Fix Rolling CI: migrate ament_target_dependencies to compat shim

cmake/ROS2MedkitCompat.cmake

@@ -28,6 +28,7 @@
 #   medkit_find_cpp_httplib()           — Find cpp-httplib, create cpp_httplib_target alias
 #   medkit_detect_compat_defs()         — Detect rclcpp/rosbag2 versions, set compat variables
 #   medkit_apply_compat_defs(target)    — Apply compile definitions to a target
+#   medkit_target_dependencies(target ...) - Drop-in ament_target_dependencies replacement
 #
 # Variables set by medkit_detect_compat_defs():
 #   MEDKIT_RCLCPP_VERSION_MAJOR     — integer (e.g., 16 for Humble, 28 for Jazzy)
@@ -159,3 +160,101 @@ function(medkit_apply_compat_defs target)
     target_compile_definitions(${target} PRIVATE ROSBAG2_USE_OLD_TIMESTAMP_FIELD)
   endif()
 endfunction()
+
+# ---------------------------------------------------------------------------
+# medkit_target_dependencies(target [PUBLIC|PRIVATE|INTERFACE] dep1 dep2 ...)
+# ---------------------------------------------------------------------------
+# Drop-in replacement for ament_target_dependencies that works on Rolling
+# (where ament_target_dependencies was removed from ament_cmake).
+#
+# On Humble/Jazzy: delegates to ament_target_dependencies (available).
+# On Rolling:      uses target_link_libraries with ${dep_TARGETS}.
+#
+# When no visibility keyword (PUBLIC/PRIVATE/INTERFACE) is passed, the macro
+# uses the plain target_link_libraries signature. This avoids conflicts with
+# ament_add_gtest_executable, which also uses the plain signature internally.
+# When an explicit visibility keyword IS passed, the keyword signature is used.
+#
+# Special cases:
+#   yaml_cpp_vendor  - vendor package, no _TARGETS; links yaml-cpp::yaml-cpp
+#                      (must call medkit_find_yaml_cpp() first)
+# ---------------------------------------------------------------------------
+macro(medkit_target_dependencies target)
+  if(COMMAND ament_target_dependencies)
+    ament_target_dependencies(${target} ${ARGN})
+  else()
+    # Rolling fallback: resolve dependency targets explicitly.
+    #
+    # CMake forbids mixing the "plain" and "keyword" (PUBLIC/PRIVATE/INTERFACE)
+    # signatures of target_link_libraries on the same target.
+    # ament_add_gtest_executable uses the plain signature internally, so we must
+    # also use the plain signature when no explicit visibility is requested.
+    # When the caller passes PUBLIC/PRIVATE/INTERFACE, we honour it (keyword form).
+    set(_mtd_has_visibility FALSE)
+    set(_mtd_visibility "")
+    set(_mtd_plain_deps)
+    set(_mtd_public_deps)
+    set(_mtd_private_deps)
+    set(_mtd_interface_deps)
+    foreach(_mtd_arg ${ARGN})
+      if(_mtd_arg STREQUAL "PUBLIC" OR _mtd_arg STREQUAL "PRIVATE" OR _mtd_arg STREQUAL "INTERFACE")
+        set(_mtd_has_visibility TRUE)
+        set(_mtd_visibility ${_mtd_arg})
+      else()
+        # Resolve dependency to concrete CMake targets
+        set(_mtd_dep_targets)
+        if(_mtd_arg STREQUAL "yaml_cpp_vendor")
+          # yaml_cpp_vendor is a wrapper package - link the real target
+          list(APPEND _mtd_dep_targets yaml-cpp::yaml-cpp)
+        else()
+          # Standard ament package - prefer exported <dep>_TARGETS, fall back to <dep>::<dep>
+          set(_mtd_targets_var "${_mtd_arg}_TARGETS")
+          if(DEFINED ${_mtd_targets_var} AND NOT "${${_mtd_targets_var}}" STREQUAL "")
+            list(APPEND _mtd_dep_targets ${${_mtd_targets_var}})
+          elseif(TARGET ${_mtd_arg}::${_mtd_arg})
+            list(APPEND _mtd_dep_targets ${_mtd_arg}::${_mtd_arg})
+          else()
+            message(FATAL_ERROR
+              "[MedkitCompat] medkit_target_dependencies: could not resolve dependency '${_mtd_arg}' "
+              "for target '${target}'. Expected variable ${_mtd_arg}_TARGETS or imported target "
+              "${_mtd_arg}::${_mtd_arg}")
+          endif()
+          unset(_mtd_targets_var)
+        endif()
+        # Buffer resolved targets per visibility bucket
+        if(_mtd_visibility STREQUAL "PRIVATE")
+          list(APPEND _mtd_private_deps ${_mtd_dep_targets})
+        elseif(_mtd_visibility STREQUAL "INTERFACE")
+          list(APPEND _mtd_interface_deps ${_mtd_dep_targets})
+        elseif(_mtd_visibility STREQUAL "PUBLIC")
+          list(APPEND _mtd_public_deps ${_mtd_dep_targets})
+        else()
+          # No visibility keyword seen yet - use plain signature
+          list(APPEND _mtd_plain_deps ${_mtd_dep_targets})
+        endif()
+        unset(_mtd_dep_targets)
+      endif()
+    endforeach()
+    # Plain deps (no visibility keyword) - use plain signature to stay compatible
+    # with ament_add_gtest_executable and other plain target_link_libraries calls
+    if(_mtd_plain_deps)
+      target_link_libraries(${target} ${_mtd_plain_deps})
+    endif()
+    # Keyword deps - only emitted when caller explicitly specified visibility
+    if(_mtd_public_deps)
+      target_link_libraries(${target} PUBLIC ${_mtd_public_deps})
+    endif()
+    if(_mtd_private_deps)
+      target_link_libraries(${target} PRIVATE ${_mtd_private_deps})
+    endif()
+    if(_mtd_interface_deps)
+      target_link_libraries(${target} INTERFACE ${_mtd_interface_deps})
+    endif()
+    unset(_mtd_has_visibility)
+    unset(_mtd_visibility)
+    unset(_mtd_plain_deps)
+    unset(_mtd_public_deps)
+    unset(_mtd_private_deps)
+    unset(_mtd_interface_deps)
+  endif()
+endmacro()

