From da90081c5801a3fd6e88607ea8f756b16bea113e Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Fri, 6 Dec 2024 10:49:26 +0100
Subject: [PATCH] Rebase from 'upstream'

---
 CHANGELOG.rst  |  8 +++++++-
 CMakeLists.txt | 11 ++++-------
 package.xml    |  5 +++--
 3 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 56aca0b..eadd1fe 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package geometric_shapes
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.1 (2024-12-06)
+------------------
+* Fix dependency handling (`#256 <https://github.com/ros-planning/geometric_shapes/issues/256>`_)
+  Declare fcl, qhull, and assimp as non-transitive, build-only dependencies. They are not exposed in headers.
+* Contributors: Martin Pecka
+
 2.3.0 (2024-11-29)
 ------------------
 * Install headers into subdirectory (`#253 <https://github.com/moveit/geometric_shapes/issues/253>`_)
@@ -64,7 +70,7 @@ Changelog for package geometric_shapes
 * Contributors: Tyler Weaver
 
 2.0.0 (2020-11-20)
------------
+------------------
 * [maint] Travis: Disable warnings as gcc warns about redundant declarations in qhull includes
 * [maint] Inherit package VERSION (for library soname) from package.xml
 * [maint] Trim boost dependencies `#156 <https://github.com/ros-planning/geometric_shapes/issues/156>`_
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 083ad52..8c46189 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -90,15 +90,12 @@ target_compile_options(${PROJECT_NAME} PRIVATE ${PROJECT_COMPILE_OPTIONS})
 target_include_directories(${PROJECT_NAME}
     PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
            $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
-target_link_libraries(${PROJECT_NAME} fcl)
-ament_target_dependencies(${PROJECT_NAME}
+ament_target_dependencies(${PROJECT_NAME} PUBLIC
   ${THIS_PACKAGE_EXPORT_DEPENDS}
 )
-ament_target_dependencies(${PROJECT_NAME} SYSTEM
-  # We don't export these dependencies because their cmake is broken
-  assimp
-  QHULL
-)
+# Private libraries that are not transitively needed by downstream projects
+target_link_libraries(${PROJECT_NAME} PRIVATE assimp::assimp fcl ${QHULL_LIBRARIES})
+target_include_directories(${PROJECT_NAME} PRIVATE ${QHULL_INCLUDE_DIRS})
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
diff --git a/package.xml b/package.xml
index dfafaf4..7659ba1 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometric_shapes</name>
-  <version>2.3.0</version>
+  <version>2.3.1</version>
   <description>This package contains generic definitions of geometric shapes and bodies.</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>
@@ -27,7 +27,6 @@
   <depend>rclcpp</depend>
   <depend>eigen_stl_containers</depend>
   <depend>console_bridge_vendor</depend>
-  <depend>libqhull</depend>
   <depend>liboctomap-dev</depend>
   <depend>random_numbers</depend>
   <depend>resource_retriever</depend>
@@ -38,6 +37,7 @@
   <build_depend>assimp-dev</build_depend>
   <build_depend>eigen</build_depend>
   <build_depend>libfcl-dev</build_depend>
+  <build_depend>libqhull</build_depend>
   <build_depend>pkg-config</build_depend>
   <build_depend>libboost-dev</build_depend>
   <build_depend>libboost-filesystem-dev</build_depend>
@@ -48,6 +48,7 @@
   <exec_depend>libboost-filesystem</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <exec_depend>libfcl</exec_depend>
+  <exec_depend>libqhull</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>