ANYbotics · sssarana · Apr 4, 2025
diff --git a/grid_map_core/CMakeLists.txt b/grid_map_core/CMakeLists.txt
@@ -5,8 +5,7 @@ project(grid_map_core)
 find_package(ament_cmake REQUIRED)
 find_package(grid_map_cmake_helpers REQUIRED)
 
-## Define Eigen addons.
-include(cmake/${PROJECT_NAME}-extras.cmake)
+
 
 ## System dependencies are found with CMake's conventions
 find_package(Eigen3 REQUIRED)
@@ -35,6 +34,9 @@ add_library(${PROJECT_NAME}
   src/iterators/SlidingWindowIterator.cpp
 )
 
+## Define Eigen addons.
+include(cmake/${PROJECT_NAME}-extras.cmake)
+
 ## Specify additional locations of header files
 target_include_directories(${PROJECT_NAME}
   PUBLIC
@@ -70,6 +72,11 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
+install(FILES
+  cmake/${PROJECT_NAME}-extras.cmake
+  DESTINATION share/${PROJECT_NAME}/cmake
+)
+
 #############
 ## Testing ##
 #############
@@ -127,6 +134,4 @@ endif()
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(Eigen3)
-ament_package(CONFIG_EXTRAS
-  cmake/${PROJECT_NAME}-extras.cmake
-)
+ament_package()
diff --git a/grid_map_core/cmake/grid_map_core-extras.cmake b/grid_map_core/cmake/grid_map_core-extras.cmake
@@ -4,7 +4,7 @@ if(EIGEN_FUNCTORS_PLUGIN)
     message(FATAL_ERROR "EIGEN_FUNCTORS_PLUGIN already defined")
   endif()
 else()
-  add_definitions(-DEIGEN_FUNCTORS_PLUGIN=\"${EIGEN_FUNCTORS_PLUGIN_PATH}\")
+  target_compile_definitions(grid_map_core PUBLIC EIGEN_FUNCTORS_PLUGIN=\"${EIGEN_FUNCTORS_PLUGIN_PATH}\")
 endif()
 
 set(EIGEN_DENSEBASE_PLUGIN_PATH "grid_map_core/eigen_plugins/DenseBasePlugin.hpp")
@@ -13,5 +13,5 @@ if(EIGEN_DENSEBASE_PLUGIN)
     message(FATAL_ERROR "EIGEN_DENSEBASE_PLUGIN already defined!")
   endif()
 else()
-    add_definitions(-DEIGEN_DENSEBASE_PLUGIN=\"${EIGEN_DENSEBASE_PLUGIN_PATH}\")
+    target_compile_definitions(grid_map_core PUBLIC EIGEN_DENSEBASE_PLUGIN=\"${EIGEN_DENSEBASE_PLUGIN_PATH}\")
 endif()
diff --git a/grid_map_cv/CMakeLists.txt b/grid_map_cv/CMakeLists.txt
@@ -43,13 +43,8 @@ add_library(${PROJECT_NAME} SHARED
   src/InpaintFilter.cpp
 )
 
-target_link_libraries(${PROJECT_NAME} PUBLIC
-  cv_bridge::cv_bridge
-  grid_map_core::grid_map_core
-  opencv_photo
-  pluginlib::pluginlib
-  rclcpp::rclcpp
-  ${sensor_msgs_TARGETS}
+ament_target_dependencies(${PROJECT_NAME} SYSTEM
+  ${dependencies}
 )
 
 # Filters does not expose targets (yet)
@@ -131,4 +126,4 @@ ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 ament_export_dependencies(${dependencies})
 pluginlib_export_plugin_description_file(filters filter_plugins.xml)
-ament_package()
+ament_package()
diff --git a/grid_map_cv/include/grid_map_cv/GridMapCvConverter.hpp b/grid_map_cv/include/grid_map_cv/GridMapCvConverter.hpp
@@ -12,7 +12,7 @@
 #include <grid_map_core/grid_map_core.hpp>
 
 // OpenCV
-#include <cv_bridge/cv_bridge.hpp>
+#include <cv_bridge/cv_bridge.h>
 
 // STD
 #include <iostream>

diff --git a/grid_map_cv/include/grid_map_cv/GridMapCvProcessing.hpp b/grid_map_cv/include/grid_map_cv/GridMapCvProcessing.hpp
@@ -12,7 +12,7 @@
 #include <grid_map_core/grid_map_core.hpp>
 
