Find librairies created by ROS2 package

asked 2023-03-14 12:16:29 -0500

leo_cv gravatar image

Hello everyone,

I was wondering if there is way to find out what libraries are generated by a ROS2 package. To give context, I have an application which is already quite mature, that uses scons compilation toolchain. However, I am trying to add a basic interface with ROS2 (implement ROS2 subscriber, publisher) so that the application can communicate with ROS2 nodes. I am using Foxy on Ubuntu 20 right now. Problem is I don't want my application to link with ALL the ROS2 libraries obviously, and I want to only link with libraries from ROS2 packages I use. Optimal goal would be to be able to add ROS2 packages inside a config file and scons would automatically find the related libraries.

I already tried to use the --find-package option of cmake and it allows to find what I need, but I read that it is kind of deprecated because of some issues (this one for example, so it doesn't look like a stable solution.

Does anyone have possible leads or solutions for my problem? Ideally a command line that could give for a given package (like std_msgs) all the related libraries would be perfect.

Thanks in advance for your help!

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