Bump 2.2.5#400
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Signed-off-by: ijnek <kenjibrameld@gmail.com>
use modern cmake to do target-based installation
Signed-off-by: Wonho Yun <ywh@robotis.com>
Signed-off-by: Wonho Yun <ywh@robotis.com>
Deprecate ament_include_dependency usage in CMakeLists.txt
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Hello @robotpilot, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!
Summary of Changes
Hello! Gemini here, providing a summary of this pull request. This PR primarily focuses on bumping the version of the dynamixel_workbench and dynamixel_workbench_toolbox packages to 2.2.5. This version update incorporates changes that remove an unused rclcpp dependency and refactor the CMakeLists.txt for dynamixel_workbench_toolbox to use more modern CMake and ament practices, specifically addressing the deprecation of ament_target_dependencies in newer ROS 2 distributions like Kilted. Additionally, the changelog files are updated, a minor typo is corrected, and the maintainer information in library.properties is updated.
Highlights
- Version Bump: The version of both
dynamixel_workbenchanddynamixel_workbench_toolboxpackages has been updated from2.2.4to2.2.5in their respectivepackage.xmlfiles andlibrary.properties. - Dependency Removal: An unused dependency on
rclcpphas been removed from thedynamixel_workbench_toolboxpackage'sCMakeLists.txtandpackage.xml. - CMake Modernization: The
CMakeLists.txtfordynamixel_workbench_toolboxhas been updated to use modern CMake commands liketarget_include_directoriesandtarget_link_librariesinstead of the deprecatedament_target_dependencies. It also updates the installation and export directives usingament_export_targets. - Changelog Updates: New entries for version
2.2.5have been added to theCHANGELOG.rstfiles for both packages, documenting the removal of therclcppdependency and the update related toament_target_dependencies. A typo (Contributoers->Contributors) was also fixed in the changelogs. - Maintainer Update: The maintainer email in
dynamixel_workbench_toolbox/library.propertieshas been updated.
Changelog
Click here to see the changelog
- dynamixel_workbench/CHANGELOG.rst
- Added entry for version 2.2.5 (2025-06-04)
- Remove unused rclcpp dependency
- Remove ament_target_dependencies (deprecated in ROS 2 kilted)
- Fixed typo 'Contributoers' to 'Contributors'
- dynamixel_workbench/package.xml
- Updated version from 2.2.4 to 2.2.5
- dynamixel_workbench_toolbox/CHANGELOG.rst
- Added entry for version 2.2.5 (2025-06-04)
- Remove unused rclcpp dependency
- Remove ament_target_dependencies (deprecated in ROS 2 kilted)
- Fixed typo 'Contributoers' to 'Contributors'
- dynamixel_workbench_toolbox/CMakeLists.txt
- Removed
find_package(rclcpp REQUIRED) - Removed deprecated
include_directoriesandset(dependencies_lib)includingrclcpp - Replaced
ament_target_dependencieswithtarget_include_directoriesandtarget_link_libraries - Added
EXPORTto install target - Changed include install destination to
include/${PROJECT_NAME} - Removed deprecated
ament_export_include_directories,ament_export_dependencies(rclcpp), andament_export_libraries - Added
ament_export_targets
- Removed
- dynamixel_workbench_toolbox/library.properties
- Updated version from 2.2.4 to 2.2.5
- Updated maintainer email
- dynamixel_workbench_toolbox/package.xml
- Updated version from 2.2.4 to 2.2.5
- Removed
<depend>rclcpp</depend>
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A version bumps with grace,
Dependencies find their place.
CMake lists refined,
Old ways left behind,
For a faster, cleaner space.
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Code Review
This PR primarily bumps the version to 2.2.5 and includes several important maintenance updates for the dynamixel_workbench_toolbox package.
Key changes include:
- Removing an unused
rclcppdependency. - Updating the
CMakeLists.txtto use modern, target-based ament_cmake functions, replacing deprecated ones. This is a great improvement for maintainability and adherence to current ROS 2 best practices! - Fixing typos in the
CHANGELOG.rstfiles (e.g., "Contributoers" to "Contributors").
The CMake modernization is well-executed for the most part. However, I've found a critical issue related to the installation and export of header files that could affect downstream packages. Please see the specific comments on dynamixel_workbench_toolbox/CMakeLists.txt.
Summary of Findings
- Header Installation and Export: Critical issue identified in
dynamixel_workbench_toolbox/CMakeLists.txtregarding the installation path of header files and the exported include directories. This can lead to downstream packages being unable to find headers or using non-standard include paths. - CMake Modernization: The updates to use modern, target-based ament_cmake functions are a significant improvement for maintainability and adherence to ROS 2 best practices. This was noted but not commented on directly as it's a positive change.
- Dependency Cleanup: Removal of the unused
rclcppdependency is a good cleanup step. This was noted but not commented on directly as it's a positive change. - Changelog Typos: Typos (e.g., "Contributoers") were fixed in the
CHANGELOG.rstfiles. This improves readability. This was noted but not commented on directly as it's a positive change.
Merge Readiness
The pull request makes valuable updates, especially the CMake modernization. However, due to a critical issue identified in the header file installation and export mechanism in dynamixel_workbench_toolbox/CMakeLists.txt, I recommend that these changes not be merged until this issue is resolved. Addressing this will ensure that downstream packages can correctly locate and use the headers from this library. As an AI, I am not authorized to approve pull requests, so please ensure further review and approval from team members after the suggested changes are made.
| ament_target_dependencies(${LIB_NAME} ${dependencies_lib}) | ||
| target_include_directories(${LIB_NAME} PUBLIC | ||
| $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> | ||
| $<INSTALL_INTERFACE:include/${PROJECT_NAME}> |
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To align with the standard ROS include pattern (#include <package_name/header.h>) and ensure correct header discovery by downstream packages, this INSTALL_INTERFACE should be include.
This change is related to the header installation method (see comment on lines 63-65). When headers are installed to PREFIX/include/package_name/header.h, downstream packages should add PREFIX/include to their include search paths. This INSTALL_INTERFACE directive configures that for consumers of this target.
$<INSTALL_INTERFACE:include>
| install(DIRECTORY include/ | ||
| DESTINATION include/ | ||
| DESTINATION include/${PROJECT_NAME} | ||
| ) |
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This installation rule for header files, combined with the INSTALL_INTERFACE on line 45, appears to lead to incorrect header paths for downstream packages.
Given the source structure where headers are located at include/${PROJECT_NAME}/header.h (e.g., include/dynamixel_workbench_toolbox/dynamixel_driver.h):
- The current
install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})copies the contents of the sourceinclude/directory (which includes thedynamixel_workbench_toolbox/subdirectory itself) intoPREFIX/include/${PROJECT_NAME}/. This results in a nested path likePREFIX/include/dynamixel_workbench_toolbox/dynamixel_workbench_toolbox/header.h. - The standard ROS convention is for headers to be installed at
PREFIX/include/package_name/header.hand included via#include <package_name/header.h>.
To achieve this, the headers from the source include/${PROJECT_NAME}/ directory should be installed directly into the PREFIX/include/${PROJECT_NAME}/ destination.
Could you please adjust this installation rule? Also, ensure the INSTALL_INTERFACE on line 45 is set to include (as per separate comment).
install(
DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}/
DESTINATION include/${PROJECT_NAME}
FILES_MATCHING PATTERN "*.h"
)
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