Code Execution cannot proceed because ext_lib.dll not found.

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Hi all,

I am trying to build a ROS wrapper on a Windows 11 install of ROS2-foxy for some laser profilometry sensors from Wenglor. These sensors come with an array of libraries linked here for both linux and windows.

The key library files are:

• EthernetScanner.dll
• EthernetScanner.lib
• EthernetScannerSDK.h
• EthernetScannerSDKDefine.h

My sensor pkg contains the library files in a lib/ folder and the sensor_node.cpp in a src/ folder. The CMakeList and package are naturally in the root of the sensor folder.

The package.xml is as follows:

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>sensor</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="XYZ.com">XYZ</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
  <depend>gaf_msgs</depend>
  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

And the CMakeList is as follows:

cmake_minimum_required(VERSION 3.5)
project(sensor)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(gaf_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rosidl_default_generators REQUIRED)

add_executable(sensor_node src/sensor_node.cpp)
ament_target_dependencies(sensor_node rclcpp gaf_msgs)

target_include_directories(sensor_node PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/lib>)


FIND_LIBRARY(ETHERNET NAMES EthernetScanner.dll PATHS ${CMAKE_CURRENT_SOURCE_DIR}/lib)


target_link_libraries(sensor_node ${ETHERNET})

install(TARGETS sensor_node
  DESTINATION lib/${PROJECT_NAME})

ament_package()

The package builds fine. However, after running the install.bat, when running the ros2 run sensor sensor_node I get the following error.

The code execution cannot proced because EthernetScanner.dll was not found. Reinstalling the program may fix the problem.

Naturally I tried reinstalling the package but the same error occurs. I'm suspect it's to do with how I am linking the library to the node file but I am not sure how to make sure the library can be found after building.

Any help would be greatly appreciated.

Lawsey