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Add USE_SCOPED_HEADER_INSTALL_DIR option to ament_auto_package#577

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sloretz merged 4 commits intoament:humblefrom
HansRobo:humble_backport_540_fixed
Apr 18, 2025
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Add USE_SCOPED_HEADER_INSTALL_DIR option to ament_auto_package#577
sloretz merged 4 commits intoament:humblefrom
HansRobo:humble_backport_540_fixed

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@HansRobo HansRobo commented Apr 9, 2025 •
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This is a backport of #540 with backward-compatible workaround discussed with @sloretz in #574.

This pull-request adds USE_SCOPED_HEADER_INSTALL_DIR option to ament_auto_package function.
If you set the option, header install destination will switch to include/${PROJECT_NAME} from include.
If you do not set the option and your package has include directory, ament_auto_package will install headers to lagacy destination, include directory and show warning message like below.

Starting >>> timer_experiments
--- stderr: timer_experiments
CMake Warning at /__w/ros2_sandbox/ros2_sandbox/install/share/ament_cmake_auto/cmake/ament_auto_package.cmake:80 (message):
  In this package, headers install destination is set to `include` by
  ament_auto_package.  It is recommended to install
  `include/timer_experiments` instead and will be the default behavior of
  ament_auto_package from ROS 2 Kilted Kaiju.  On distributions before
  Kilted, ament_auto_package behaves the same way when you use
  USE_SCOPED_HEADER_INSTALL_DIR option.
Call Stack (most recent call first):
  CMakeLists.txt:33 (ament_auto_package)

With this option, users can switch the behavior of ament_auto_package and transition to the new behavior smoothly.

If this pull-request is merged, I'll submit the PRs with same content to iron and jazzy branch.

Tests

build testing and install directory checking are performed on GitHub Actions in my repository.
HansRobo/ros2_sandbox#2

There are 2 packages that have include directory.

  • parent_package : use ament_auto_package with USE_SCOPED_HEADER_INSTALL_DIR option
  • timer_experiments : use ament_auto_package without USE_SCOPED_HEADER_INSTALL_DIR option

build log

expected behavior

  • parent_package: no warning
  • timer_experiments: shows implemented warning

actual behavior

The build logs have expected behavior.

https://github.com/HansRobo/ros2_sandbox/actions/runs/14345897198/job/40215478181?pr=2#step:8:53

Starting >>> parent_package
Starting >>> clock_publisher
Starting >>> timer_experiments
--- stderr: timer_experiments
CMake Warning at /__w/ros2_sandbox/ros2_sandbox/install/share/ament_cmake_auto/cmake/ament_auto_package.cmake:80 (message):
  In this package, headers install destination is set to `include` by
  ament_auto_package.  It is recommended to install
  `include/timer_experiments` instead and will be the default behavior of
  ament_auto_package from ROS 2 Kilted Kaiju.  On distributions before
  Kilted, ament_auto_package behaves the same way when you use
  USE_SCOPED_HEADER_INSTALL_DIR option.
Call Stack (most recent call first):
  CMakeLists.txt:33 (ament_auto_package)


---
Finished <<< timer_experiments [5.47s]
Finished <<< parent_package [6.04s]

install directory

expected behavior

  • parent_package: headers are installed to include/parent_package/parent_package
  • timer_experiments: headers are installed to include/timer_experiments

actual behavior

The installed location is as expected.

https://github.com/HansRobo/ros2_sandbox/actions/runs/14345897198/job/40215478181?pr=2#step:9:7

tree ./install/include
./install/include
├── parent_package
│   └── parent_package
│       └── test_node.hpp
└── timer_experiments
    └── timer_statistics.hpp

HansRobo added 3 commits April 9, 2025 09:39
@HansRobo
Add USE_SCOPED_HEADER_INSTALL_DIR option to ament_auto_package
4fe9c29 
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
@HansRobo
Add warning message to ament_auto_package related to USE_SCOPED_HEADE…
b1715e9 
…R_INSTALL_DIR option

Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
@HansRobo
Add missing endif to ament_auto_package
edf9cdb 
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
@HansRobo HansRobo force-pushed the humble_backport_540_fixed branch from e51dad4 to edf9cdb Compare April 9, 2025 00:39
@HansRobo HansRobo mentioned this pull request Apr 9, 2025
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HansRobo commented Apr 13, 2025

@sloretz Could you review this?
This is the solution we discussed in #574

sloretz
sloretz requested changes Apr 16, 2025
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Thank you for the PR!

If this pull-request is merged, I'll submit the PRs with same content to iron and jazzy branch.

Since Iron is EOL, please only submit a PR for the Jazzy branch.

@HansRobo
Use no mode instead of WARNING in message in ament_auto_package.cmake
9e6f3ea 
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
sloretz
sloretz approved these changes Apr 17, 2025
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Thank you for the PR!

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sloretz commented Apr 17, 2025

Pulls: #577
Gist: https://gist.githubusercontent.com/sloretz/4113c80369c66218cd1e3e6168d12e06/raw/9f966586419c96dfc9bb1daa42ac8400f5b1c90c/ros2.repos
BUILD args: --packages-above-and-dependencies ament_cmake_auto
TEST args: --packages-above ament_cmake_auto
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15712

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@sloretz sloretz merged commit 30989cd into ament:humble Apr 18, 2025
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@HansRobo HansRobo mentioned this pull request Apr 19, 2025
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@atinfinity atinfinity mentioned this pull request Jun 1, 2025
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HansRobo commented Jun 27, 2025

@audrow Could you release ament_cmake for Humble in ros/rosdistro to use this patch from apt-installed version?

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christophebedard commented Jun 27, 2025

I've created a new release for Humble: ros/rosdistro#46674. It will be available from the apt repo after the next sync, which will probably happen around mid-July.

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HansRobo commented Jun 28, 2025

Thank you very much!

@Timple Timple mentioned this pull request Aug 5, 2025
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@TharitSinsunthorn TharitSinsunthorn mentioned this pull request Sep 7, 2025
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@HansRobo @sloretz @christophebedard