refactor: use autoware cmake

common/autoware_ad_api_msgs/CMakeLists.txt

@@ -1,8 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(autoware_ad_api_msgs)
 
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
+find_package(autoware_cmake REQUIRED)
+autoware_package()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   srv/InterfaceVersion.srv
@@ -12,9 +12,4 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     geometry_msgs
 )
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
 ament_auto_package()

common/autoware_ad_api_msgs/package.xml

@@ -9,12 +9,13 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>geometry_msgs</depend>
-  <depend>std_msgs</depend>
-
+  <build_depend>autoware_cmake</build_depend>
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 

common/autoware_auto_common/CMakeLists.txt

@@ -1,33 +1,13 @@
 cmake_minimum_required(VERSION 3.5)
 project(autoware_auto_common)
 
-## dependencies
-find_package(ament_cmake_auto REQUIRED)
-find_package(Eigen3 REQUIRED)
-ament_auto_find_build_dependencies()
+find_package(autoware_cmake REQUIRED)
+autoware_package()
 
+find_package(Eigen3 REQUIRED)
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-
-  # Temporarily disable cpplint and uncrustify
-  list(APPEND AMENT_LINT_AUTO_EXCLUDE
-    ament_cmake_cpplint
-  )
-
-  ament_lint_auto_find_test_dependencies()
-
-  file(GLOB_RECURSE FILES_MINUS_SOME
-    ${CMAKE_CURRENT_SOURCE_DIR}/include/*
-    ${CMAKE_CURRENT_SOURCE_DIR}/test/*
-  )
-
-  # Re-enable cpplint
-  find_package(ament_cmake_cpplint)
-  ament_cpplint(${FILES_MINUS_SOME})
-
-  # Unit tests
   set(TEST_COMMON test_common_gtest)
   ament_add_gtest(${TEST_COMMON}
     test/gtest_main.cpp
@@ -41,7 +21,6 @@ if(BUILD_TESTING)
     test/test_type_name.cpp
     test/test_type_traits.cpp
   )
-  autoware_set_compile_options(${TEST_COMMON})
   target_compile_options(${TEST_COMMON} PRIVATE -Wno-sign-conversion)
   target_include_directories(${TEST_COMMON} PRIVATE include)
   ament_target_dependencies(${TEST_COMMON}
@@ -51,5 +30,4 @@ if(BUILD_TESTING)
   )
 endif()
 
-# Ament Exporting
 ament_auto_package()

common/autoware_auto_common/package.xml

@@ -8,7 +8,8 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
-  <buildtool_depend>autoware_auto_cmake</buildtool_depend>
+
+  <build_depend>autoware_cmake</build_depend>
 
   <depend>builtin_interfaces</depend>
   <depend>eigen</depend>

common/autoware_auto_geometry/CMakeLists.txt

@@ -1,18 +1,15 @@
 cmake_minimum_required(VERSION 3.5)
 project(autoware_auto_geometry)
 
-## dependencies
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
+find_package(autoware_cmake REQUIRED)
+autoware_package()
 
-# includes
 ament_auto_add_library(${PROJECT_NAME} SHARED
   include/geometry/spatial_hash.hpp
   include/geometry/intersection.hpp
   include/geometry/spatial_hash_config.hpp
   src/spatial_hash.cpp
   src/bounding_box.cpp)
-autoware_set_compile_options(${PROJECT_NAME})
 
 # workaround to allow deprecated header to build on both galactic and rolling
 if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
@@ -22,10 +19,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
 endif()
 
 if(BUILD_TESTING)
-  # run linters
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-  # gtest
   set(GEOMETRY_GTEST geometry_gtest)
   set(GEOMETRY_SRC test/src/test_geometry.cpp
     test/src/test_convex_hull.cpp
@@ -37,7 +30,6 @@ if(BUILD_TESTING)
     test/src/test_intersection.cpp
   )
   ament_add_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC})
-  autoware_set_compile_options(${GEOMETRY_GTEST})
   target_compile_options(${GEOMETRY_GTEST} PRIVATE -Wno-conversion -Wno-sign-conversion)
   target_include_directories(${GEOMETRY_GTEST} PRIVATE "test/include" "include")
   ament_target_dependencies(${GEOMETRY_GTEST}
@@ -50,5 +42,4 @@ if(BUILD_TESTING)
   target_link_libraries(${GEOMETRY_GTEST} ${PROJECT_NAME})
 endif()
 
-# Ament Exporting
 ament_auto_package()

common/autoware_auto_geometry/package.xml

@@ -8,7 +8,8 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
-  <buildtool_depend>autoware_auto_cmake</buildtool_depend>
+
+  <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_auto_common</depend>
   <depend>autoware_auto_geometry_msgs</depend>

common/autoware_auto_perception_rviz_plugin/CMakeLists.txt

@@ -1,10 +1,10 @@
 cmake_minimum_required(VERSION 3.5)
 project(autoware_auto_perception_rviz_plugin)
 
-#dependencies
-find_package(ament_cmake_auto REQUIRED)
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
 find_package(Qt5 REQUIRED COMPONENTS Widgets)
-ament_auto_find_build_dependencies()
 
 set(OD_PLUGIN_LIB_SRC
   src/object_detection/detected_objects_display.cpp
@@ -56,12 +56,6 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "OBJECT_DETECTION_PLUGINS_BUI
 # Export the plugin to be imported by rviz2
 pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
 
-if(BUILD_TESTING)
-  # run linters
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
 ament_auto_package(
   INSTALL_TO_SHARE
   icons

common/autoware_auto_perception_rviz_plugin/package.xml

@@ -10,6 +10,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>autoware_cmake</build_depend>
   <build_depend>qtbase5-dev</build_depend>
 
   <depend>autoware_auto_perception_msgs</depend>