From abbf0bb7b74cc9386d6d6d513f55009b797234b6 Mon Sep 17 00:00:00 2001
From: John Morris <john@zultron.com>
Date: Tue, 21 Dec 2021 11:17:03 -0600
Subject: [PATCH] hal_hw_interface:  Fix packaging issues

---
 hal_hw_interface/CMakeLists.txt            | 27 ++++++++++++++--------
 hal_hw_interface/package.xml               |  5 ++--
 hal_hw_interface/resource/hal_hw_interface |  0
 3 files changed, 20 insertions(+), 12 deletions(-)
 delete mode 100644 hal_hw_interface/resource/hal_hw_interface

diff --git a/hal_hw_interface/CMakeLists.txt b/hal_hw_interface/CMakeLists.txt
index b363aef..3daa6a9 100644
--- a/hal_hw_interface/CMakeLists.txt
+++ b/hal_hw_interface/CMakeLists.txt
@@ -63,17 +63,16 @@ target_link_libraries(hal_control_node ${rclcpp_LIBRARIES})
 
 ament_target_dependencies(
   hal_control_node
+  controller_manager
   hardware_interface
-  pluginlib
   rclcpp
-  rclcpp_lifecycle
   HAL
 )
 
 
 # Build HAL system hardware plugin
 add_library(
-  hal_system_interface MODULE
+  hal_system_interface SHARED
   src/hal_system_interface.cpp
 )
 
@@ -100,9 +99,9 @@ pluginlib_export_plugin_description_file(
 
 # Install libraries
 install(
-  TARGETS hal_control_node
+  TARGETS hal_control_node hal_system_interface
   LIBRARY
-  DESTINATION lib/${PROJECT_NAME}
+  DESTINATION lib
 )
 
 # Install C++ headers
@@ -116,10 +115,6 @@ ament_export_include_directories(
   include
 )
 
-ament_export_libraries(
-  hal_control_node
-)
-
 #######################
 # Python
 
@@ -138,7 +133,7 @@ install(PROGRAMS
 
 # Install launch files
 install(DIRECTORY launch
-  DESTINATION share/${PROJECT_NAME}/launch)
+  DESTINATION share/${PROJECT_NAME})
 
 # Install CMake files
 # FIXME:  This belongs in Machinekit HAL!
@@ -175,6 +170,18 @@ endif()
 #######################
 # Finalize package
 
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  hal_system_interface
+)
+ament_export_dependencies(
+  hardware_interface
+  pluginlib
+  rclcpp
+)
+
 ament_package(
   CONFIG_EXTRAS cmake/${PROJECT_NAME}-extras.cmake
 )
diff --git a/hal_hw_interface/package.xml b/hal_hw_interface/package.xml
index be0224a..36d26ef 100644
--- a/hal_hw_interface/package.xml
+++ b/hal_hw_interface/package.xml
@@ -24,7 +24,6 @@
   <!-- <build_depend>python3-attrs</build_depend> -->
   <!-- <build_depend>std_msgs</build_depend> -->
   <!-- <build_depend>std_srvs</build_depend> -->
-  <!-- <build_depend>python3-catkin-pkg</build_depend> -->
   <!-- <build_depend>redis_store</build_depend> -->
   <build_depend>machinekit-dev</build_depend>
 
@@ -36,10 +35,10 @@
   <exec_depend>python-attrs-pip</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>std_srvs</exec_depend>
+  <exec_depend>hal_hw_interface_msgs</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <!-- <exec_depend>redis_store</exec_depend> -->
   <exec_depend>machinekit</exec_depend>
-  <exec_depend>hal_hw_interface_msgs</exec_depend>
 
   <test_depend>ament_cmake_cppcheck</test_depend>
   <test_depend>ament_cmake_cpplint</test_depend>
@@ -55,10 +54,12 @@
        controller_manager)
        https://github.com/ros/pluginlib/pull/222 -->
   <depend>libboost-thread</depend>
+  <build_depend>libboost-thread-dev</build_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>
+    <build_type>ament_cmake</build_type>
     <rosdoc config="rosdoc.yaml" />
   </export>
 </package>
diff --git a/hal_hw_interface/resource/hal_hw_interface b/hal_hw_interface/resource/hal_hw_interface
deleted file mode 100644
index e69de29..0000000