Improve compile time (#2)

* Link libraries as _TARGETS Signed-off-by: Yadunund <yadunund@openrobotics.org> * Update README Signed-off-by: Yadunund <yadunund@openrobotics.org> --------- Signed-off-by: Yadunund <yadunund@openrobotics.org>
osrf · Aug 23, 2023 · 0f5940a · 0f5940a
1 parent ce0ad6b
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Showing 7 changed files with 33 additions and 44 deletions.
diff --git a/README.md b/README.md
@@ -13,15 +13,6 @@ For details on architecture and concepts [see](./docs/concepts.md).
 
 ## Setup
 
-### Install system dependencies
-It is recommended to build the workspace with clang as compiler and lld as linker.
-Hence we install these dependencies along with some `colcon-mixin` shortcuts to simplify build instructions.
-```bash
-sudo apt update && sudo apt install -y clang clang-tools lld libstdc++-12-dev
-colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-colcon mixin update default
-```
-
 ### Setup the NEXUS workspace
 
 ```bash
@@ -35,10 +26,8 @@ rosdep install --from-paths src --ignore-src --rosdistro humble -y -r
 
 ### Build the NEXUS workspace
 ```bash
-export CX=clang
-export CXX=clang++
 source /opt/ros/humble/setup.bash
-colcon build --mixin release lld
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 ## Configuration

diff --git a/nexus_capabilities/CMakeLists.txt b/nexus_capabilities/CMakeLists.txt
@@ -74,8 +74,8 @@ target_link_libraries(${PROJECT_NAME}
   PUBLIC
     nexus_common::nexus_common
     nexus_endpoints::nexus_endpoints
-    ${geometry_msgs_LIBRARIES}
-    ${nexus_orchestrator_msgs_LIBRARIES}
+    ${geometry_msgs_TARGETS}
+    ${nexus_orchestrator_msgs_TARGETS}
     BT::behaviortree_cpp_v3
     rclcpp::rclcpp
     rclcpp_lifecycle::rclcpp_lifecycle

diff --git a/nexus_common/CMakeLists.txt b/nexus_common/CMakeLists.txt
@@ -43,9 +43,9 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   rclcpp_lifecycle::rclcpp_lifecycle
   tf2::tf2
   yaml-cpp
-  ${lifecycle_msgs_LIBRARIES}
-  ${geometry_msgs_LIBRARIES}
-  ${vision_msgs_LIBRARIES}
+  ${lifecycle_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  ${vision_msgs_TARGETS}
 )
 set_target_properties(${PROJECT_NAME} PROPERTIES CXX_VISIBILITY_PRESET hidden)
 target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
@@ -111,8 +111,8 @@ if(BUILD_TESTING)
       rclcpp_action::rclcpp_action
       BT::behaviortree_cpp_v3
       rmf_utils::rmf_utils
-      ${example_interfaces_LIBRARIES}
-      ${std_msgs_LIBRARIES}
+      ${example_interfaces_TARGETS}
+      ${std_msgs_TARGETS}
     )
   endfunction()
 

diff --git a/nexus_endpoints/CMakeLists.txt b/nexus_endpoints/CMakeLists.txt
@@ -29,15 +29,15 @@ target_include_directories(nexus_endpoints INTERFACE
   ${trajectory_msgs_INCLUDE_DIRS}
 )
 target_link_libraries(nexus_endpoints INTERFACE rclcpp::rclcpp rclcpp_action::rclcpp_action
-  ${control_msgs_LIBRARIES}
-  ${nexus_alarm_msgs_LIBRARIES}
-  ${nexus_calibration_msgs_LIBRARIES}
-  ${nexus_detector_msgs_LIBRARIES}
-  ${nexus_dispenser_msgs_LIBRARIES}
-  ${nexus_motion_planner_msgs_LIBRARIES}
-  ${nexus_orchestrator_msgs_LIBRARIES}
-  ${nexus_transporter_msgs_LIBRARIES}
-  ${trajectory_msgs_LIBRARIES}
+  ${control_msgs_TARGETS}
+  ${nexus_alarm_msgs_TARGETS}
+  ${nexus_calibration_msgs_TARGETS}
+  ${nexus_detector_msgs_TARGETS}
+  ${nexus_dispenser_msgs_TARGETS}
+  ${nexus_motion_planner_msgs_TARGETS}
+  ${nexus_orchestrator_msgs_TARGETS}
+  ${nexus_transporter_msgs_TARGETS}
+  ${trajectory_msgs_TARGETS}
 )
 set_target_properties(nexus_endpoints PROPERTIES PUBLIC_HEADER nexus_endpoints.hpp)
 

