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Merged
twallis-cpr merged 2 commits into from
Apr 27, 2026
Merged

Add new cmake option to find proton locally and build that #14

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8f4e7c3
Add new cmake option to find proton locally and build that
twallis-cpr Apr 24, 2026
e40b765
Tested on personal laptop. Prevent proton from compiling in parallel …
twallis-cpr Apr 24, 2026
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146 changes: 81 additions & 65 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,74 +5,90 @@ project(proton_vendor)
# Find ROS 2 dependencies
find_package(ament_cmake REQUIRED)

include(ExternalProject)

set(PROTON_EXTERNAL_PROJECT_NAME proton_external_project)
set(PROTON_GIT_REPOSITORY "https://github.com/clearpathrobotics/proton.git")
set(PROTON_GIT_TAG "1.0.0")

set(EXTERNAL_PROJECT_PREFIX ${CMAKE_CURRENT_BINARY_DIR}/proton_external_build)
set(EXTERNAL_PROJECT_SOURCE_DIR ${EXTERNAL_PROJECT_PREFIX}/src/proton)
set(EXTERNAL_PROJECT_BINARY_DIR ${EXTERNAL_PROJECT_PREFIX}/build/proton)
set(EXTERNAL_PROJECT_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}) # Proton library should install its files (libraries, headers) into proton_vendor package install space.

# Use sequential build for ExternalProject to avoid file descriptor issues
set(EXTERNAL_PROJECT_BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> --parallel 1)

ExternalProject_Add(${PROTON_EXTERNAL_PROJECT_NAME}
# download step
GIT_REPOSITORY ${PROTON_GIT_REPOSITORY}
GIT_TAG ${PROTON_GIT_TAG}

# directiories config
PREFIX ${EXTERNAL_PROJECT_PREFIX}
SOURCE_DIR ${EXTERNAL_PROJECT_SOURCE_DIR}
BINARY_DIR ${EXTERNAL_PROJECT_BINARY_DIR}
INSTALL_DIR ${EXTERNAL_PROJECT_INSTALL_DIR}

# after initial download, don't re-fetch source on subsequent CMake runs
UPDATE_COMMAND ""

# configure step
CONFIGURE_COMMAND ${CMAKE_COMMAND} -S <SOURCE_DIR> -B <BINARY_DIR>
-DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-DCMAKE_CROSSCOMPILING=OFF
-DBUILD_SHARED_LIBS=ON
-DPROTON_BUILD_PROTONC=ON
-DPROTON_BUILD_PROTONCPP=ON
-DPROTON_BUILD_EXAMPLES=OFF
-DPROTON_BUILD_TESTS=OFF
-DPROTON_INSTALL=ON

# build step
BUILD_COMMAND ${EXTERNAL_PROJECT_BUILD_COMMAND}

# install step
INSTALL_COMMAND ""

# logging
LOG_CONFIGURE YES
LOG_BUILD YES
LOG_INSTALL YES
)

# ros buildfarm fix: separate ExternalProject install step from the clone/build steps.
# Reference: https://github.com/ros-industrial/ros2_canopen/blob/master/lely_core_libraries/CMakeLists.txt
install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} --install ${EXTERNAL_PROJECT_BINARY_DIR})")

add_library(proton_vendor INTERFACE)
add_library(proton_vendor::proton_vendor ALIAS proton_vendor)

target_include_directories(proton_vendor
INTERFACE
$<INSTALL_INTERFACE:include>
)
target_link_libraries(proton_vendor
INTERFACE
${CMAKE_INSTALL_PREFIX}/lib/libprotonc.so
${CMAKE_INSTALL_PREFIX}/lib/libprotoncpp.so
)
# Option to use local proton instead of downloading from GitHub
option(PROTON_VENDOR_USE_LOCAL "Use local proton instead of downloading from GitHub" OFF)

if(PROTON_VENDOR_USE_LOCAL)
# Use local proton from workspace
find_package(proton REQUIRED)

target_link_libraries(proton_vendor
INTERFACE
proton::protonc
proton::protoncpp
)

else()
# Download and build proton from GitHub
include(ExternalProject)