src/ros2_medkit_diagnostic_bridge/CMakeLists.txt

@@ -32,6 +32,11 @@ if(ENABLE_COVERAGE)
 endif()
 
 find_package(ament_cmake REQUIRED)
+
+# Multi-distro compatibility (Humble / Jazzy / Rolling)
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
+include(ROS2MedkitCompat)
+
 find_package(rclcpp REQUIRED)
 find_package(diagnostic_msgs REQUIRED)
 find_package(ros2_medkit_msgs REQUIRED)
@@ -47,7 +52,7 @@ target_include_directories(diagnostic_bridge_lib PUBLIC
   $<INSTALL_INTERFACE:include>
 )
 
-ament_target_dependencies(diagnostic_bridge_lib
+medkit_target_dependencies(diagnostic_bridge_lib
   rclcpp
   diagnostic_msgs
   ros2_medkit_msgs
@@ -57,7 +62,7 @@ ament_target_dependencies(diagnostic_bridge_lib
 # Executable
 add_executable(diagnostic_bridge_node src/main.cpp)
 target_link_libraries(diagnostic_bridge_node diagnostic_bridge_lib)
-ament_target_dependencies(diagnostic_bridge_node rclcpp)
+medkit_target_dependencies(diagnostic_bridge_node rclcpp)
 
