Improve linking time #297
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Improve linking time #297
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Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
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Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Signed-off-by: Michael X. Grey <grey@openrobotics.org> Co-authored-by: Luca Della Vedova <lucadv@intrinsic.ai>
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We've discovered that directly linking against ROS2 message packages will bring hundreds of duplicate library dependencies into the command line arguments for the linker, which causes linking times for
ldto become explosive.Up until now we've side-stepped this issue by building with
lldinstead ofld, but this PR will allow linking times to be reasonable no matter what your choice of linker is.This PR solves the problem by simply using
ament_target_dependencieswhich de-duplicates transitive dependencies that are being pulled in by the direct dependencies.