make rmw_dds_common use rosidl_generator_interfaces normally

rmw_dds_common/CMakeLists.txt

@@ -15,51 +15,53 @@ find_package(ament_cmake REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
-find_package(rmw_dds_common_generators REQUIRED)
+find_package(rosidl_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 
 ament_export_dependencies(ament_cmake_core)
 ament_export_dependencies(rcpputils)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
-ament_export_dependencies(rosidl_runtime_cpp)
+ament_export_dependencies(rosidl_default_runtime)
 
 rosidl_generate_interfaces(
-  ${PROJECT_NAME}_interfaces
-  "msg/Gid.idl"
-  "msg/NodeEntitiesInfo.idl"
-  "msg/ParticipantEntitiesInfo.idl"
-  SKIP_GROUP_MEMBERSHIP_CHECK
+  ${PROJECT_NAME}
+  "msg/Gid.msg"
+  "msg/NodeEntitiesInfo.msg"
+  "msg/ParticipantEntitiesInfo.msg"
 )
 
-add_library(${PROJECT_NAME} SHARED
+add_library(${PROJECT_NAME}_library SHARED
   src/gid_utils.cpp
   src/graph_cache.cpp)
-ament_target_dependencies(${PROJECT_NAME}
+set_target_properties(${PROJECT_NAME}_library
+  PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
+ament_target_dependencies(${PROJECT_NAME}_library
   "rcpputils"
   "rcutils"
   "rmw"
   "rosidl_runtime_cpp")
-add_dependencies(${PROJECT_NAME}
-  ${PROJECT_NAME}_interfaces)
-target_include_directories(${PROJECT_NAME} PUBLIC
+add_dependencies(${PROJECT_NAME}_library
+  ${PROJECT_NAME})
+target_include_directories(${PROJECT_NAME}_library PUBLIC
   include
   ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
   ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp)
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME}
+target_compile_definitions(${PROJECT_NAME}_library
   PRIVATE "RMW_DDS_COMMON_BUILDING_LIBRARY")
 
 install(
-  TARGETS ${PROJECT_NAME}
+  TARGETS ${PROJECT_NAME}_library
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
 ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME})
+ament_export_libraries(${PROJECT_NAME}_library)
 
 install(
   DIRECTORY include/
@@ -72,7 +74,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(test_graph_cache test/test_graph_cache.cpp)
   if(TARGET test_graph_cache)
-    target_link_libraries(test_graph_cache ${PROJECT_NAME})
+    target_link_libraries(test_graph_cache ${PROJECT_NAME}_library)
   endif()
 endif()
 

rmw_dds_common/msg/Gid.msg

@@ -0,0 +1 @@
+char[24] data

rmw_dds_common/msg/NodeEntitiesInfo.msg

@@ -0,0 +1,4 @@
+string<=256 node_namespace
+string<=256 node_name
+Gid[] reader_gid_seq
+Gid[] writer_gid_seq

rmw_dds_common/msg/ParticipantEntitiesInfo.msg

@@ -0,0 +1,2 @@
+Gid gid
+NodeEntitiesInfo[] node_entities_info_seq

rmw_dds_common/package.xml

@@ -9,7 +9,9 @@
   <author>Ivan Paunovic</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rmw_dds_common_generators</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
 
   <depend>rcutils</depend>
   <depend>rcpputils</depend>
@@ -20,6 +22,8 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>