set(PROTON_EXTERNAL_PROJECT_NAME proton_external_project)
set(PROTON_GIT_REPOSITORY "https://github.com/clearpathrobotics/proton.git")
set(PROTON_GIT_TAG "1.0.0")

set(EXTERNAL_PROJECT_PREFIX ${CMAKE_CURRENT_BINARY_DIR}/proton_external_build)
set(EXTERNAL_PROJECT_SOURCE_DIR ${EXTERNAL_PROJECT_PREFIX}/src/proton)
set(EXTERNAL_PROJECT_BINARY_DIR ${EXTERNAL_PROJECT_PREFIX}/build/proton)
set(EXTERNAL_PROJECT_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}) # Proton library should install its files (libraries, headers) into proton_vendor package install space.

# Use sequential build for ExternalProject to avoid file descriptor issues
set(EXTERNAL_PROJECT_BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> --parallel 1)

ExternalProject_Add(${PROTON_EXTERNAL_PROJECT_NAME}
# download step
GIT_REPOSITORY ${PROTON_GIT_REPOSITORY}
GIT_TAG ${PROTON_GIT_TAG}

# directiories config
PREFIX ${EXTERNAL_PROJECT_PREFIX}
SOURCE_DIR ${EXTERNAL_PROJECT_SOURCE_DIR}
BINARY_DIR ${EXTERNAL_PROJECT_BINARY_DIR}
INSTALL_DIR ${EXTERNAL_PROJECT_INSTALL_DIR}

# after initial download, don't re-fetch source on subsequent CMake runs
UPDATE_COMMAND ""

# configure step
CONFIGURE_COMMAND ${CMAKE_COMMAND} -S <SOURCE_DIR> -B <BINARY_DIR>
-DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-DCMAKE_CROSSCOMPILING=OFF
-DBUILD_SHARED_LIBS=ON
-DPROTON_BUILD_PROTONC=ON
-DPROTON_BUILD_PROTONCPP=ON
-DPROTON_BUILD_EXAMPLES=OFF
-DPROTON_BUILD_TESTS=OFF
-DPROTON_INSTALL=ON

# build step
BUILD_COMMAND ${EXTERNAL_PROJECT_BUILD_COMMAND}

# install step
INSTALL_COMMAND ""

# logging
LOG_CONFIGURE YES
LOG_BUILD YES
LOG_INSTALL YES
)

# ros buildfarm fix: separate ExternalProject install step from the clone/build steps.
# Reference: https://github.com/ros-industrial/ros2_canopen/blob/master/lely_core_libraries/CMakeLists.txt
install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} --install ${EXTERNAL_PROJECT_BINARY_DIR})")

target_include_directories(proton_vendor
INTERFACE
$<INSTALL_INTERFACE:include>
)
target_link_libraries(proton_vendor
INTERFACE
${CMAKE_INSTALL_PREFIX}/lib/libprotonc.so
${CMAKE_INSTALL_PREFIX}/lib/libprotoncpp.so
)
endif()

install(
TARGETS proton_vendor
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10 changes: 10 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
@@ -1,3 +1,13 @@
# proton_vendor

Proton Vendor package that is used to package [Proton](https://github.com/clearpathrobotics/proton) as a ROS 2 package.

## Building

By default, this package downloads and builds Proton from GitHub. For development with local Proton changes, you can use Proton from the same workspace:

```
colcon build --cmake-args -DPROTON_VENDOR_USE_LOCAL=ON --symlink-install
```

Ensure Proton is cloned in the same workspace when using this option.
6 changes: 4 additions & 2 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,16 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>proton_vendor</name>
<version>0.0.0</version>
<version>1.0.0</version>
<description>Proton vendor package</description>
<maintainer email="rkreinin@clearpathrobotics.com">rkreinin</maintainer>
<maintainer email="thomas.wallis@rockwellautomation.com">Tom Wallis</maintainer>
<license>Apache 2.0</license>

<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>git</buildtool_depend>

<depend>proton</depend>

<depend>asio</depend>
<depend>protobuf-dev</depend>
<depend>python3-protobuf</depend>
Expand Down
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