[foxy] grid_map_pcl needs PCLConfig.cmake but not included in package.xml

[kazuki0824]

In compile time, it needs PCLConfig.cmake for configuration, which is in libpcl-dev(in rosdep, it is defined as libpcl-all-dev)

On,

• Ubuntu 20.04
• Inside a Docker container Docker (ros:foxy)
• current HEAD on foxy_devel ,

I failed to build grid_map_pcl like below:

root@cb0f1bcd71a1:/_build_ws# colcon build
Starting >>> grid_map_cmake_helpers
--- stderr: grid_map_cmake_helpers
CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findament_cmake_core.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "ament_cmake_core", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake_core"
  with any of the following names:

    ament_cmake_coreConfig.cmake
    ament_cmake_core-config.cmake

  Add the installation prefix of "ament_cmake_core" to CMAKE_PREFIX_PATH or
  set "ament_cmake_core_DIR" to a directory containing one of the above
  files.  If "ament_cmake_core" provides a separate development package or
  SDK, be sure it has been installed.

[kazuki0824]

Maybe this PR is subset of https://github.com/ANYbotics/grid_map/pull/245 ? Even if not, the topic seems related.

[Ryanf55]

Hello,

It appears this is still affecting non-EOL distro's. Do you mind changing the target branch to rolling and rebasing? I would like to get this in.

[kazuki0824]

Sure. There’s no problem to rebase it. Any actions for me to do?

[Ryanf55]

Sure. There’s no problem to rebase it. Any actions for me to do?

Naw, just a rebase, and test it if you have time to make sure the key resolves in rolling. I'll be testing the change manually anyways for the time being because CI is broken. Thanks for the quick response.

[Ryanf55]

Looks like rolling already depends on the dev version of PCL, which is a bit overly bloated, but solves this issue. https://github.com/ANYbotics/grid_map/blob/886ba24724052cbb55e616ee36651a7fa07e9714/grid_map_pcl/package.xml#L24

Same with humble: https://github.com/ANYbotics/grid_map/blob/d97bf39830442fe0556b2632eb213879d03a1c91/grid_map_pcl/package.xml#L24

A more optimal way to do dependencies is exactly what you did. I would be happy to accept this change in rolling which should reduce runtime dependency bloat.

[Ryanf55]

See #423 for a rebased and correct fix.