Use identical package.xml for ROS1 and ROS2 pkgs

edit

But there's no way to conditionally change a package's build_type as far as I understand, and the only build_type that's common to both ROS and ROS 2 is cmake. I don't actually know the nuances of how catkin vs cmake packages are built outside of bloom release templates but I imagine there is one.

That's a good point.

So is there a way to use this to build pure cmake packages for both ros 1 and 2 with a single package.xml? AFAICT the respective build_types are cmake and ament_cmake . See the discussion at https://github.com/strasdat/Sophus/pu... and the linked package.xml files.

For pure CMake it is just cmake In both cases.

Ah I see. Is there documentation for plain cmake packages with ament somewhere? For example, should you add something like an exec depend on catkin, which is suggested for pure cmake packages in catkin (to make sure the setup files are there when the package is installed)?

Or is there an example?

It's recommended to depend on catkin from pure cmake packages, but we removed that need in ament, since the build tool, and not the package itself, now creates the root setup.sh files. We create the setup.sh files if needed in a "workspace package".

@nuclearsandwich addressed this in our ament debian packages with the injected dependency on the ros_workspace ( http://repo.ros2.org/status_page/ros_... ) package.