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default to not use vendored tinyxml2 in a ros environment #1033

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default to not use vendored tinyxml2 in a ros environment #1033

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433d898
default to not use vendored tinyxml2 in a ros environment
LucienMorey Oct 28, 2025
fd1171a
try build with the vendor dep too
LucienMorey Oct 29, 2025
8752ed4
follow alternate lookup based on other pacakges
LucienMorey Oct 29, 2025
4a78096
split handling for conan and ros
LucienMorey Oct 29, 2025
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12 changes: 10 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ option(USE_VENDORED_FLATBUFFERS "Use the bundled version of flatbuffers" ON)
option(USE_VENDORED_LEXY "Use the bundled version of lexy" ON)
option(USE_VENDORED_MINICORO "Use the bundled version of minicoro" ON)
option(USE_VENDORED_MINITRACE "Use the bundled version of minitrace" ON)
option(USE_VENDORED_TINYXML2 "Use the bundled version of tinyxml2" ON)
# Usage of TINYXML2 sits with the ROS2 lookup

set(BTCPP_LIB_DESTINATION lib)
set(BTCPP_INCLUDE_DESTINATION include)
Expand Down Expand Up @@ -84,6 +84,7 @@ if(POLICY CMP0057)
cmake_policy(SET CMP0057 NEW)
endif()

set(_default_use_vendored_tiny_xml ON)
find_package(ament_cmake QUIET)

if ( ament_cmake_FOUND )
Expand All @@ -93,12 +94,14 @@ if ( ament_cmake_FOUND )
message(STATUS "BehaviorTree is being built using AMENT.")
message(STATUS "------------------------------------------")
include(cmake/ament_build.cmake)
set(_default_use_vendored_tiny_xml OFF)
else()
message(STATUS "------------------------------------------")
message(STATUS "BehaviorTree is being built without AMENT.")
message(STATUS "------------------------------------------")
include(cmake/conan_build.cmake)
endif()
option(USE_VENDORED_TINYXML2 "Use the bundled version of tinyxml2" ${_default_use_vendored_tiny_xml})
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@ericriff ericriff Oct 29, 2025 •
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I think you could leave the option declaration above with the rest and on line 97 use a combination of set + force to disable it.
That way all related options are still on the same place.

Another possible approach is to move up the find ament call so it happens before we declare the options and then do something like `set(AMENT_MODE ament_cmake_FOUND)
And use that as the default value for the tinyxml option

option(USE_VENDORED_TINYXML2 "Use the bundled version of tinyxml2" ${AMENT_MODE})

The rationale is the same, keep all the options to opt out of vendored dependencies together

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@LucienMorey LucienMorey Oct 29, 2025

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I tried playing around with something like the first option, but the cached option didn't behave the way I expected. I am only a ROS user and I wasn't sure how to make the change without potentially breaking someone else's workflow by always force overriding a cached thing.

Open to doing the second thing. It is the way it is to minimise the line diff. If the logic is acceptable I will squash the commits and reorder to move the option back to the same spot as the others.


#############################################################
# Handle dependencies
Expand Down Expand Up @@ -144,7 +147,12 @@ endif()
if(USE_VENDORED_TINYXML2)
add_subdirectory(3rdparty/tinyxml2)
else()
find_package(tinyxml2 REQUIRED)
if(ament_cmake_FOUND)
find_package(tinyxml2_vendor REQUIRED)
find_package(TinyXML2 REQUIRED)
else()
find_package(tinyxml2 REQUIRED)
endif()
endif()

list(APPEND BT_SOURCE
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2 changes: 2 additions & 0 deletions package.xml
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Expand Up @@ -22,6 +22,8 @@

<depend>libsqlite3-dev</depend>
<depend>libzmq3-dev</depend>
<depend>tinyxml2</depend>
<depend>tinyxml2_vendor</depend>

<test_depend >ament_cmake_gtest</test_depend>

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