 # Install executable
 install(TARGETS diagnostic_bridge_node
@@ -100,7 +105,7 @@ if(BUILD_TESTING)
   # Unit tests
   ament_add_gtest(test_diagnostic_bridge test/test_diagnostic_bridge.cpp)
   target_link_libraries(test_diagnostic_bridge diagnostic_bridge_lib)
-  ament_target_dependencies(test_diagnostic_bridge rclcpp diagnostic_msgs ros2_medkit_msgs)
+  medkit_target_dependencies(test_diagnostic_bridge rclcpp diagnostic_msgs ros2_medkit_msgs)
 
   if(ENABLE_COVERAGE)
     target_compile_options(test_diagnostic_bridge PRIVATE --coverage -O0 -g)

src/ros2_medkit_fault_manager/CMakeLists.txt

@@ -67,7 +67,7 @@ target_include_directories(fault_manager_lib PUBLIC
   $<INSTALL_INTERFACE:include>
 )
 
-ament_target_dependencies(fault_manager_lib PUBLIC
+medkit_target_dependencies(fault_manager_lib PUBLIC
   rclcpp
   ros2_medkit_msgs
   ros2_medkit_serialization
@@ -125,22 +125,22 @@ if(BUILD_TESTING)
   # Unit tests
   ament_add_gtest(test_fault_manager test/test_fault_manager.cpp)
   target_link_libraries(test_fault_manager fault_manager_lib)
-  ament_target_dependencies(test_fault_manager rclcpp ros2_medkit_msgs)
+  medkit_target_dependencies(test_fault_manager rclcpp ros2_medkit_msgs)
 
   # SQLite storage tests
   ament_add_gtest(test_sqlite_storage test/test_sqlite_storage.cpp)
   target_link_libraries(test_sqlite_storage fault_manager_lib)
-  ament_target_dependencies(test_sqlite_storage rclcpp ros2_medkit_msgs)
+  medkit_target_dependencies(test_sqlite_storage rclcpp ros2_medkit_msgs)
 
   # Snapshot capture tests
   ament_add_gtest(test_snapshot_capture test/test_snapshot_capture.cpp)
   target_link_libraries(test_snapshot_capture fault_manager_lib)
-  ament_target_dependencies(test_snapshot_capture rclcpp ros2_medkit_msgs)
+  medkit_target_dependencies(test_snapshot_capture rclcpp ros2_medkit_msgs)
 
   # Rosbag capture tests
   ament_add_gtest(test_rosbag_capture test/test_rosbag_capture.cpp)
   target_link_libraries(test_rosbag_capture fault_manager_lib)
-  ament_target_dependencies(test_rosbag_capture rclcpp ros2_medkit_msgs)
+  medkit_target_dependencies(test_rosbag_capture rclcpp ros2_medkit_msgs)
 
   # Correlation config parser tests
   ament_add_gtest(test_correlation_config_parser test/test_correlation_config_parser.cpp)

src/ros2_medkit_fault_reporter/CMakeLists.txt

@@ -32,6 +32,11 @@ if(ENABLE_COVERAGE)
 endif()
 
 find_package(ament_cmake REQUIRED)
+
+# Multi-distro compatibility (Humble / Jazzy / Rolling)
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
+include(ROS2MedkitCompat)
+
 find_package(rclcpp REQUIRED)
 find_package(ros2_medkit_msgs REQUIRED)
 
@@ -46,7 +51,7 @@ target_include_directories(fault_reporter_lib PUBLIC
   $<INSTALL_INTERFACE:include>
 )
 
-ament_target_dependencies(fault_reporter_lib
+medkit_target_dependencies(fault_reporter_lib
   rclcpp
   ros2_medkit_msgs
 )
@@ -87,7 +92,7 @@ if(BUILD_TESTING)
   # Unit tests
   ament_add_gtest(test_local_filter test/test_local_filter.cpp)
   target_link_libraries(test_local_filter fault_reporter_lib)
-  ament_target_dependencies(test_local_filter rclcpp ros2_medkit_msgs)
+  medkit_target_dependencies(test_local_filter rclcpp ros2_medkit_msgs)
 
   if(ENABLE_COVERAGE)
     target_compile_options(test_local_filter PRIVATE --coverage -O0 -g)

src/ros2_medkit_gateway/CMakeLists.txt

@@ -138,7 +138,7 @@ add_library(gateway_lib STATIC
   src/plugins/plugin_manager.cpp
 )
 
