From 15d443f5ca44642c13f1e279c341f1cb502ec28a Mon Sep 17 00:00:00 2001
From: Atticus Russell <atticusrussell@gmail.com>
Date: Tue, 20 Jun 2023 01:01:13 -0400
Subject: [PATCH] find lib helper

---
 .github/workflows/ci-industrial.yml | 34 ++++++++++++++---------------
 CMakeLists.txt                      | 22 +++++++++++++++++--
 2 files changed, 37 insertions(+), 19 deletions(-)

diff --git a/.github/workflows/ci-industrial.yml b/.github/workflows/ci-industrial.yml
index bce8ef5..b670c03 100644
--- a/.github/workflows/ci-industrial.yml
+++ b/.github/workflows/ci-industrial.yml
@@ -43,21 +43,21 @@ jobs:
       - name: Go back to current directory
         run: cd $CURRENT_DIR
       - uses: actions/checkout@v3 # clone target repository
-      - name: Verify pigpio library install
-        run: sudo pigpiod -v
+      # - name: Verify pigpio library install
+      #   run: sudo pigpiod -v
         
-      # - uses: actions/cache@v2 # fetch/store the directory used by ccache before/after the ci run
-      #   with:
-      #     path: ${{ env.CCACHE_DIR }}
-      #     # This configuration will always create a new ccache cache starting off from the previous one (if any).
-      #     # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
-      #     # and might need some fine-tuning to match the use case
-      #     key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
-      #     restore-keys: |
-      #       ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
-      # - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
-      #   env: # either pass all entries explicitly
-      #     ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
-      #     ROS_REPO: ${{ matrix.ROS_REPO }}
-      #   # with: # or pass the full matrix as config
-      #   #    config: ${{toJSON(matrix)}}
+      - uses: actions/cache@v2 # fetch/store the directory used by ccache before/after the ci run
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          # This configuration will always create a new ccache cache starting off from the previous one (if any).
+          # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
+          # and might need some fine-tuning to match the use case
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
+      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
+        env: # either pass all entries explicitly
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REPO: ${{ matrix.ROS_REPO }}
+        # with: # or pass the full matrix as config
+        #    config: ${{toJSON(matrix)}}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5167491..a301346 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,8 +12,26 @@ find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 
-find_library(PIGPIO_IF2_LIB pigpiod_if2 REQUIRED)
-find_library(PIGPIO_LIB pigpio REQUIRED)
+################################################################################
+### Find the pigpio shared libraries.
+################################################################################
+	
+# Find the pigpio libraries.
+find_library(PIGPIO_LIB 
+	NAMES libpigpio.so
+	HINTS /usr/local/lib
+  REQUIRED)
+
+find_library(PIGPIO_IF2_LIB 
+	NAMES libpigpiod_if2.so
+	HINTS /usr/local/lib
+  REQUIRED)
+
+################################################################################
+################################################################################
+
+# find_library(PIGPIO_IF2_LIB pigpiod_if2 REQUIRED)
+# find_library(PIGPIO_LIB pigpio REQUIRED)
 
 add_library(
   rpi_pwm_hardware_interface