diff --git a/nexus_integration_tests/CMakeLists.txt b/nexus_integration_tests/CMakeLists.txt
@@ -34,8 +34,8 @@ target_link_libraries(mock_detection PRIVATE
   nexus_endpoints::nexus_endpoints
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
-  ${yaml_cpp_vendor_LIBRARIES}
-  ${tf2_ros_LIBRARIES}
+  ${yaml_cpp_vendor_TARGETS}
+  ${tf2_ros_TARGETS}
 )
 target_include_directories(mock_detection PRIVATE
   ${tf2_ros_INCLUDE_DIRS}
@@ -48,7 +48,7 @@ add_library(mock_emergency_alarm_component SHARED src/mock_emergency_alarm.cpp)
 target_link_libraries(mock_emergency_alarm_component
   nexus_endpoints::nexus_endpoints
   rclcpp::rclcpp
-  ${rclcpp_components_LIBRARIES}
+  ${rclcpp_components_TARGETS}
   rclcpp_lifecycle::rclcpp_lifecycle
 )
 ament_target_dependencies(mock_emergency_alarm_component
@@ -93,7 +93,7 @@ target_link_libraries(mock_printer PRIVATE
   nexus_endpoints::nexus_endpoints
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
-  ${rclcpp_components_LIBRARIES}
+  ${rclcpp_components_TARGETS}
 )
 target_compile_features(mock_printer INTERFACE cxx_std_17)
 rclcpp_components_register_node(mock_printer
@@ -163,9 +163,9 @@ if(BUILD_TESTING)
       rclcpp_action::rclcpp_action
       rclcpp_lifecycle::rclcpp_lifecycle
       rcpputils::rcpputils
-      ${yaml_cpp_vendor_LIBRARIES}
+      ${yaml_cpp_vendor_TARGETS}
       rmf_utils::rmf_utils
-      ${tf2_ros_LIBRARIES}
+      ${tf2_ros_TARGETS}
     )
     target_include_directories(test_mocks PUBLIC
       ${yaml_cpp_vendor_INCLUDE_DIRS}

diff --git a/nexus_transporter/CMakeLists.txt b/nexus_transporter/CMakeLists.txt
@@ -32,10 +32,10 @@ add_library(nexus_transporter SHARED
 
 target_link_libraries(nexus_transporter
   PUBLIC
-    ${nexus_transporter_msgs_LIBRARIES}
+    ${nexus_transporter_msgs_TARGETS}
     rclcpp::rclcpp
-    ${rclcpp_action_LIBRARIES}
-    ${rclcpp_lifecycle_LIBRARIES}
+    ${rclcpp_action_TARGETS}
+    ${rclcpp_lifecycle_TARGETS}
     rmf_utils::rmf_utils
 )
 
@@ -61,13 +61,13 @@ target_link_libraries(nexus_transporter_component
   PUBLIC
     nexus_endpoints::nexus_endpoints
     nexus_transporter
-    ${nexus_transporter_msgs_LIBRARIES}
-    ${geometry_msgs_LIBRARIES}
+    ${nexus_transporter_msgs_TARGETS}
+    ${geometry_msgs_TARGETS}
     pluginlib::pluginlib
     rclcpp::rclcpp
-    ${rclcpp_components_LIBRARIES}
-    ${rclcpp_lifecycle_LIBRARIES}
-    ${tf2_ros_LIBRARIES}
+    ${rclcpp_components_TARGETS}
+    ${rclcpp_lifecycle_TARGETS}
+    ${tf2_ros_TARGETS}
 )
 
 target_include_directories(nexus_transporter_component

diff --git a/nexus_workcell_orchestrator/CMakeLists.txt b/nexus_workcell_orchestrator/CMakeLists.txt
@@ -57,8 +57,8 @@ target_link_libraries(${PROJECT_NAME}_plugin PUBLIC
   tf2::tf2
   tf2_ros::tf2_ros
   yaml-cpp
-  ${vision_msgs_LIBRARIES}
-  ${geometry_msgs_LIBRARIES}
+  ${vision_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
 )
 target_compile_features(${PROJECT_NAME}_plugin PUBLIC cxx_std_17)
 target_compile_definitions(${PROJECT_NAME}_plugin PUBLIC "COMPOSITION_BUILDING_DLL")