Resolve runtime failures to load introspection type support

Signed-off-by: Andrea Sorbini <[email protected]>

Author: asorbini

rmw_dds_common/rmw_dds_common/CMakeLists.txt

@@ -21,7 +21,7 @@ ament_export_dependencies(ament_cmake_core)
 ament_export_dependencies(rcpputils)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
-ament_export_dependencies(rosidl_default_runtime)
+ament_export_dependencies(rmw_dds_common_typesupports)
 
 rosidl_generate_interfaces(
   ${PROJECT_NAME}
@@ -39,7 +39,7 @@ ament_target_dependencies(${PROJECT_NAME}_library
   "rcpputils"
   "rcutils"
   "rmw"
-  "rosidl_runtime_cpp")
+  "rmw_dds_common_typesupports")
 add_dependencies(${PROJECT_NAME}_library
   ${PROJECT_NAME})
 target_include_directories(${PROJECT_NAME}_library

rmw_dds_common/rmw_dds_common/package.xml

@@ -16,7 +16,7 @@
   <depend>rcutils</depend>
   <depend>rcpputils</depend>
   <depend>rmw</depend>
-  <depend>rosidl_runtime_cpp</depend>
+  <depend>rmw_dds_common_typesupports</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_lint_auto</test_depend>

rmw_dds_common/rmw_dds_common_typesupports/CMakeLists.txt

@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.5)
+project(rmw_dds_common_typesupports)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+# Load type support packages to make sure that they are installed
+find_package(rosidl_typesupport_fastrtps_c REQUIRED)
+find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
+find_package(rosidl_typesupport_introspection_c REQUIRED)
+find_package(rosidl_typesupport_introspection_cpp REQUIRED)
+
+# This is an hack to have the `rosidl_generate_interfaces()` function consider
+# all the type supports required by `rmw_connextdds` even though that RMW
+# implementation has not yet been registered.
+ament_index_register_resource(rmw_typesupport CONTENT
+  "rosidl_typesupport_c;rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c;rosidl_typesupport_cpp;rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp")
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

rmw_dds_common/rmw_dds_common_typesupports/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rmw_dds_common_typesupports</name>
+  <version>0.1.0</version>
+  <description>A meta-package to hack type support generation for backported rmw_dds_common</description>
+  <maintainer email="[email protected]">Andrea Sorbini</maintainer>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rosidl_typesupport_fastrtps_c</depend>
+  <depend>rosidl_typesupport_fastrtps_cpp</depend>
+  <depend>rosidl_typesupport_introspection_c</depend>
+  <depend>rosidl_typesupport_introspection_cpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>