From f6bd881babeae71f49485f445bfe75d848c450be Mon Sep 17 00:00:00 2001
From: Scott K Logan <logans@cottsay.net>
Date: Wed, 3 Jul 2019 14:09:10 -0700
Subject: [PATCH] Convert package to ament_cmake

---
 CMakeLists.txt       | 36 ++++++++++++------------------------
 package.xml          |  6 +++++-
 tests/CMakeLists.txt |  7 +++++--
 3 files changed, 22 insertions(+), 27 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e1474ad..e861baf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,31 +1,14 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(serial)
 
-# Find catkin
-find_package(catkin REQUIRED)
+# Find ament_cmake
+find_package(ament_cmake REQUIRED)
 
 if(APPLE)
     find_library(IOKIT_LIBRARY IOKit)
     find_library(FOUNDATION_LIBRARY Foundation)
 endif()
 
-if(UNIX AND NOT APPLE)
-    # If Linux, add rt and pthread
-    set(rt_LIBRARIES rt)
-    set(pthread_LIBRARIES pthread)
-    catkin_package(
-        LIBRARIES ${PROJECT_NAME}
-        INCLUDE_DIRS include
-        DEPENDS rt pthread
-    )
-else()
-    # Otherwise normal call
-    catkin_package(
-        LIBRARIES ${PROJECT_NAME}
-        INCLUDE_DIRS include
-    )
-endif()
-
 ## Sources
 set(serial_SRCS
     src/serial.cc
@@ -66,15 +49,20 @@ include_directories(include)
 
 ## Install executable
 install(TARGETS ${PROJECT_NAME}
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
 )
 
 ## Install headers
 install(FILES include/serial/serial.h include/serial/v8stdint.h
-  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/serial)
+  DESTINATION include/serial)
 
 ## Tests
-if(CATKIN_ENABLE_TESTING)
+if(BUILD_TESTING)
     add_subdirectory(tests)
 endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+
+ament_package()
diff --git a/package.xml b/package.xml
index 27781e1..7fb772d 100644
--- a/package.xml
+++ b/package.xml
@@ -19,8 +19,12 @@
   <author email="wjwwood@gmail.com">William Woodall</author>
   <author email="ash.gti@gmail.com">John Harrison</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>boost</test_depend>
 
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index e52a4d3..964f27c 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,12 +1,15 @@
 if(UNIX)
-    catkin_add_gtest(${PROJECT_NAME}-test unix_serial_tests.cc)
+    find_package(ament_cmake_gtest REQUIRED)
+    find_package(Boost REQUIRED)
+
+    ament_add_gtest(${PROJECT_NAME}-test unix_serial_tests.cc)
     target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME} ${Boost_LIBRARIES})
     if(NOT APPLE)
         target_link_libraries(${PROJECT_NAME}-test util)
     endif()
 
     if(NOT APPLE)  # these tests are unreliable on macOS
-      catkin_add_gtest(${PROJECT_NAME}-test-timer unit/unix_timer_tests.cc)
+      ament_add_gtest(${PROJECT_NAME}-test-timer unit/unix_timer_tests.cc)
       target_link_libraries(${PROJECT_NAME}-test-timer ${PROJECT_NAME})
     endif()
 endif()