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Use O3DE's 3rdParty convention for ROS 2 package dependencies to survive in Prebuilt Gems - #1066
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jhanca-robotecai merged 3 commits intoAug 28, 2026
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Signed-off-by: Mateusz Żak <mateusz.zak@robotec.ai>
Model-declared dependencies survive the engine's install emission; consumers re-resolve them via FindROS2.cmake component resolution. Signed-off-by: Mateusz Żak <mateusz.zak@robotec.ai>
Signed-off-by: Mateusz Żak <mateusz.zak@robotec.ai>
zakmat
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July 27, 2026 13:37
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The code looks correct.
I tested the build with the following set-ups:
- engine (source, 2605) + simulation Gems + binary proprietary Gem using ROS 2 as dependency
- engine (SDK, 2605) + simulation Gems + binary proprietary Gem using ROS 2 as dependency
In both setups I built the projects and exported them with mono+release and nonmono+profile configs.
michalpelka
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This was referenced Sep 2, 2026
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* Introduce compression publication to ROS 2 camera (#1067) * Use O3DE's 3rdParty convention for ROS 2 package dependencies to survive in Prebuilt Gems (#1066) * Upgrade Tracy profiler to 1.14.1, also mark the tracy frame end to RHI OnFrameEnd. (#1090) * Add workflow to test simulation Gems for PR (#1089) --------- Signed-off-by: Michał Pełka <michal.pelka@robotec.ai> Signed-off-by: Mateusz Żak <mateusz.zak@robotec.ai> Signed-off-by: Ross Charles C. <10781734+rossbridger@users.noreply.github.com> Signed-off-by: Jan Hanca <jan.hanca@robotec.ai> Co-authored-by: Michał Pełka <michal.pelka@robotec.ai> Co-authored-by: Mateusz Żak <mateusz.zak@robotec.ai> Co-authored-by: Ross Charles C. <10781734+rossbridger@users.noreply.github.com>
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What does this PR do?
This PR makes the ROS 2 package dependencies survive the gem export
ROS 2 dependency macros used to link resolved packaged directly with
target_link_libraries. That works well for source builds, where the macros run again at every configure but brings some issue when we want Gem to be packaged for distribution.In the latter case we would like to reuse O3DE existing mechanisms instead of handcrafting cmake files for all possible distribution variants. But using O3DE as is, it drops the deps that were not registered using its own functions.
To make it work I have replaced the
target_link_librarieswithly_equivalent and reused3rdParty::system to make the deps discoverable (each dependency is declared under3rdParty::ROS2::<pkg>and can be resolved independently by producer and consumers machines.3rdPartyis engine's magic that invokesFindROS2.cmakefor unresolved names on consumer's side). I have crafted the code so the existing macro signatures are unchanged, therefore no edits in existing Gems are needed.Additionally I moved the FindROS2.cmake to 3rdParty directory where it belongs by convention.
Also noticed that the above removed the need for custom registration - hence the third commit - but please advise against if you feel we should keep those lines. Some out-of-tree consumers might rely on it.
How was this PR tested?
Linux, ROS 2 Jazzy.
Source builds of the ROS 2 Gem and some of its dependent Gems - unaffected.
Prebuilt Gems flow tested on projects with 25.05 source engine with back-ported extras and SDK 26.05 engine.