-ament_target_dependencies(gateway_lib
+medkit_target_dependencies(gateway_lib
   rclcpp
   std_msgs
   std_srvs
@@ -264,7 +264,7 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_generic_client_compat test/test_generic_client_compat.cpp)
   target_link_libraries(test_generic_client_compat gateway_lib)
-  ament_target_dependencies(test_generic_client_compat rclcpp std_srvs)
+  medkit_target_dependencies(test_generic_client_compat rclcpp std_srvs)
 
   ament_add_gtest(test_operation_manager test/test_operation_manager.cpp)
   target_link_libraries(test_operation_manager gateway_lib)
@@ -276,12 +276,12 @@ if(BUILD_TESTING)
   find_package(std_msgs REQUIRED)
   ament_add_gtest(test_native_topic_sampler test/test_native_topic_sampler.cpp)
   target_link_libraries(test_native_topic_sampler gateway_lib)
-  ament_target_dependencies(test_native_topic_sampler std_msgs)
+  medkit_target_dependencies(test_native_topic_sampler std_msgs)
 
   # Add DiscoveryManager tests
   ament_add_gtest(test_discovery_manager test/test_discovery_manager.cpp)
   target_link_libraries(test_discovery_manager gateway_lib)
-  ament_target_dependencies(test_discovery_manager std_msgs)
+  medkit_target_dependencies(test_discovery_manager std_msgs)
 
   # Add TLS configuration tests
   ament_add_gtest(test_tls_config test/test_tls_config.cpp)
@@ -290,7 +290,7 @@ if(BUILD_TESTING)
   # Add FaultManager tests
   ament_add_gtest(test_fault_manager test/test_fault_manager.cpp)
   target_link_libraries(test_fault_manager gateway_lib)
-  ament_target_dependencies(test_fault_manager rclcpp ros2_medkit_msgs)
+  medkit_target_dependencies(test_fault_manager rclcpp ros2_medkit_msgs)
 
   # Add discovery models tests
   ament_add_gtest(test_discovery_models test/test_discovery_models.cpp)
@@ -335,7 +335,7 @@ if(BUILD_TESTING)
   # Add data access manager tests
   ament_add_gtest(test_data_access_manager test/test_data_access_manager.cpp)
   target_link_libraries(test_data_access_manager gateway_lib)
-  ament_target_dependencies(test_data_access_manager rclcpp std_msgs)
+  medkit_target_dependencies(test_data_access_manager rclcpp std_msgs)
 
   # Add entity resource model tests
   ament_add_gtest(test_entity_resource_model test/test_entity_resource_model.cpp)
@@ -425,7 +425,7 @@ if(BUILD_TESTING)
   # Add plugin loader tests
   ament_add_gtest(test_plugin_loader test/test_plugin_loader.cpp)
   target_link_libraries(test_plugin_loader gateway_lib)
-  ament_target_dependencies(test_plugin_loader ament_index_cpp)
+  medkit_target_dependencies(test_plugin_loader ament_index_cpp)
 
   # Plugin manager tests
   ament_add_gtest(test_plugin_manager test/test_plugin_manager.cpp)

src/ros2_medkit_integration_tests/CMakeLists.txt

@@ -9,6 +9,11 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
+
+# Multi-distro compatibility (Humble / Jazzy / Rolling)
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake")
+include(ROS2MedkitCompat)
+
 find_package(ament_cmake_python REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
@@ -22,31 +27,31 @@ find_package(ros2_medkit_msgs REQUIRED)
 # === Demo node executables ===
 
 add_executable(demo_engine_temp_sensor demo_nodes/engine_temp_sensor.cpp)
-ament_target_dependencies(demo_engine_temp_sensor rclcpp rcl_interfaces sensor_msgs)
+medkit_target_dependencies(demo_engine_temp_sensor rclcpp rcl_interfaces sensor_msgs)
 
