Merge pull request #186 from project-march/fix/ethercat-grant

Fix ethercat_grant

Author: JorisWeeda

march_hardware_interface/CMakeLists.txt

@@ -33,20 +33,19 @@ catkin_package(
     roscpp
     std_msgs
     urdf
+    CFG_EXTRAS
+    ${PROJECT_NAME}-extras.cmake
 )
 
-set(ROSLINT_CPP_OPTS "--linelength=120")
-
-file(GLOB_RECURSE lintfiles
-    "include/*.h"
-    "src/*.cpp"
-)
-
-roslint_cpp(${lintfiles})
-
+include(cmake/${PROJECT_NAME}-extras.cmake)
 
 include_directories(include SYSTEM ${catkin_INCLUDE_DIRS})
 
+# needed to circumvent LD_LIBRARY_PATH being emptied through ethercat_grant
+# in addition to not propagating march_hardware_interface RUNPATH to dependencies, in contrast to RPATH
+set(GCC_NEWDTAGS_LINK_FLAGS "-Wl,--disable-new-dtags")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${GCC_NEWDTAGS_LINK_FLAGS}")
+
 add_executable(${PROJECT_NAME}_node
     src/march_hardware_interface.cpp
     src/march_hardware_interface_node.cpp
@@ -55,6 +54,7 @@ add_executable(${PROJECT_NAME}_node
 add_dependencies(${PROJECT_NAME}_node ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES})
+ros_enable_rpath(${PROJECT_NAME}_node)
 
 install(DIRECTORY include/${PROJECT_NAME}/
     DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
@@ -69,7 +69,7 @@ install(DIRECTORY config launch
 )
 
 ## Add gtest based cpp test target and link libraries
-if (CATKIN_ENABLE_TESTING)
+if(CATKIN_ENABLE_TESTING)
     find_package(code_coverage REQUIRED)
     find_package(rostest REQUIRED)
 
@@ -92,4 +92,13 @@ if (CATKIN_ENABLE_TESTING)
             DEPENDS tests
         )
     endif()
-endif ()
+endif()
+
+set(ROSLINT_CPP_OPTS "--linelength=120")
+
+file(GLOB_RECURSE lintfiles
+    "include/*.h"
+    "src/*.cpp"
+)
+
+roslint_cpp(${lintfiles})

march_hardware_interface/cmake/march_hardware_interface-extras.cmake

@@ -0,0 +1,22 @@
+# CMake function to add rpath to target
+# Copied from https://github.com/shadow-robot/ros_ethercat/blob/kinetic-devel/ros_ethercat_hardware/cmake/ros_ethercat_hardware-extras.cmake.em
+function(ros_enable_rpath target)
+   # Set ${target} with RPATH built in so that we can install it suid
+   set_target_properties(${target} PROPERTIES SKIP_BUILD_RPATH FALSE)
+
+   # Set the install RPATH to the install path
+   set(RPATH "${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}")
+
+   # If LD_LIBRARY_PATH is set, add it to the install RPATH
+   #  this works in a normal catkin environment, but fails if the user unsets
+   #  their LD_LIBRARY_PATH manually for some reason
+   if(DEFINED ENV{LD_LIBRARY_PATH})
+      set(RPATH "${RPATH}:$ENV{LD_LIBRARY_PATH}")
+   endif()
+
+   # Apply our computed RPATH to the target
+   set_target_properties(${target} PROPERTIES INSTALL_RPATH ${RPATH})
+
+   # Don't use the final RPATH in devel space
+   set_target_properties(${target} PROPERTIES BUILD_WITH_INSTALL_RPATH FALSE)
+endfunction()

march_hardware_interface/package.xml

@@ -28,6 +28,7 @@
 
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>
+  <exec_depend>ethercat_grant</exec_depend>
 
   <test_depend>rostest</test_depend>
   <test_depend>code_coverage</test_depend>