ros-controls · christophfroehlich · Mar 28, 2025 · Feb 27, 2025 · Feb 27, 2025 · Feb 27, 2025
diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(ackermann_steering_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format  -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -23,6 +23,8 @@
 
   <build_depend>generate_parameter_library</build_depend>
 
+  <build_depend>ros2_control_cmake</build_depend>
+
   <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>controller_interface</depend>
@@ -36,7 +38,6 @@
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
   <test_depend>hardware_interface_testing</test_depend>
-  <test_depend>hardware_interface</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(admittance_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   angles

diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml
@@ -22,6 +22,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>ros2_control_cmake</build_depend>
+
   <depend>angles</depend>
   <depend>backward_ros</depend>
   <depend>control_msgs</depend>

diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(bicycle_steering_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml
@@ -22,6 +22,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>generate_parameter_library</build_depend>
+  <build_depend>ros2_control_cmake</build_depend>
 
   <depend>backward_ros</depend>
   <depend>control_msgs</depend>
@@ -35,7 +36,6 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
-  <test_depend>hardware_interface</test_depend>
   <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 

diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(diff_drive_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   control_toolbox

diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
@@ -21,7 +21,9 @@
   <author email="jordan.palacios@pal-robotics.com">Jordan Palacios</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+
   <build_depend>generate_parameter_library</build_depend>
+  <build_depend>ros2_control_cmake</build_depend>
 
   <depend>backward_ros</depend>
   <depend>control_toolbox</depend>

diff --git a/effort_controllers/CMakeLists.txt b/effort_controllers/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(effort_controllers)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   forward_command_controller

diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -19,6 +19,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>ros2_control_cmake</build_depend>
+
   <depend>backward_ros</depend>
   <depend>forward_command_controller</depend>
   <depend>pluginlib</depend>

diff --git a/force_torque_sensor_broadcaster/CMakeLists.txt b/force_torque_sensor_broadcaster/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(force_torque_sensor_broadcaster)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface

diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml
@@ -21,6 +21,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>ros2_control_cmake</build_depend>
+
   <depend>backward_ros</depend>
   <depend>controller_interface</depend>
   <depend>geometry_msgs</depend>

diff --git a/forward_command_controller/CMakeLists.txt b/forward_command_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(forward_command_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface

diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
@@ -19,6 +19,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>ros2_control_cmake</build_depend>
+
   <depend>backward_ros</depend>
   <depend>controller_interface</depend>
   <depend>generate_parameter_library</depend>

diff --git a/gpio_controllers/CMakeLists.txt b/gpio_controllers/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.8)
 project(gpio_controllers)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-  -Werror=return-type -Werror=shadow -Werror=format  -Werror=range-loop-construct
-  -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)

diff --git a/gpio_controllers/package.xml b/gpio_controllers/package.xml
@@ -21,6 +21,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>ros2_control_cmake</build_depend>
+
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>
   <depend>rclcpp</depend>

diff --git a/gripper_controllers/CMakeLists.txt b/gripper_controllers/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(gripper_controllers)
 
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
-
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   control_msgs

diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
@@ -23,6 +23,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>ros2_control_cmake</build_depend>
+
   <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>control_toolbox</depend>

diff --git a/imu_sensor_broadcaster/CMakeLists.txt b/imu_sensor_broadcaster/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(imu_sensor_broadcaster)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface

diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml
@@ -20,6 +20,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>ros2_control_cmake</build_depend>
+
   <depend>backward_ros</depend>
   <depend>controller_interface</depend>
   <depend>generate_parameter_library</depend>

diff --git a/joint_state_broadcaster/CMakeLists.txt b/joint_state_broadcaster/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(joint_state_broadcaster)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   builtin_interfaces

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -20,13 +20,16 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>ros2_control_cmake</build_depend>
+
   <depend>backward_ros</depend>
   <depend>builtin_interfaces</depend>
   <depend>control_msgs</depend>
   <depend>controller_interface</depend>
   <depend>generate_parameter_library</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>rclcpp</depend>
   <depend>rcutils</depend>
   <depend>realtime_tools</depend>
   <depend>sensor_msgs</depend>
@@ -36,7 +39,6 @@
   <test_depend>controller_manager</test_depend>
   <test_depend>hardware_interface_testing</test_depend>
   <test_depend>hardware_interface</test_depend>
-  <test_depend>rclcpp</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(joint_trajectory_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   angles

diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -17,6 +17,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>ros2_control_cmake</build_depend>
+
   <depend>angles</depend>
   <depend>backward_ros</depend>
   <depend>controller_interface</depend>

diff --git a/mecanum_drive_controller/CMakeLists.txt b/mecanum_drive_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(mecanum_drive_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-  -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-  -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/mecanum_drive_controller/package.xml b/mecanum_drive_controller/package.xml
@@ -23,6 +23,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>generate_parameter_library</build_depend>
+  <build_depend>ros2_control_cmake</build_depend>
 
   <depend>control_msgs</depend>
   <depend>controller_interface</depend>