Pin ament install destinations to lib/include/bin (fixes #1175)#1176
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The ROS build farm (bloom/debhelper) configures with -DCMAKE_INSTALL_LIBDIR=lib/<multiarch-triplet>. Since #1152 made the BTCPP_*_DESTINATION variables honor GNUInstallDirs, farm binaries installed libbehaviortree_cpp.so to /opt/ros/<distro>/lib/x86_64-linux-gnu, which breaks ament_export_libraries lookup in downstream packages and is not on the LD_LIBRARY_PATH set by the ament environment hooks. Shadow the cache variables with plain set() in the ament build path, so ROS builds always install to $prefix/lib regardless of CMAKE_INSTALL_LIBDIR, while standalone builds keep the GNUInstallDirs override behavior introduced for #1120. Also add a ros2-lyrical CI job that emulates the build farm flags and asserts the library lands in $prefix/lib. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Fixes #1175
Problem
Since #1152, the
BTCPP_*_DESTINATIONvariables honorCMAKE_INSTALL_LIBDIR(GNUInstallDirs). The ROS build farm (bloom/debhelper) always configures with-DCMAKE_INSTALL_LIBDIR=lib/x86_64-linux-gnu, so the Lyrical/Rolling binaries started installinglibbehaviortree_cpp.soto/opt/ros/<distro>/lib/x86_64-linux-gnu/instead of/opt/ros/<distro>/lib/.That path breaks ROS in two independent ways:
ament_export_libraries()hardcodesfind_library(... PATHS "${prefix}/../../../lib" NO_DEFAULT_PATH), so downstreamfind_package(behaviortree_cpp)fails (see ament_cmake_export_libraries fails when CMAKE_INSTALL_LIBDIR is set ament/ament_cmake#630, e.g. theauto_apms_behavior_tree_corefarm failure).$prefix/libonLD_LIBRARY_PATH, andldconfigdoes not index/optpaths — so even with the ament fix, binaries would not find the library. This is why fixing ament alone is not sufficient and BT.CPP must pin the path itself.Solution
Plain
set()calls incmake/ament_build.cmakeshadow the GNUInstallDirs-based cache variables whenever the ament build path is active, pinning the destinations tolib/include/binregardless of what debhelper injects. Standalone (non-ROS) builds are untouched and keep the override behavior introduced for #1120.Also adds a
ros2-lyricalCI job (industrial_ci, same pattern as humble/jazzy) that emulates the build farm by passingTARGET_CMAKE_ARGS: -DCMAKE_INSTALL_LIBDIR=lib/x86_64-linux-gnu, with anAFTER_SCRIPTasserting the library lands ininstall/behaviortree_cpp/lib/— a permanent regression test for this issue.Verified (locally against /opt/ros/lyrical)
-DCMAKE_INSTALL_LIBDIR=lib/x86_64-linux-gnu(farm emulation)lib✅cmake --installlayoutlib/libbehaviortree_cpp.so, no multiarch dir ✅-DCMAKE_INSTALL_LIBDIR=lib/x86_64-linux-gnu(#1120 feature)lib/x86_64-linux-gnu✅-DBTCPP_LIB_DESTINATION=custom/libcustom/lib✅API / ABI
Build-system change only; no API or ABI impact. Restores the pre-4.9.1 install layout for ROS binaries — needs a 4.9.2 patch release + bloom re-release for the affected distros.
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