fix(ci): use system packages in ROS builds to fix buildfarm compilation#72
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facontidavide merged 2 commits intomainfrom Feb 24, 2026
Merged
fix(ci): use system packages in ROS builds to fix buildfarm compilation#72facontidavide merged 2 commits intomainfrom
facontidavide merged 2 commits intomainfrom
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Timple
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Feb 24, 2026
cloudini_lib/package.xml
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| <depend>libpcl-common</depend> | ||
| <depend>libpcl-io</depend> | ||
| <depend>libpcl-dev</depend> |
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I believe everything with a -dev suffix should not be an exec dependency.
So this (and libzstd-dev) should be build and build_export dependencies.
edit: @Rayman did this for https://github.com/ros-perception/perception_pcl so he might have some insights here.
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You are correct!
- libpcl-common and libpcl-io as
<exec_depend> - libpcl-dev as
<build_depend>and<build_export_depend>(if symbols are exported in headers)
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you are not wrong. I can fix that
Two buildfarm failures fixed: 1. Jazzy Noble ARM64 (cloudini_lib): buildfarm sets FETCHCONTENT_FULLY_DISCONNECTED=ON, but CLOUDINI_FORCE_VENDORED_DEPS was forced ON in ament builds, skipping find_package() and trying to CPM-download zstd/lz4. With no network, file(GLOB) returned empty sources and add_library() failed. Fix: force FORCE_VENDORED=OFF when ament is found so system packages (declared in package.xml) are used. 2. Humble Jammy ARM64 (cloudini_ros): libpcl-common + libpcl-io rosdep keys only install component libs without PCLConfig.cmake, so find_package(PCL QUIET) silently failed and pcl_conversion.cpp was excluded from libcloudini_lib.so. PCLPointCloudDecode was then missing at link time when building cloudini_ros. Fix: use libpcl-dev which ships the full CMake config. Also fix find_package() calls to use CONFIG mode with lowercase package names (zstd/lz4) matching the actual CMake config files provided by Ubuntu's libzstd-dev and liblz4-dev packages, with fallback to module mode for compatibility. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Bare runners fail because: - Humble: setup-ros installs minimal ROS without typesupport implementations, causing "No rosidl_typesupport_c found" - Jazzy: Ubuntu 24.04 PEP 668 Python isolation conflicts with setup-ros pip-installed tools, causing "No module ament_package" Switch to rostooling/setup-ros-docker containers with ros-base pre-installed, which have the correct ROS + Python environment. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Summary
Jazzy Noble ARM64 (
cloudini_lib): buildfarm setsFETCHCONTENT_FULLY_DISCONNECTED=ON, butCLOUDINI_FORCE_VENDORED_DEPSwas forcedONin ament builds, skippingfind_package()and trying to CPM-download zstd/lz4. With no network access,file(GLOB)returned empty sources andadd_library()failed with "No SOURCES given to target". Fix: forceFORCE_VENDORED=OFFwhen ament is detected so system packages (already declared inpackage.xml) are used instead.Humble Jammy ARM64 (
cloudini_ros):libpcl-common+libpcl-iorosdep keys only install component runtime libs — they don't shipPCLConfig.cmake. Sofind_package(PCL QUIET)silently failed,pcl_conversion.cppwas excluded fromlibcloudini_lib.so, andPCLPointCloudDecodewas missing at link time when buildingcloudini_ros. Fix: replace withlibpcl-devwhich ships the full CMake config.Also updated
find_package()calls to use CONFIG mode with lowercase names (zstd/lz4) matching Ubuntu's actual CMake config files, with fallback to module mode for compatibility.Test plan
cloudini_lib+cloudini_rosboth pass (system packages path)cloudini_libcompiles with vendored zstd/lz4 via CPM cache (vendored path unaffected)🤖 Generated with Claude Code