 // OpenCV
-#include <cv_bridge/cv_bridge.hpp>
+#include <cv_bridge/cv_bridge.h>
 
 namespace grid_map
 {

diff --git a/grid_map_cv/test/GridMapCvProcessingTest.cpp b/grid_map_cv/test/GridMapCvProcessingTest.cpp
@@ -9,7 +9,7 @@
 #include <grid_map_core/gtest_eigen.hpp>
 
 // OpenCV
-#include <cv_bridge/cv_bridge.hpp>
+#include <cv_bridge/cv_bridge.h>
 
 // gtest
 #include <gtest/gtest.h>

diff --git a/grid_map_cv/test/GridMapCvTest.cpp b/grid_map_cv/test/GridMapCvTest.cpp
@@ -10,7 +10,7 @@
 #include <grid_map_core/gtest_eigen.hpp>
 
 // OpenCV
-#include <cv_bridge/cv_bridge.hpp>
+#include <cv_bridge/cv_bridge.h>
 
 // gtest
 #include <gtest/gtest.h>

diff --git a/grid_map_demos/CMakeLists.txt b/grid_map_demos/CMakeLists.txt
@@ -27,6 +27,7 @@ grid_map_package()
 set(dependencies
   grid_map_msgs
   grid_map_ros
+  grid_map_core
   rclcpp
 )
 

diff --git a/grid_map_demos/src/opencv_demo_node.cpp b/grid_map_demos/src/opencv_demo_node.cpp
@@ -1,7 +1,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <grid_map_ros/grid_map_ros.hpp>
 #include <grid_map_cv/grid_map_cv.hpp>
-#include <cv_bridge/cv_bridge.hpp>
+#include <cv_bridge/cv_bridge.h>
 #include <opencv2/highgui/highgui.hpp>
 #include <memory>
 #include <utility>

diff --git a/grid_map_ros/include/grid_map_ros/GridMapRosConverter.hpp b/grid_map_ros/include/grid_map_ros/GridMapRosConverter.hpp
@@ -23,7 +23,7 @@
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/grid_cells.hpp>
 #include <nav2_msgs/msg/costmap.hpp>
-#include <cv_bridge/cv_bridge.hpp>
+#include <cv_bridge/cv_bridge.h>
 
 // STL
 #include <vector>

diff --git a/grid_map_ros/src/GridMapRosConverter.cpp b/grid_map_ros/src/GridMapRosConverter.cpp
@@ -688,7 +688,7 @@ bool GridMapRosConverter::saveToBag(
 
   auto bag_message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
 
-  auto ret = rcutils_system_time_now(&bag_message->send_timestamp);
+  auto ret = rcutils_system_time_now(&bag_message->time_stamp);
   if (ret != RCL_RET_OK) {
     RCLCPP_ERROR(rclcpp::get_logger("saveToBag"), "couldn't assign time rosbag message");
   }

diff --git a/grid_map_ros/test/GridMapRosTest.cpp b/grid_map_ros/test/GridMapRosTest.cpp
@@ -14,7 +14,7 @@
 #include <Eigen/Core>
 
 // ROS
-#include <cv_bridge/cv_bridge.hpp>
+#include <cv_bridge/cv_bridge.h>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav2_msgs/msg/costmap.hpp>
 #include <sensor_msgs/image_encodings.hpp>

diff --git a/grid_map_rviz_plugin/CMakeLists.txt b/grid_map_rviz_plugin/CMakeLists.txt
@@ -5,6 +5,7 @@ find_package(ament_cmake REQUIRED)
 find_package(grid_map_cmake_helpers REQUIRED)
 find_package(grid_map_msgs REQUIRED)
 find_package(grid_map_ros REQUIRED)
+find_package(grid_map_core REQUIRED)
 find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
 find_package(rclcpp REQUIRED)
 find_package(rviz_common REQUIRED)
@@ -20,6 +21,7 @@ set(CMAKE_AUTOMOC ON) # This setting causes Qt's "MOC" generation to happen auto
 set(dependencies
   grid_map_msgs
   grid_map_ros
+  grid_map_core
   rclcpp
   rviz_common
   rviz_ogre_vendor
@@ -141,4 +143,4 @@ ament_export_dependencies(
   rclcpp
 )
 
-ament_package()
+ament_package()