From b1c45fd83bbba6071283b0c35620da35a18fb73a Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Tue, 14 Jan 2025 12:22:24 +0100
Subject: [PATCH] Remove plugins from export set (#3227) (#3242)

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
(cherry picked from commit b5eb4deb355bda2770e822f833b8fd38ea38f985)

Co-authored-by: Paul Gesel <paul.gesel@picknik.ai>
---
 moveit_core/CMakeLists.txt                    | 24 ++++++++++++-------
 moveit_kinematics/CMakeLists.txt              | 20 +++++++++++-----
 .../CMakeLists.txt                            |  2 +-
 moveit_ros/move_group/CMakeLists.txt          | 10 ++++++--
 4 files changed, 38 insertions(+), 18 deletions(-)

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 608babbebc..ca30488f79 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -69,13 +69,7 @@ add_subdirectory(utils)
 add_subdirectory(version)
 
 install(
-  TARGETS collision_detector_bullet_plugin
-          collision_detector_fcl_plugin
-          moveit_acceleration_filter
-          moveit_acceleration_filter_parameters
-          moveit_butterworth_filter
-          moveit_butterworth_filter_parameters
-          moveit_collision_detection
+  TARGETS moveit_collision_detection
           moveit_collision_detection_bullet
           moveit_collision_detection_fcl
           moveit_collision_distance_field
@@ -92,8 +86,6 @@ install(
           moveit_robot_model
           moveit_robot_state
           moveit_robot_trajectory
-          moveit_ruckig_filter
-          moveit_ruckig_filter_parameters
           moveit_smoothing_base
           moveit_test_utils
           moveit_trajectory_processing
@@ -104,6 +96,20 @@ install(
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin)
 
+install(
+  TARGETS collision_detector_bullet_plugin
+          collision_detector_fcl_plugin
+          moveit_acceleration_filter
+          moveit_acceleration_filter_parameters
+          moveit_butterworth_filter
+          moveit_butterworth_filter_parameters
+          moveit_ruckig_filter
+          moveit_ruckig_filter_parameters
+  EXPORT moveit_core_pluginTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin)
+
 ament_export_targets(moveit_coreTargets HAS_LIBRARY_TARGET)
 ament_export_dependencies(
   angles
diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
index 21b03dfb14..a453674aba 100644
--- a/moveit_kinematics/CMakeLists.txt
+++ b/moveit_kinematics/CMakeLists.txt
@@ -28,12 +28,11 @@ set(THIS_PACKAGE_INCLUDE_DIRS
     cached_ik_kinematics_plugin/include)
 
 set(THIS_PACKAGE_LIBRARIES
-    cached_ik_kinematics_parameters
-    moveit_cached_ik_kinematics_base
-    moveit_cached_ik_kinematics_plugin
-    kdl_kinematics_parameters
-    moveit_kdl_kinematics_plugin
-    srv_kinematics_parameters
+    cached_ik_kinematics_parameters moveit_cached_ik_kinematics_base
+    kdl_kinematics_parameters srv_kinematics_parameters)
+
+set(THIS_PACKAGE_PLUGINS
+    moveit_cached_ik_kinematics_plugin moveit_kdl_kinematics_plugin
     moveit_srv_kinematics_plugin)
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
@@ -74,6 +73,15 @@ install(
   INCLUDES
   DESTINATION include/moveit_kinematics)
 
+install(
+  TARGETS ${THIS_PACKAGE_PLUGINS}
+  EXPORT ${PROJECT_NAME}PluginTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES
+  DESTINATION include/moveit_kinematics)
+
 ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
index f281644753..5ce836e33a 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
@@ -21,7 +21,7 @@ generate_parameter_library(
 
 target_link_libraries(
   moveit_cached_ik_kinematics_base PUBLIC cached_ik_kinematics_parameters
-                                          moveit_kdl_kinematics_plugin)
+                                          kdl_kinematics_parameters)
 
 add_library(moveit_cached_ik_kinematics_plugin SHARED
             src/cached_ik_kinematics_plugin.cpp)
diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
index bd48293e7a..2cdebb6ee9 100644
--- a/moveit_ros/move_group/CMakeLists.txt
+++ b/moveit_ros/move_group/CMakeLists.txt
@@ -79,13 +79,19 @@ install(TARGETS move_group list_move_group_capabilities
         RUNTIME DESTINATION lib/moveit_ros_move_group)
 
 install(
-  TARGETS moveit_move_group_default_capabilities
-          moveit_move_group_capabilities_base
+  TARGETS moveit_move_group_capabilities_base
   EXPORT moveit_ros_move_groupTargets
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin)
 
+install(
+  TARGETS moveit_move_group_default_capabilities
+  EXPORT moveit_move_group_default_capabilitiesTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin)
+
 install(DIRECTORY include/ DESTINATION include/moveit_ros_move_group)
 
 install(PROGRAMS scripts/load_map scripts/save_map