Likely regression with dependencies in 2.3.0

[mikeferguson]

#239 adds a <build_depend> on libfcl-dev and <exec_depend> on libfcl - however when 2.3.0 was released, robot_calibration debians stopped building for Jazzy and Rolling with the following error:

/usr/bin/ld: cannot find -lfcl: No such file or directory

I don't directly do anything with fcl, but do find_package on geometric_shapes and link against (to utilize the mesh loader).

geometric_shapes has only three other (released) downstream users: moveit_core, moveit_ros_occupancy_map_monitor, moveit_ros_visualization - the latter two of which depend on moveit_core. moveit_core has a <depend> on libfcl-dev. Thus, these continued to build properly.

I've temporarily patched my build by adding a <depend>libfcl-dev</depend> to the package.xml of robot_calibration - but not sure if this maybe indicates a deeper problem that could catch other users of geometric_shapes off guard.

[peci1]

I'm not sure why robot_calibration pulls fcl into linker. For geometric_shapes, it is (or should be) a private, non-transitive dependency. So it seems like something else pulls it in without declaring it?

[peci1]

Hmm, maybe this:

https://github.com/moveit/geometric_shapes/blob/ros2/CMakeLists.txt#L93

should contain PRIVATE?

[peci1]

Indeed, in http://packages.ros.org/ros2-testing/ubuntu/pool/main/r/ros-jazzy-geometric-shapes/ros-jazzy-geometric-shapes_2.3.0-1noble.20241203.001623_amd64.deb , in file data.tar.zst/opt/ros/jazzy/share/geometric_shapes/cmake/export_geometric_shapesExport.cmake, I see:

set_target_properties(geometric_shapes::geometric_shapes PROPERTIES
  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/geometric_shapes;/opt/ros/jazzy/include;/usr/include/eigen3;/usr/include;/usr/include/libqhull_r;${_IMPORT_PREFIX}/include"
  INTERFACE_LINK_LIBRARIES "fcl;console_bridge::console_bridge;geometry_msgs::geometry_msgs__rosidl_generator_c;..."
)

So fcl gets exported as interface link library.

I'll try to submit the fix I've proposed earlier.

[peci1]

See if #256 fixes the issue.

[mikeferguson]

@peci1 I don't have a great way to test that PR - since merely having libfcl-dev installed fixes the issue - and I don't think I want to tear up that much of my system to test it...

[mikeferguson]

Appears that 2.3.1 (which is now built on testing) does fix the issue - mikeferguson/robot_calibration#188

[peci1]

Great, thanks for testing!