From 5b0030a2f80245836bbddfdfbea970ce7e75f31b Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@intrinsic.ai>
Date: Fri, 14 Mar 2025 23:58:02 +0000
Subject: [PATCH 1/2] Deprecate ament_target_dependencies()

Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
---
 .../cmake/ament_target_dependencies.cmake     | 26 +++++++++++++++++++
 ament_cmake_target_dependencies/package.xml   |  3 +++
 2 files changed, 29 insertions(+)

diff --git a/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake b/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake
index 946ebcc6..528851c2 100644
--- a/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake
+++ b/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake
@@ -67,6 +67,32 @@ function(ament_target_dependencies target)
       endif()
       set(optional_keyword PUBLIC)
     endif()
+
+    # Collect targets to use in deprecation warning
+    set(upstream_targets_for_deprecation_warning "")
+    foreach(package_name ${ARG_UNPARSED_ARGUMENTS})
+      foreach(_target IN LISTS ${package_name}_TARGETS)
+        if(TARGET ${_target})
+          if(_target MATCHES "(.+)::.+__rosidl_.+")
+            message(STATUS "Matches: ${_target}")
+            # suggest ${package_name_TARGETS} for message packages
+            list_append_unique(upstream_targets_for_deprecation_warning "\${${CMAKE_MATCH_1}_TARGETS}")
+          else()
+            message(STATUS "Does not match: ${_target}")
+            list_append_unique(upstream_targets_for_deprecation_warning ${_target})
+          endif()
+        endif()
+      endforeach()
+    endforeach()
+    list(SORT upstream_targets_for_deprecation_warning)
+    list(JOIN upstream_targets_for_deprecation_warning "\n    " upstream_targets_for_deprecation_warning)
+    message(DEPRECATION "ament_target_dependencies() is deprecated. "
+    "Use target_link_libraries() with modern CMake targets instead. "
+    "Try replacing this call with:\n"
+    "  target_link_libraries(${target} ${required_keyword}\n"
+    "    ${upstream_targets_for_deprecation_warning}\n"
+    "  )\n")
+
     set(definitions "")
     set(include_dirs "")
     set(interfaces "")
diff --git a/ament_cmake_target_dependencies/package.xml b/ament_cmake_target_dependencies/package.xml
index 24bee024..142c24ed 100644
--- a/ament_cmake_target_dependencies/package.xml
+++ b/ament_cmake_target_dependencies/package.xml
@@ -20,5 +20,8 @@
 
   <export>
     <build_type>ament_cmake</build_type>
+    <deprecated>
+    This package has been deprecated in favor of using target_link_libraries() with modern CMake targets.
+    </deprecated>
   </export>
 </package>

From 7761d1a9c0265254ade69752cf3041b692c62724 Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@intrinsic.ai>
Date: Tue, 18 Mar 2025 23:06:48 +0000
Subject: [PATCH 2/2] Don't deprecate package yet, and remove debug logs

Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>
---
 .../cmake/ament_target_dependencies.cmake                      | 2 --
 ament_cmake_target_dependencies/package.xml                    | 3 ---
 2 files changed, 5 deletions(-)

diff --git a/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake b/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake
index 528851c2..093b0c94 100644
--- a/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake
+++ b/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake
@@ -74,11 +74,9 @@ function(ament_target_dependencies target)
       foreach(_target IN LISTS ${package_name}_TARGETS)
         if(TARGET ${_target})
           if(_target MATCHES "(.+)::.+__rosidl_.+")
-            message(STATUS "Matches: ${_target}")
             # suggest ${package_name_TARGETS} for message packages
             list_append_unique(upstream_targets_for_deprecation_warning "\${${CMAKE_MATCH_1}_TARGETS}")
           else()
-            message(STATUS "Does not match: ${_target}")
             list_append_unique(upstream_targets_for_deprecation_warning ${_target})
           endif()
         endif()
diff --git a/ament_cmake_target_dependencies/package.xml b/ament_cmake_target_dependencies/package.xml
index 142c24ed..24bee024 100644
--- a/ament_cmake_target_dependencies/package.xml
+++ b/ament_cmake_target_dependencies/package.xml
@@ -20,8 +20,5 @@
 
   <export>
     <build_type>ament_cmake</build_type>
-    <deprecated>
-    This package has been deprecated in favor of using target_link_libraries() with modern CMake targets.
-    </deprecated>
   </export>
 </package>