Cleanup CMakeLists.txt

[mosfet80]

Description

Removed several unnecessary dependencies from target_link_libraries for various executables and libraries in CMakeLists.txt.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
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Summary by CodeRabbit

• Refactor
  • Streamlined build configurations for Servo libraries, demonstrations, keyboard controls, and tests by removing redundant dependencies.
  • Retained the dependencies required for core Servo functionality, ROS integration, demonstrations, and testing.
  • No changes were made to user-facing behavior, available features, or public interfaces.

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: defaults

Review profile: CHILL

Plan: Pro Plus

Run ID: 27397af9-e292-4fae-801c-2b9ce35115a0

📥 Commits

Reviewing files that changed from the base of the PR and between 5296d03 and 01378e0.

📒 Files selected for processing (1)

• moveit_ros/moveit_servo/CMakeLists.txt

🚧 Files skipped from review as they are similar to previous changes (1)

• moveit_ros/moveit_servo/CMakeLists.txt

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📝 Walkthrough

Walkthrough

Changes

The Servo CMake configuration removes redundant link dependencies from Servo libraries, demos, the keyboard executable, and tests. Each target retains only its required direct dependencies.

Servo CMake dependency cleanup

Layer / File(s)	Summary
Servo library link dependencies moveit_ros/moveit_servo/CMakeLists.txt	The C++ Servo library now links its parameter library and moveit_ros_planning. The ROS Servo library retains the C++ library, control_msgs, realtime_tools, and std_srvs.
Demo and test link dependencies moveit_ros/moveit_servo/CMakeLists.txt	The demos, keyboard executable, utility test, and C++ integration tests use reduced dependency lists. The ROS integration test retains control_msgs, moveit_core, and trajectory_msgs.

Estimated code review effort: 2 (Simple) | ~10 minutes

Merge Risk: ⚪ Minimal · up to 01378

This localized CMake cleanup changes target dependency declarations without any identified merge-blocking risk; it is merge-ready after normal checks and review.

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly identifies the main change: cleaning up the moveit_servo CMakeLists.txt dependencies.

✨ Finishing Touches 💡 1

🛠️ Fix failing CI checks 💡

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 48.75%. Comparing base (7ae8653) to head (d5eaa4a).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3824      +/-   ##
==========================================
- Coverage   48.76%   48.75%   -0.00%     
==========================================
  Files         730      730              
  Lines       62470    62470              
  Branches     7609     7609              
==========================================
- Hits        30455    30454       -1     
- Misses      32015    32016       +1     

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[rhaschke]

Seems to work. Nice cleanup! Thanks.

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[rhaschke]

@mosfet80: Do you plan to look into other CMakefiles too?
If so, that would be great and I would like to collect all corresponding commits within this PR.
Thanks a lot in advance.

[mosfet80]

@mosfet80: Do you plan to look into other CMakefiles too? If so, that would be great and I would like to collect all corresponding commits within this PR. Thanks a lot in advance.

I also plan to optimize the other packages included in moveit2. Unfortunately, I'm busy with other activities and won't be able to finish it this month.

[rhaschke]

Great. As this cleanup is not at all urgent, I'm happy to wait until all cleanups are collected here. I'll switch the status to draft.

[christian-rauch]

Thanks for the cleanup. I would prefer if you keep the line-by-line target list for easier readability.

[christian-rauch]

Can you keep the CMake targets per line (here and anywhere else)? This makes it easier readable, and you will see in the diff which targets actually get removed.