From ef39a4fd5cfb1400b2e6e034b1a99b8ad91192cf Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dirk-thomas@users.noreply.github.com>
Date: Fri, 1 May 2020 10:20:08 -0700
Subject: [PATCH 1/2] export modern CMake interface target

* export modern CMake interface target
* remove redundant include_directories

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

Original pull request on ROS 2 fork: https://github.com/ros2/orocos_kinematics_dynamics/pull/14

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
---
 orocos_kdl/orocos_kdl-config.cmake.in | 1 +
 orocos_kdl/src/CMakeLists.txt         | 6 +++++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/orocos_kdl/orocos_kdl-config.cmake.in b/orocos_kdl/orocos_kdl-config.cmake.in
index 4cc8bc598..d17d43349 100644
--- a/orocos_kdl/orocos_kdl-config.cmake.in
+++ b/orocos_kdl/orocos_kdl-config.cmake.in
@@ -28,6 +28,7 @@ set(orocos_kdl_INCLUDE_DIRS
   ${EIGEN3_INCLUDE_DIR}
 )
 set(orocos_kdl_LIBRARIES orocos-kdl)
+set(orocos_kdl_TARGETS orocos-kdl)
 
 # where the .pc pkgconfig files are installed
 set(orocos_kdl_PKGCONFIG_DIR "${orocos_kdl_PREFIX}/lib/pkgconfig")
diff --git a/orocos_kdl/src/CMakeLists.txt b/orocos_kdl/src/CMakeLists.txt
index ca63079c7..2b1e40a37 100644
--- a/orocos_kdl/src/CMakeLists.txt
+++ b/orocos_kdl/src/CMakeLists.txt
@@ -57,6 +57,9 @@ ENDIF()
 
 ADD_LIBRARY(orocos-kdl ${LIB_TYPE} ${KDL_SRCS} config.h)
 
+TARGET_INCLUDE_DIRECTORIES(orocos-kdl PUBLIC
+  "$<INSTALL_INTERFACE:include>")
+
 SET_TARGET_PROPERTIES( orocos-kdl PROPERTIES
   SOVERSION "${KDL_VERSION_MAJOR}.${KDL_VERSION_MINOR}"
   VERSION "${KDL_VERSION}"
@@ -80,7 +83,8 @@ ENDIF()
 #####end RPATH
 
 # Needed so that the generated config.h can be used
-INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR})
+TARGET_INCLUDE_DIRECTORIES(orocos-kdl PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>")
 TARGET_LINK_LIBRARIES(orocos-kdl ${Boost_LIBRARIES})
 
 INSTALL(TARGETS orocos-kdl

From ef1aef51039dfac2b5bec9337b10e550384e77ab Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <MatthijsBurgh@outlook.com>
Date: Fri, 29 Oct 2021 17:42:53 +0200
Subject: [PATCH 2/2] (kdl) Use minimal cmake 3.0.2

---
 orocos_kdl/CMakeLists.txt | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/orocos_kdl/CMakeLists.txt b/orocos_kdl/CMakeLists.txt
index a15bd15d5..a1b335cd9 100644
--- a/orocos_kdl/CMakeLists.txt
+++ b/orocos_kdl/CMakeLists.txt
@@ -1,11 +1,7 @@
 #
 # Test CMake version
 #
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-IF(POLICY CMP0048)
-  CMAKE_POLICY(SET CMP0048 NEW)
-ENDIF()
-#MARK_AS_ADVANCED( FORCE CMAKE_BACKWARDS_COMPATIBILITY )
+CMAKE_MINIMUM_REQUIRED(VERSION 3.0.2)
 
 
 ###################################################