xacro_add_files: Resolve current project's path at build time (#326)

ros · Oct 31, 2023 · ce628cc · ce628cc
1 parent e242db8
commit ce628cc
Showing 1 changed file with 10 additions and 5 deletions.
diff --git a/cmake/xacro-extras.cmake b/cmake/xacro-extras.cmake
@@ -46,15 +46,13 @@ function(xacro_add_xacro_file input)
       message(FATAL_ERROR "no <output> specified for: " ${input})
     endif()
   endif()
-  # message(STATUS "output: ${output}")
 
   ## determine absolute output target location
   if(IS_ABSOLUTE ${output})
     set(abs_output ${output})
   else()
     set(abs_output ${CMAKE_CURRENT_BINARY_DIR}/${output})
   endif()
-  # message(STATUS "abs_output: ${abs_output}")
 
   ## export abs_output to parent scope in variable ${_XACRO_OUTPUT}
   if(NOT _XACRO_OUTPUT)
@@ -77,9 +75,17 @@ ${_xacro_err}")
 
   separate_arguments(_xacro_deps_result)
 
+  ## HACK: ament package resolution doesn't work at build time yet
+  # - Augment AMENT_PREFIX_PATH to include ${PROJECT_BINARY_DIR}/ament_cmake_index
+  # - Create a symlink from there to the actual source directory to find source files
+  set(PROJECT_BUILD_INDEX "${PROJECT_BINARY_DIR}/ament_cmake_index")
+  execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory "${PROJECT_BUILD_INDEX}/share")
+  execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink "${PROJECT_SOURCE_DIR}" "${PROJECT_BUILD_INDEX}/share/${PROJECT_NAME}")
+
   ## command to actually call xacro
-  add_custom_command(OUTPUT ${output}
-    COMMAND xacro -o ${abs_output} ${input} ${_XACRO_REMAP}
+  list(JOIN AMENT_PREFIX_PATH ":" AMENT_PREFIX_PATH_ENV) # format as colon-separated list
+  add_custom_command(OUTPUT ${abs_output}
+    COMMAND ${CMAKE_COMMAND} -E env AMENT_PREFIX_PATH="${PROJECT_BUILD_INDEX}:${AMENT_PREFIX_PATH_ENV}" xacro -o ${abs_output} ${input} ${_XACRO_REMAP}
     DEPENDS ${input} ${_xacro_deps_result} ${_XACRO_DEPENDS}
     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
     COMMENT "xacro: generating ${output} from ${input}"
@@ -124,7 +130,6 @@ function(xacro_add_files)
 
   # have INSTALL option, but no TARGET: fallback to default target
   if(_XACRO_INSTALL AND NOT _XACRO_TARGET)
-    # message(STATUS "xacro: no TARGET specified, using default")
     set(_XACRO_TARGET _xacro_auto_generate)
   endif()