removed dependency to ros1_bridge package (#90)

* removed dependency to ros1_bridge package:
 * checking if package is available
 * if not skipping (with warnings)
 * now rosbag2_tests builds on systems without ros1

* check ros1 deps correctly on all packages

* add ros1_bridge to test package

* silently try to find the bridge

ros1_rosbag_storage_vendor/CMakeLists.txt

@@ -24,6 +24,21 @@ if(WIN32)
   return()
 endif()
 
+# include bridge first to not create package if ros1 packages cannot be found
+find_package(ros1_bridge QUIET)
+if(NOT ros1_bridge_FOUND)
+  message(STATUS "Failed to find ros1_bridge, skipping...")
+  # call ament_package() to avoid ament_tools treating this as a plain CMake pkg
+  ament_package()
+  return()
+endif()
+find_ros1_package(roscpp)
+if(NOT ros1_roscpp_FOUND)
+  message(STATUS "Failed to find ROS 1 roscpp, skipping...")
+  ament_package()
+  return()
+endif()
+
 include(ExternalProject)
 # We have to include a number of patches to the rosbag
 # 1. rosbag1_encryption_patch includes https://github.com/ros/ros_comm/pull/1499, without it, pluginlib won't link

rosbag2_bag_v2_plugins/CMakeLists.txt

@@ -17,23 +17,17 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 
-find_package(PkgConfig)
-if(NOT PKG_CONFIG_FOUND)
-  message(WARNING "Failed to find PkgConfig, skipping...")
+# include bridge first to not create package if ros1 packages cannot be found
+find_package(ros1_bridge QUIET)
+if (NOT ros1_bridge_FOUND)
+  message(STATUS "Failed to find ros1_bridge, skipping...")
   # call ament_package() to avoid ament_tools treating this as a plain CMake pkg
   ament_package()
   return()
 endif()
-
-# include bridge first to not create package if ros1 packages cannot be found
-find_package(ros1_bridge REQUIRED)
-include(${ros1_bridge_DIR}/find_ros1_interface_packages.cmake)
-include(${ros1_bridge_DIR}/find_ros1_package.cmake)
-
 find_ros1_package(roscpp)
 if(NOT ros1_roscpp_FOUND)
-  message(WARNING "Failed to find ROS 1 roscpp, skipping...")
-  # call ament_package() to avoid ament_tools treating this as a plain CMake pkg
+  message(STATUS "Failed to find ROS 1 roscpp, skipping...")
   ament_package()
   return()
 endif()

rosbag2_tests/CMakeLists.txt

@@ -20,21 +20,6 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 
-find_package(PkgConfig)
-if(PKG_CONFIG_FOUND)
-  find_package(ros1_bridge REQUIRED)
-  include(${ros1_bridge_DIR}/find_ros1_interface_packages.cmake)
-  include(${ros1_bridge_DIR}/find_ros1_package.cmake)
-  find_ros1_package(roscpp)
-  if(NOT ros1_roscpp_FOUND)
-    set(SKIP_ROS1_TESTS "SKIP_TEST")
-    message(WARNING "Skipping build of tests for rosbag_v2 plugin. ROS 1 not found")
-  endif()
-else()
-  set(SKIP_ROS1_TESTS "SKIP_TEST")
-  message(WARNING "Skipping build of tests for rosbag_v2 plugin. ROS 1 not found")
-endif()
-
 if(BUILD_TESTING)
   include(cmake/skip_ros1_tests_if_necessary.cmake)
   skip_ros1_tests_if_necessary()

rosbag2_tests/cmake/skip_ros1_tests_if_necessary.cmake

@@ -18,20 +18,15 @@
 # plugin is not available
 
 macro(skip_ros1_tests_if_necessary)
-  find_package(PkgConfig)
-  if(PKG_CONFIG_FOUND)
-    find_package(ros1_bridge REQUIRED)
-    include(${ros1_bridge_DIR}/find_ros1_interface_packages.cmake)
-    include(${ros1_bridge_DIR}/find_ros1_package.cmake)
+  find_package(ros1_bridge QUIET)
+  if(ros1_bridge_FOUND)
     find_ros1_package(roscpp)
-    if(NOT ros1_roscpp_FOUND)
-      set(SKIP_ROS1_TESTS "SKIP_TEST")
-      message(WARNING
-        "Skipping build of tests for rosbag_v2 plugin. ROS 1 not found")
+    if(ros1_roscpp_FOUND)
+      return()
     endif()
-  else()
-    set(SKIP_ROS1_TESTS "SKIP_TEST")
-    message(WARNING
-      "Skipping build of tests for rosbag_v2 plugin. ROS 1 not found")
   endif()
-endmacro()
+
+  set(SKIP_ROS1_TESTS "SKIP_TEST")
+  message(STATUS
+    "Skipping build of tests for rosbag_v2 plugin. ROS 1 not found")
+endmacro()

rosbag2_tests/package.xml

@@ -20,6 +20,7 @@
   <test_depend>rosbag2_test_common</test_depend>
   <test_depend>rosbag2_storage</test_depend>
   <test_depend>rosbag2</test_depend>
+  <test_depend>ros1_bridge</test_depend>
   <test_depend>ros2bag</test_depend>
   <test_depend>rclcpp</test_depend>
   <test_depend>std_msgs</test_depend>