From 74db664881f53b30e7531422aa13e62a38c7ea88 Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Fri, 11 Nov 2022 14:57:57 -0800
Subject: [PATCH] Make demo_nodes_cpp_native install stuff only when it builds
 (#590)

* Make demo_nodes_cpp_native install stuff only when it builds

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* doing nothing -> skipping

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
---
 demo_nodes_cpp_native/CMakeLists.txt | 113 ++++++++++++++-------------
 1 file changed, 58 insertions(+), 55 deletions(-)

diff --git a/demo_nodes_cpp_native/CMakeLists.txt b/demo_nodes_cpp_native/CMakeLists.txt
index 2cd3322ce..af00689ff 100644
--- a/demo_nodes_cpp_native/CMakeLists.txt
+++ b/demo_nodes_cpp_native/CMakeLists.txt
@@ -2,6 +2,12 @@ cmake_minimum_required(VERSION 3.5)
 
 project(demo_nodes_cpp_native)
 
+find_package(rmw_fastrtps_cpp QUIET)
+if(NOT rmw_fastrtps_cpp_FOUND)
+  message(STATUS "Could not find rmw_fastrtps_cpp - skipping")
+  return()
+endif()
+
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -16,71 +22,68 @@ find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(rmw REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(rmw_fastrtps_cpp QUIET)
 
 include_directories(include)
 
-if(rmw_fastrtps_cpp_FOUND)
-  add_library(talker_native SHARED
-    src/talker.cpp)
-  target_compile_definitions(talker_native
-    PRIVATE "DEMO_NODES_CPP_NATIVE_BUILDING_DLL")
-  ament_target_dependencies(talker_native
-    "rclcpp"
-    "std_msgs"
-    "rclcpp_components"
-    "rmw_fastrtps_cpp")
-  rclcpp_components_register_node(talker_native PLUGIN "demo_nodes_cpp_native::Talker" EXECUTABLE talker)
-  install(TARGETS
-    talker_native
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION bin)
+add_library(talker_native SHARED
+  src/talker.cpp)
+target_compile_definitions(talker_native
+  PRIVATE "DEMO_NODES_CPP_NATIVE_BUILDING_DLL")
+ament_target_dependencies(talker_native
+  "rclcpp"
+  "std_msgs"
+  "rclcpp_components"
+  "rmw_fastrtps_cpp")
+rclcpp_components_register_node(talker_native PLUGIN "demo_nodes_cpp_native::Talker" EXECUTABLE talker)
+install(TARGETS
+  talker_native
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
 
-  if(BUILD_TESTING)
-    find_package(ament_lint_auto REQUIRED)
-    ament_lint_auto_find_test_dependencies()
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 
-    find_package(ament_cmake_pytest REQUIRED)
-    find_package(launch_testing_ament_cmake REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
 
-    set(tutorial_executables "talker")
+  set(tutorial_executables "talker")
 
-    set(DEMO_NODES_CPP_EXPECTED_OUTPUT "")
-    foreach(executable ${tutorial_executables})
-      list(APPEND DEMO_NODES_CPP_EXPECTED_OUTPUT "${CMAKE_CURRENT_SOURCE_DIR}/test/${executable}")
-    endforeach()
+  set(DEMO_NODES_CPP_EXPECTED_OUTPUT "")
+  foreach(executable ${tutorial_executables})
+    list(APPEND DEMO_NODES_CPP_EXPECTED_OUTPUT "${CMAKE_CURRENT_SOURCE_DIR}/test/${executable}")
+  endforeach()
 
-    set(DEMO_NODES_CPP_EXECUTABLE "")
-    foreach(executable ${tutorial_executables})
-      list(APPEND DEMO_NODES_CPP_EXECUTABLE "$<TARGET_FILE:${executable}>")
-    endforeach()
+  set(DEMO_NODES_CPP_EXECUTABLE "")
+  foreach(executable ${tutorial_executables})
+    list(APPEND DEMO_NODES_CPP_EXECUTABLE "$<TARGET_FILE:${executable}>")
+  endforeach()
 
-    string(REPLACE ";" "_" exe_list_underscore "${tutorial_executables}")
-    configure_file(
-      test/test_executables_tutorial.py.in
-      test_${exe_list_underscore}.py.configured
-      @ONLY
-    )
-    file(GENERATE
-      OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}_$<CONFIG>.py"
-      INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}.py.configured"
-    )
+  string(REPLACE ";" "_" exe_list_underscore "${tutorial_executables}")
+  configure_file(
+    test/test_executables_tutorial.py.in
+    test_${exe_list_underscore}.py.configured
+    @ONLY
+  )
+  file(GENERATE
+    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}_$<CONFIG>.py"
+    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}.py.configured"
+  )
 
-    add_launch_test(
-      "${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}_$<CONFIG>.py"
-      TARGET test_tutorial_${exe_list_underscore}
-      TIMEOUT 30
-      ENV
-      RCL_ASSERT_RMW_ID_MATCHES=rmw_fastrtps_cpp
-      RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-    )
-    foreach(executable ${tutorial_executables})
-      set_property(
-        TEST test_tutorial_${exe_list_underscore}
-        APPEND PROPERTY DEPENDS ${executable})
-    endforeach()
-  endif()
+  add_launch_test(
+    "${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}_$<CONFIG>.py"
+    TARGET test_tutorial_${exe_list_underscore}
+    TIMEOUT 30
+    ENV
+    RCL_ASSERT_RMW_ID_MATCHES=rmw_fastrtps_cpp
+    RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+  )
+  foreach(executable ${tutorial_executables})
+    set_property(
+      TEST test_tutorial_${exe_list_underscore}
+      APPEND PROPERTY DEPENDS ${executable})
+  endforeach()
 endif()
 
 ament_package()