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Fix/standalone missing dependencies (RobotecAI#54)
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Fixed standalone dependencies

---------

Signed-off-by: Piotr Jaroszek <[email protected]>
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@pijaro
pijaro authored Jul 19, 2023
1 parent 1edbed1 commit 9c50a34
Showing 1 changed file with 94 additions and 71 deletions.
165 changes: 94 additions & 71 deletions src/ros2cs/ros2cs_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -188,87 +188,109 @@ if(STANDALONE_BUILD)
endmacro()

macro(get_standalone_dependencies _library_name)
find_package(${_library_name} REQUIRED)

# Get rmw_dds_common typesupports for dds implementations
if("${_library_name}" STREQUAL "rmw_dds_common")
ament_index_get_resources(middleware_implementations "rmw_typesupport")
foreach(rmw_impl ${middleware_implementations})
string(REGEX REPLACE "rmw_" "" rmw_impl ${rmw_impl})
list(APPEND REQ_STANDALONE_LIBS ${rmw_dds_common_LIBRARIES__rosidl_typesupport_${rmw_impl}})
endforeach()
endif()
find_package(${_library_name} QUIET)

if(${${_library_name}_FOUND})
# Get rmw_dds_common typesupports for dds implementations
if("${_library_name}" STREQUAL "rmw_dds_common")
ament_index_get_resources(middleware_implementations "rmw_typesupport")
foreach(rmw_impl ${middleware_implementations})
string(REGEX REPLACE "rmw_" "" rmw_impl ${rmw_impl})
list(APPEND REQ_STANDALONE_LIBS ${rmw_dds_common_LIBRARIES__rosidl_typesupport_${rmw_impl}})
endforeach()
endif()

# Get cyclonedds DDSC
if("${_library_name}" STREQUAL "CycloneDDS")
if(WIN32)
if(NOT ros2_distro STREQUAL "humble")
fetch_target_lib(CycloneDDS::ddsc)
list(APPEND REQ_STANDALONE_LIBS
${CycloneDDS_ddsc_LIB_PATH})
else()
# Get cyclonedds DDSC
if("${_library_name}" STREQUAL "CycloneDDS")
if(WIN32)
if(NOT ros2_distro STREQUAL "humble")
fetch_target_lib(CycloneDDS::ddsc)
list(APPEND REQ_STANDALONE_LIBS
${CycloneDDS_ddsc_LIB_PATH})
else()
fetch_target_lib(CycloneDDS::ddsc)
fetch_target_lib(CycloneDDS::idl)
fetch_target_lib(CycloneDDS::dds_security_ac)
fetch_target_lib(CycloneDDS::dds_security_auth)
fetch_target_lib(CycloneDDS::dds_security_crypto)
list(APPEND REQ_STANDALONE_LIBS
${CycloneDDS_ddsc_LIB_PATH}
${CycloneDDS_idl_LIB_PATH}
${CycloneDDS_dds_security_ac_LIB_PATH}
${CycloneDDS_dds_security_auth_LIB_PATH}
${CycloneDDS_dds_security_crypto_LIB_PATH})
endif()
elseif(UNIX)
fetch_target_lib(CycloneDDS::ddsc)
fetch_target_lib(CycloneDDS::idl)
fetch_target_lib(CycloneDDS::dds_security_ac)
fetch_target_lib(CycloneDDS::dds_security_auth)
fetch_target_lib(CycloneDDS::dds_security_crypto)
list(APPEND REQ_STANDALONE_LIBS
${CycloneDDS_ddsc_LIB_PATH}
${CycloneDDS_idl_LIB_PATH}
${CycloneDDS_dds_security_ac_LIB_PATH}
${CycloneDDS_dds_security_auth_LIB_PATH}
${CycloneDDS_dds_security_crypto_LIB_PATH})
list(APPEND REQ_STANDALONE_LIBS ${CycloneDDS_ddsc_LIB_PATH})
endif()
elseif(UNIX)
fetch_target_lib(CycloneDDS::ddsc)
list(APPEND REQ_STANDALONE_LIBS ${CycloneDDS_ddsc_LIB_PATH})
endif()
endif()

# Get rmw_cyclonedds_cpp for humble
if("${_library_name}" STREQUAL "rmw_cyclonedds_cpp" AND (ros2_distro STREQUAL "humble" OR ros2_distro STREQUAL "rolling"))
fetch_target_lib(rmw_cyclonedds_cpp::rmw_cyclonedds_cpp)
list(APPEND REQ_STANDALONE_LIBS ${rmw_cyclonedds_cpp_rmw_cyclonedds_cpp_LIB_PATH})
endif()
# Get spdlog and dependency
if(UNIX AND "${_library_name}" STREQUAL "spdlog")
include(${${_library_name}_CONFIG})
fetch_target_lib(spdlog::spdlog)
list(APPEND REQ_STANDALONE_LIBS ${spdlog_spdlog_LIB_PATH})
if(ros2_distro STREQUAL "humble")
fetch_target_lib(fmt::fmt)
list(APPEND REQ_STANDALONE_LIBS ${fmt_fmt_LIB_PATH})
endif()
endif()

