Compile ROS2 package with pre-compiled shared library

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Hi there,

In my ros2 package, I want to compile the node with a shared library, which is an SDK shared library provided by the manufacturer of the hardware. I am able to compile my code with link_directories that points to the location of the shared library (which locates inside the ros2 package).

Back in ROS1, that's it. I could execute my node and it will load the shared library correctly during runtime.

However, in ROS2, I have to install all the files to DESTINATION lib/${PROJECT_NAME} like this:

install(FILES 
${ORBBEC_SDK_LIB_DIR}/libOrbbecSDK.so.1.5
${ORBBEC_SDK_LIB_DIR}/libOrbbecSDK.so.1.5.7
${ORBBEC_SDK_LIB_DIR}/libOrbbecSDK.so
${ORBBEC_SDK_LIB_DIR}/libudev.so
${ORBBEC_SDK_LIB_DIR}/libudev.so.1
${ORBBEC_SDK_LIB_DIR}/libudev.so.1.6.3
DESTINATION lib/${PROJECT_NAME}
)

Apparently, this just copied and pasted these files to DESTINATION lib/${PROJECT_NAME}.

Another option that could work is that I can make an environment hook to add the folder of the shared library to LD_LIBRARY_PATH.

Both solutions are kind of gross.

What is the proper way of doing this?

In ROS 1 how does it find the shared library in the src folder? Since the setup.bash does not modify the LD_LIBRARY_PATH, I have no idea how does it find the shared library object. (I am sure the .so file is not in the system library.)