When should I prefer `ament_cmake` versus `ament_cmake_ros`

asked 2020-04-16 15:47:42 -0500

DanRose gravatar image

updated 2020-04-16 15:50:35 -0500

When should I prefer using ament_cmake versus ament_cmake_ros?

The only differences ament_cmake_ros add are:

  • some ROS-specific capability to run tests isolated (with a unique ROS Domain ID)
  • the non-ROS-specific setting BUILD_SHARED_LIBS=ON at the project level
  • setting ROS_PACKAGE_NAME at the project level

I'm further confused because some ROS-specific formatting/linting defaults are hardcoded into ament_lint.

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