# Get cyclonedds iceoryx dependency for ros2 galaxy (unix only)
if(UNIX AND NOT ros2_distro STREQUAL "foxy")
if("${_library_name}" STREQUAL "iceoryx_binding_c" )
fetch_target_lib(iceoryx_binding_c::iceoryx_binding_c)
list(APPEND REQ_STANDALONE_LIBS ${iceoryx_binding_c_iceoryx_binding_c_LIB_PATH})
elseif("${_library_name}" STREQUAL "iceoryx_posh")
fetch_target_lib(iceoryx_posh::iceoryx_posh)
list(APPEND REQ_STANDALONE_LIBS ${iceoryx_posh_iceoryx_posh_LIB_PATH})
elseif("${_library_name}" STREQUAL "iceoryx_utils")
fetch_target_lib(iceoryx_utils::iceoryx_utils)
fetch_target_lib(iceoryx_utils::iceoryx_platform)
list(APPEND REQ_STANDALONE_LIBS
${iceoryx_utils_iceoryx_utils_LIB_PATH}
${iceoryx_utils_iceoryx_platform_LIB_PATH})
elseif("${_library_name}" STREQUAL "iceoryx_hoofs")
fetch_target_lib(iceoryx_hoofs::iceoryx_hoofs)
fetch_target_lib(iceoryx_hoofs::iceoryx_platform)
list(APPEND REQ_STANDALONE_LIBS
${iceoryx_hoofs_iceoryx_hoofs_LIB_PATH}
${iceoryx_hoofs_iceoryx_platform_LIB_PATH})
# Get rmw_cyclonedds_cpp for humble
if("${_library_name}" STREQUAL "rmw_cyclonedds_cpp" AND (ros2_distro STREQUAL "humble" OR ros2_distro STREQUAL "rolling"))
fetch_target_lib(rmw_cyclonedds_cpp::rmw_cyclonedds_cpp)
list(APPEND REQ_STANDALONE_LIBS ${rmw_cyclonedds_cpp_rmw_cyclonedds_cpp_LIB_PATH})
endif()
endif()

# We skip python libs
if(WIN32)
foreach(entry ${${_library_name}_LIBRARIES})
string(REGEX MATCH ".*libs\/python[0-9]*\.lib" _found ${entry})
if(_found STREQUAL "")
list(APPEND REQ_STANDALONE_LIBS ${entry})
# Get cyclonedds iceoryx dependency for ros2 galaxy (unix only)
if(UNIX AND NOT ros2_distro STREQUAL "foxy")
if("${_library_name}" STREQUAL "iceoryx_binding_c" )
fetch_target_lib(iceoryx_binding_c::iceoryx_binding_c)
list(APPEND REQ_STANDALONE_LIBS ${iceoryx_binding_c_iceoryx_binding_c_LIB_PATH})
elseif("${_library_name}" STREQUAL "iceoryx_posh")
fetch_target_lib(iceoryx_posh::iceoryx_posh)
list(APPEND REQ_STANDALONE_LIBS ${iceoryx_posh_iceoryx_posh_LIB_PATH})
elseif("${_library_name}" STREQUAL "iceoryx_utils")
fetch_target_lib(iceoryx_utils::iceoryx_utils)
fetch_target_lib(iceoryx_utils::iceoryx_platform)
list(APPEND REQ_STANDALONE_LIBS
${iceoryx_utils_iceoryx_utils_LIB_PATH}
${iceoryx_utils_iceoryx_platform_LIB_PATH})
elseif("${_library_name}" STREQUAL "iceoryx_hoofs")
fetch_target_lib(iceoryx_hoofs::iceoryx_hoofs)
fetch_target_lib(iceoryx_hoofs::iceoryx_platform)
list(APPEND REQ_STANDALONE_LIBS
${iceoryx_hoofs_iceoryx_hoofs_LIB_PATH}
${iceoryx_hoofs_iceoryx_platform_LIB_PATH})
endif()
endforeach()
endif()

# We skip python libs
if(WIN32)
foreach(entry ${${_library_name}_LIBRARIES})
string(REGEX MATCH ".*libs\/python[0-9]*\.lib" _found ${entry})
if(_found STREQUAL "")
list(APPEND REQ_STANDALONE_LIBS ${entry})
endif()
endforeach()
else()
foreach(entry ${${_library_name}_LIBRARIES})
string(REGEX MATCH ".*python[0-9]*\.[0-9]*\.so" _found ${entry})
if(_found STREQUAL "")
list(APPEND REQ_STANDALONE_LIBS ${entry})
endif()
endforeach()
endif()
else()
foreach(entry ${${_library_name}_LIBRARIES})
string(REGEX MATCH ".*python[0-9]*\.[0-9]*\.so" _found ${entry})
if(_found STREQUAL "")
list(APPEND REQ_STANDALONE_LIBS ${entry})
endif()
endforeach()
# Try to use pkg config to look for the packages
find_package(PkgConfig REQUIRED)
pkg_check_modules(${_library_name} QUIET ${_library_name})
if (${${_library_name}_FOUND})
list(APPEND REQ_STANDALONE_LIBS ${${_library_name}_LINK_LIBRARIES})
else()
message(FATAL_ERROR "Could not find ${_library_name}")
endif()
endif()
endmacro()

Expand Down Expand Up @@ -356,6 +378,7 @@ if(STANDALONE_BUILD)
spdlog
tracetools
yaml
tinyxml2
)

if(UNIX AND NOT ros2_distro STREQUAL "foxy")
Expand Down

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