switch to using yaml_cpp_vendor #784
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…the same as is used in core ros packages
| find_package(tf2_geometry_msgs REQUIRED) | ||
| find_package(tf2_ros REQUIRED) | ||
| find_package(yaml_cpp_vendor REQUIRED) | ||
| find_package(yaml-cpp REQUIRED) |
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This find_package is needed, see pattern used in other ros packages:
https://github.com/ros2/rviz/blob/rolling/rviz_common/CMakeLists.txt#L56-L57
https://github.com/ros-perception/image_common/blob/rolling/camera_calibration_parsers/CMakeLists.txt#L19-L20
https://github.com/ros2/rosbag2/blob/rolling/rosbag2_storage/CMakeLists.txt#L29-L30
swri_transform_util/CMakeLists.txt
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| opencv_imgproc | ||
| opencv_video | ||
| ${PROJ_LIBRARIES} | ||
| yaml-cpp::yaml-cpp |
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yaml-cpp::yaml-cpp is the correct target, the modern CMake target sets up include directories and link libraries, see conversation here: ros2/yaml_cpp_vendor#51 (comment)
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It looks like that's only for Jazzy and later, and we'll have to add a switch for Humble.
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Ok, I'll put up another PR later today with a switch for the target
| tf2 | ||
| tf2_geometry_msgs | ||
| tf2_ros | ||
| yaml-cpp) |
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yaml-cpp is the correct target to export, my understanding is yaml_cpp_vendor sets up the right hints to get the yaml-cpp find_package to find the vendored package, but the actual target is yaml-cpp.
In packages.xml, depending on yaml_cpp_vendor tells rosdep to look for the vendored package, if yaml-cpp is used rosdep will want to use the system package - but that causes problems on platforms that have a different yaml-cpp system version than the _vendor package.
Without the export of yaml-cpp, swri_route_util will not be able to find and link against yaml-cpp.
See the exports of rosbag2, they export both yaml-cpp and yaml_cpp_vendor - I don't think it's required to export yaml_cpp_vendor, but it doesn't hurt. Exporting yaml-cpp is required for downstream packages to link properly.
This change switches swri_transform_util to use yaml_cpp_vendor so that it will use the same version of yaml-cpp as is used by the core ros packages (e.g. camera_calibration_parsers, rviz, etc.) This is important for folks who are building from source on platforms that may have a different system version than the version ros wants.
We are on Ubuntu 22.04 which comes with yaml-cpp 0.7 and using ros2 jazzy which wants 0.8. Mixing versions can cause problems downstream.