build!: build rmw_zenoh_cpp with zenoh-cpp

ZettaScaleLabs · Aug 29, 2024 · b6bd226 · b6bd226
1 parent 83a26f2
commit b6bd226
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Showing 5 changed files with 19 additions and 6 deletions.
diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
@@ -21,7 +21,7 @@ find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
-find_package(zenoh_c_vendor REQUIRED)
+find_package(zenoh_cpp_vendor REQUIRED)
 
 add_library(rmw_zenoh_cpp SHARED
   src/detail/attachment_helpers.cpp
@@ -62,6 +62,7 @@ target_link_libraries(rmw_zenoh_cpp
     rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
     rmw::rmw
     zenohc::lib
+    zenohcxx::zenohc
 )
 
 configure_rmw_library(rmw_zenoh_cpp)
@@ -123,6 +124,7 @@ target_link_libraries(rmw_zenohd
     rcpputils::rcpputils
     rmw::rmw
     zenohc::lib
+    zenohcxx::zenohc
 )
 
 install(

diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
@@ -14,8 +14,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>zenoh_c_vendor</build_depend>
-  <build_export_depend>zenoh_c_vendor</build_export_depend>
+  <build_depend>zenoh_cpp_vendor</build_depend>
+  <build_export_depend>zenoh_cpp_vendor</build_export_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>fastcdr</depend>

diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -14,7 +14,7 @@
 
 #include <cstdio>
 #include <optional>
-#include <zenoh.h>
+#include <zenoh.hxx>
 
 #include <new>
 #include <string>

diff --git a/zenoh_c_vendor/CMakeLists.txt → zenoh_cpp_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt → zenoh_cpp_vendor/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16)
-project(zenoh_c_vendor)
+project(zenoh_cpp_vendor)
 
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
@@ -33,4 +33,15 @@ ament_vendor(zenoh_c_vendor
 
 ament_export_dependencies(zenohc)
 
+ament_vendor(zenoh_cpp_vendor
+  VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
+  VCS_VERSION dev/1.0.0
+  CMAKE_ARGS
+    -DZENOHCXX_ZENOHC=OFF
+)
+
+externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)
+
+ament_export_dependencies(zenohcxx)
+
 ament_package()
diff --git a/zenoh_c_vendor/package.xml → zenoh_cpp_vendor/package.xml b/zenoh_c_vendor/package.xml → zenoh_cpp_vendor/package.xml
@@ -1,7 +1,7 @@
 <?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>zenoh_c_vendor</name>
+  <name>zenoh_cpp_vendor</name>
   <version>0.0.1</version>
   <description>Vendor pkg to install zenoh-c</description>
   <maintainer email="[email protected]">Yadunund</maintainer>