[ROS2] Do these package.xml and CMakeLists.txt tags have alternatives in ament and colcon builds for ROS2?

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I have this tag in the original XML file

<build_export_depend>roscpp</build_export_depend>

Is there an alternative for this in ros2 with rclcpp and ament?

This is in the package.xml and a tag of the format 2 version. According to the migration guide ROS2 support package.xmls of the format 2 and higher versions. So you should be good to go.

SET_SOURCE_FILES_PROPERTIES and add_dependencies are actually cmake functions and thus, there is no ROS2 alternative.

However, you can use ament_target_dependencies instead of the add_dependencies call, which is an easier way to handle that.

I suggest you thoroughly work through the migration guide linked above.