Remove ament macros

CMakeLists.txt

@@ -1,9 +1,10 @@
 cmake_minimum_required(VERSION 3.22)
 project(rsl VERSION 0.2.1 LANGUAGES CXX DESCRIPTION "ROS Support Library")
 
+include(GNUInstallDirs)
+
 set(CMAKE_CXX_EXTENSIONS OFF)
 
-find_package(ament_cmake_ros REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(fmt REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -20,10 +21,7 @@ add_library(rsl
 )
 add_library(rsl::rsl ALIAS rsl)
 target_compile_features(rsl PUBLIC cxx_std_17)
-target_include_directories(rsl PUBLIC
-    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include/rsl>
-)
+target_include_directories(rsl PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
 target_link_libraries(rsl PUBLIC
     Eigen3::Eigen
     fmt::fmt
@@ -34,31 +32,29 @@ target_link_libraries(rsl PUBLIC
 
 add_subdirectory(docs)
 
-if(BUILD_TESTING)
-    add_subdirectory(tests)
-endif()
-
 install(
     DIRECTORY include/
     DESTINATION include/rsl
 )
 install(
-    TARGETS rsl
-    EXPORT export_rsl
+    TARGETS rsl EXPORT rsl-targets
     ARCHIVE DESTINATION lib
     LIBRARY DESTINATION lib
     RUNTIME DESTINATION bin
-    INCLUDES DESTINATION include
+    INCLUDES DESTINATION include/rsl
 )
-
-ament_export_targets(export_rsl HAS_LIBRARY_TARGET)
-ament_export_dependencies(
-    Eigen3
-    fmt
-    rclcpp
-    tcb_span
-    tl_expected
+install(
+    EXPORT rsl-targets
+    NAMESPACE rsl::
+    DESTINATION ${CMAKE_INSTALL_DATADIR}
+)
+install(
+    FILES ${PROJECT_SOURCE_DIR}/cmake/rsl-config.cmake
+    DESTINATION ${CMAKE_INSTALL_DATADIR}
 )
-ament_package()
+
+if(BUILD_TESTING)
+    add_subdirectory(tests)
+endif()
 
 add_custom_target(tidy COMMAND run-clang-tidy -p ${CMAKE_BINARY_DIR})

cmake/rsl-config.cmake

@@ -0,0 +1,7 @@
+find_dependency(Eigen3)
+find_dependency(fmt)
+find_dependency(rclcpp)
+find_dependency(tcb_span)
+find_dependency(tl_expected)
+
+include(${CMAKE_CURRENT_LIST_DIR}/rsl-targets.cmake)