If I understand correctly then the workaround in #148 seems reasonable to me. Is the issue that rmw_fastrtps_cpp_LIBRARIES contains an IMPORTED target from an upstream library? Would it be fine if it contained an IMPORTED target from the current library, or does it need to have full paths like recommended for xxx_LIBRARIES in find-modules?

I think the workaround is a symptom of defining variables instead of following cmake's recommendation that packages export their targets. Since the target rmw_fastrtps_cpp has transitive dependency info but ament_cmake is not exporting it, it seems appropriate to fix this in ament_export_libraries().

Option 1 is closer to cmake's recommendation and preserves other transitive target information like compiler options and include directories. Option 2 seems more aligned with what I assume was an intentional design choice to make ament_cmake only provide variables. Thoughts or other strategies? I'll make a PR for Option 1 tomorrow if I hear nothing.

Option 1

export target `rmw_fastrtps_cpp`, install exported target file, and append the target name to `rmw_fastrtps_cpp_LIBRARIES`

The variable rmw_fastrtps_cpp_LIBRARIES would contain an imported target rmw_fastrtps_cpp::rmw_fastrtps_cpp.

The macro ament_export_libraries() would call export() and install(EXPORT) for each argument that is a non-IMPORTED target. The exported target name would be stored in _AMENT_EXPORT_LIBRARIES and the exported file name in a new variable _AMENT_EXPORT_TARGET_FILES. The template ament_cmake_export_libraries.cmake.in would need to include() these exported target files.

Option 2

Iterate through `INTERFACE_LINK_LIBRARIES` of targets starting at `rmw_fastrtps_cpp`, and add the library location to `rmw_fastrtps_cpp_LIBRARIES`

The variable rmw_fastrtps_cpp_LIBRARIES would contain paths to libraries.

ament_cmake_export_libraries_package_hook.cmake would iterate through the content of _AMENT_EXPORT_LIBRARIES. If an item is a target then it would iterate through its INTERFACE_LINK_LIBRARIES. If any item in there is a path then it gets added to _AMENT_EXPORT_LIBRARIES, else if it is a target then the routine recursively checks INTERFACE_LINK_LIBRARIES of the target.

Option 1

export target rmw_fastrtps_cpp, install exported target file, and append the target name to rmw_fastrtps_cpp_LIBRARIES

Option 2

Iterate through INTERFACE_LINK_LIBRARIES of targets starting at rmw_fastrtps_cpp, and add the library location to rmw_fastrtps_cpp_LIBRARIES

export target `rmw_fastrtps_cpp`, install exported target file, and append the target name to `rmw_fastrtps_cpp_LIBRARIES`

Iterate through `INTERFACE_LINK_LIBRARIES` of targets starting at `rmw_fastrtps_cpp`, and add the library location to `rmw_fastrtps_cpp_LIBRARIES`

exported libraries should not expose imported targets of FastRTPS / FastCDR #149

Description

Metadata

Metadata

Assignees

Labels

Type

Projects

Milestone

Relationships

Development

Issue actions