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Oct 6, 2025
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Log message for linktime composition on Windows (backport #640) #742

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25 changes: 1 addition & 24 deletions composition/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -59,30 +59,7 @@ Run the following command to load the libraries.
ros2 run composition dlopen_composition `ros2 pkg prefix composition`/lib/libtalker_component.so `ros2 pkg prefix composition`/lib/liblistener_component.so
```

#### Windows

On Windows, we will need the `*.dll` files.
Since command substitution will not work on Windows, you have to give the absolute path of the libraries.

The libraries will be in `<path_to_your_ros2_installation>\bin\`, so we have to run.

```bash
ros2 run composition dlopen_composition <prefix_path>\bin\talker_component.dll <prefix_path>\bin\listener_component.dll
```

To get the `prefix_path` run

```bash
ros2 pkg prefix composition
```

For example if our `prefix_path` comes out to be `C:\pixi_ws\ros2-windows\` we will run

```bash
ros2 run composition dlopen_composition C:\pixi_ws\ros2-windows\bin\talker_component.dll C:\pixi_ws\ros2-windows\bin\listener_component.dll
```

### Linktime Composition
### Linktime Composition (not supported on Windows)

Similar to previous, this runs `linktime_composition` which **links all classes from libraries** that are registered under the **library_path** with the **linker**.

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7 changes: 7 additions & 0 deletions composition/src/linktime_composition.cpp
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Expand Up @@ -36,6 +36,13 @@ int main(int argc, char * argv[])
std::vector<std::unique_ptr<class_loader::ClassLoader>> loaders;
std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;

// Linktime composition is not supported on Windows.
#ifdef _WIN32
RCLCPP_ERROR(logger, "Linktime composition is not supported on Windows.");
rclcpp::shutdown();
return 0;
#endif // _WIN32

std::vector<std::string> libraries = {
// all classes from libraries linked by the linker (rather than dlopen)
// are registered under the library_path ""
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