 add_executable(demo_rpm_sensor demo_nodes/rpm_sensor.cpp)
-ament_target_dependencies(demo_rpm_sensor rclcpp std_msgs)
+medkit_target_dependencies(demo_rpm_sensor rclcpp std_msgs)
 
 add_executable(demo_brake_pressure_sensor demo_nodes/brake_pressure_sensor.cpp)
-ament_target_dependencies(demo_brake_pressure_sensor rclcpp std_msgs)
+medkit_target_dependencies(demo_brake_pressure_sensor rclcpp std_msgs)
 
 add_executable(demo_door_status_sensor demo_nodes/door_status_sensor.cpp)
-ament_target_dependencies(demo_door_status_sensor rclcpp std_msgs)
+medkit_target_dependencies(demo_door_status_sensor rclcpp std_msgs)
 
 add_executable(demo_brake_actuator demo_nodes/brake_actuator.cpp)
-ament_target_dependencies(demo_brake_actuator rclcpp std_msgs)
+medkit_target_dependencies(demo_brake_actuator rclcpp std_msgs)
 
 add_executable(demo_light_controller demo_nodes/light_controller.cpp)
-ament_target_dependencies(demo_light_controller rclcpp std_msgs)
+medkit_target_dependencies(demo_light_controller rclcpp std_msgs)
 
 add_executable(demo_calibration_service demo_nodes/calibration_service.cpp)
-ament_target_dependencies(demo_calibration_service rclcpp std_srvs)
+medkit_target_dependencies(demo_calibration_service rclcpp std_srvs)
 
 add_executable(demo_long_calibration_action demo_nodes/long_calibration_action.cpp)
-ament_target_dependencies(demo_long_calibration_action rclcpp rclcpp_action example_interfaces)
+medkit_target_dependencies(demo_long_calibration_action rclcpp rclcpp_action example_interfaces)
 
 add_executable(demo_lidar_sensor demo_nodes/lidar_sensor.cpp)
-ament_target_dependencies(demo_lidar_sensor rclcpp rcl_interfaces sensor_msgs std_srvs ros2_medkit_msgs)
+medkit_target_dependencies(demo_lidar_sensor rclcpp rcl_interfaces sensor_msgs std_srvs ros2_medkit_msgs)
 
 install(TARGETS
   demo_engine_temp_sensor

src/ros2_medkit_serialization/CMakeLists.txt

@@ -54,7 +54,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   $<INSTALL_INTERFACE:include>
 )
 
-ament_target_dependencies(${PROJECT_NAME}
+medkit_target_dependencies(${PROJECT_NAME}
   rclcpp
   rcutils
   rosidl_runtime_c
@@ -152,15 +152,15 @@ if(BUILD_TESTING)
   # Unit tests
   ament_add_gtest(test_type_cache test/test_type_cache.cpp)
   target_link_libraries(test_type_cache ${PROJECT_NAME})
-  ament_target_dependencies(test_type_cache std_msgs std_srvs)
+  medkit_target_dependencies(test_type_cache std_msgs std_srvs)
 
   ament_add_gtest(test_json_serializer test/test_json_serializer.cpp)
   target_link_libraries(test_json_serializer ${PROJECT_NAME})
-  ament_target_dependencies(test_json_serializer std_msgs std_srvs geometry_msgs sensor_msgs test_msgs)
+  medkit_target_dependencies(test_json_serializer std_msgs std_srvs geometry_msgs sensor_msgs test_msgs)
 
   ament_add_gtest(test_service_action_types test/test_service_action_types.cpp)
   target_link_libraries(test_service_action_types ${PROJECT_NAME})
-  ament_target_dependencies(test_service_action_types std_srvs)
+  medkit_target_dependencies(test_service_action_types std_srvs)
 
   # Apply coverage flags to test targets
   if(ENABLE_COVERAGE)