expose convert function #146
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Karsten1987
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in review
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putting this in review. |
CMakeLists.txt
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| @@ -63,6 +63,8 @@ endif() | |||
| ament_export_include_directories(include) | |||
| ament_export_libraries(${PROJECT_NAME}) | |||
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| ament_export_dependencies(roscpp) | |||
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This isn't going to work the way intended. roscpp is a ROS 1 package and should be found using the custom CMake function used above (find_ros1_package which doesn't rely on CMake config files but pkg-config instead). If you want this to be exposed in downstream package it would need to be done in an extra file by invoking find_ros1_package.
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Hi @dirk-thomas, our problem is the following: we link against the ros1_bridge and on Linux everything works fine, whereas on Mac the linker cannot find roscpp symbols.
We could solve this by finding roscpp ourselves, as you said, but for us it is only a transitive dependency for the bridge, and therefore we thought that this would be the cleanest solution: with this change, in fact, the roscpp dependency is exported and everything works as expected.
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I understand your use case but this is still the wrong approach. As soon as a roscpp package is created in ROS 2 e.g. to provide an API shim the current approach is going to fail. The ros1_bridge package needs to invoke find_ros1_package in an extra file instead.
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Ok, we will then use the find_ros1_package macro in our package.
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I am not saying you have to call it in your package. The logic can be placed in a CMake extra file in ros2_bridge in order to avoid having to repeat it in multiple downstream packages.
This reverts commit d8a1ccc.
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@botteroa-si I reverted the last commit for the export dependency in here: b920e22 |
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Do you still want to add the |
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@dirk-thomas, that would of course be the cleanest solution, but currently we don't have time to look into it. Therefore, for the moment, we would just call the |
* expose convert function * expose convert2_to_1 function * export roscpp as dependency * Revert "export roscpp as dependency" This reverts commit d8a1ccc. Signed-off-by: Dhananjay Sathe <dhananjay.sathe@rapyuta-robotics.com>
In order to leverage the bridge to convert ros messages from ros1 to ros2, we would like to expose this function. This allows us to convert messages without using pub/sub.
cc @botteroa-si