From 18ee0a5fb8aa63da81eb6b95aeccc04cffa11b4f Mon Sep 17 00:00:00 2001
From: Kenji Brameld <kbrameld@traclabs.com>
Date: Sat, 4 Apr 2026 23:02:17 -0500
Subject: [PATCH] updates for ros2 kilted

---
 centralised_auction/CMakeLists.txt | 52 ++++++++++++++++++++----------
 1 file changed, 35 insertions(+), 17 deletions(-)

diff --git a/centralised_auction/CMakeLists.txt b/centralised_auction/CMakeLists.txt
index 522d5df..a21f93c 100644
--- a/centralised_auction/CMakeLists.txt
+++ b/centralised_auction/CMakeLists.txt
@@ -6,31 +6,49 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 find_package(ament_cmake REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rcpputils REQUIRED)
-find_package(task_msgs REQUIRED)
+# Find dependencies
+set(PUBLIC_DEPENDENCIES
+  geometry_msgs
+  rclcpp
+  task_msgs
+)
+set(PRIVATE_DEPENDENCIES
+  rcpputils
+)
+foreach(dep ${PUBLIC_DEPENDENCIES} ${PRIVATE_DEPENDENCIES})
+  find_package(${dep} REQUIRED)
+endforeach()
 
 # Build
-include_directories(include)
-
-# Declare a C++ library
-add_library(${PROJECT_NAME} SHARED src/sequential_auction.cpp)
-ament_target_dependencies(${PROJECT_NAME} geometry_msgs rclcpp rcpputils task_msgs)
+add_library(${PROJECT_NAME} SHARED
+  src/sequential_auction.cpp
+)
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC
+    ${geometry_msgs_TARGETS}
+    rclcpp::rclcpp
+    ${task_msgs_TARGETS}
+  PRIVATE
+    rcpputils::rcpputils
+)
 
 # Install
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME})
 install(
   TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
+  EXPORT export_${PROJECT_NAME}
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME})
-
-install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION include/${PROJECT_NAME})
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin)
 
 # Export
-ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME})
-ament_export_dependencies(geometry_msgs rclcpp task_msgs)
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(${PUBLIC_DEPENDENCIES})
 
-# Package
 ament_package()