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I'm not sure is this is the "recommended" way to do it, as I am using ament commands instead of pure cmake. If someone knows how to do a pure cmake alternative I would be interested to hear.

But a possible solution I have found is with:

lib cmake

cmake_minimum_required(VERSION 3.5)
project(temp_lib)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)

install(
  DIRECTORY include/
  DESTINATION include
)

ament_export_include_directories(include)

ament_package()

pkg cmake

cmake_minimum_required(VERSION 3.5)
project(temp_pkg)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(temp_lib REQUIRED)

# message(${temp_lib_INCLUDE_DIRS})

# include_directories(
#   ${temp_lib_INCLUDE_DIRS}
# )

add_executable(test_case src/temp.cpp)
ament_target_dependencies(test_case rclcpp temp_lib)

install(TARGETS
  test_case
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()

Where I've excluded:

I'm not sure is this is the "recommended" way to do it, as I am using ament commands instead of pure cmake. If someone knows how to do a pure cmake alternative I would be interested to hear.

But a possible solution I have found is with:

lib cmake

cmake_minimum_required(VERSION 3.5)
project(temp_lib)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)

install(
  DIRECTORY include/
  DESTINATION include
)

ament_export_include_directories(include)

ament_package()

pkg cmake

cmake_minimum_required(VERSION 3.5)
project(temp_pkg)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(temp_lib REQUIRED)

# message(${temp_lib_INCLUDE_DIRS})

# include_directories(
#   ${temp_lib_INCLUDE_DIRS}
# )

add_executable(test_case src/temp.cpp)
ament_target_dependencies(test_case rclcpp temp_lib)

install(TARGETS
  test_case
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()

Where I've excluded:

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

I'm not sure is this is the "recommended" way to do it, as I am using ament commands instead of pure cmake. If someone knows how to do a pure cmake alternative I would be interested to hear.

But a possible solution I have found is with:

lib cmake

cmake_minimum_required(VERSION 3.5)
project(temp_lib)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)

install(
  DIRECTORY include/
  DESTINATION include
)

ament_export_include_directories(include)

ament_package()

pkg cmake

cmake_minimum_required(VERSION 3.5)
project(temp_pkg)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(temp_lib REQUIRED)

# message(${temp_lib_INCLUDE_DIRS})

# include_directories(
#   ${temp_lib_INCLUDE_DIRS}
# )

add_executable(test_case src/temp.cpp)
ament_target_dependencies(test_case rclcpp temp_lib)

install(TARGETS
  test_case
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()

Edit: for legibility I excluded

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

and

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

I'm not sure is this is the "recommended" way to do it, as I am using ament commands instead of pure cmake. If someone knows how to do a pure cmake alternative I would be interested to hear.

But a possible solution I have found is with:

lib cmake

cmake_minimum_required(VERSION 3.5)
project(temp_lib)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)

install(
  DIRECTORY include/
  DESTINATION include
)

ament_export_include_directories(include)

ament_package()

pkg cmake

cmake_minimum_required(VERSION 3.5)
project(temp_pkg)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(temp_lib REQUIRED)

add_executable(test_case src/temp.cpp)
ament_target_dependencies(test_case rclcpp temp_lib)

install(TARGETS
  test_case
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()

Edit: for legibility I excluded

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()