_driver_client.cpp
+    src/sas_robot_driver_server.cpp
+    )
+
+target_link_libraries(_${PROJECT_NAME} PRIVATE ${PROJECT_NAME} -ldqrobotics)
 
 target_include_directories(_${PROJECT_NAME}
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
 
-target_compile_definitions(_${PROJECT_NAME} PRIVATE IS_SAS_PYTHON_BUILD)
-# https://github.com/pybind/pybind11/issues/387
-target_link_libraries(_${PROJECT_NAME} PRIVATE ${PROJECT_NAME} -ldqrobotics)
-
 install(TARGETS _${PROJECT_NAME}
   DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
 )