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USE_SCOPED_HEADER_INSTALL_DIR path issues

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Assessment

Difficulty
3/5
Estimated time
1-2 days
Newbie friendliness
48/100
Issue type
Bug
Clarity
Mostly clear
Activity status
Stale
Tech stack
cmake, cpp
Domain
build-system

Research direction

Start by reproducing the downstream compilation failure with the described st_ptz_control and st_flir packages, then inspect their CMakeLists.txt files and the generated st_ptz_control_params.hpp include and install paths. Compare the installed header layout with the include path used by ptz.hpp; done means a downstream package can include onvif_ptz.hpp without a missing-header error or deprecation warning.

Written by the indexing model from the issue text.

Description

Running ROS2 Jazzy on Ubuntu 24.04.3

We have started migrating to the new include path location by adding USE_SCOPED_HEADER_INSTALL_DIR to our ament_auto_package() calls in our CMakeLists.txt files (https://github.com/ament/ament_cmake/pull/577). This creates a problem when the generated params.hpp header is included in a public installed header that is then included in a downstream package.

Source

Given this package

src/camera/st_ptz_control/include/st/camera/ptz/onvif_ptz.hpp
src/camera/st_ptz_control/include/st/camera/ptz/ptz.hpp

where onvif_ptz.hpp has the line

#include "st/camera/ptz/ptz.hpp"

where ptz.hpp has the line

#include <st_ptz_control/st_ptz_control_params.hpp>

and its CMakeLists (cruft removed):

generate_parameter_library(
  st_ptz_control_params
  src/params.yaml
)

ament_auto_add_library(
  st_ptz_control_component SHARED
  src/ptz.cpp
)

target_link_libraries(
  st_ptz_control_component
  st_ptz_control_params)

ament_auto_package(USE_SCOPED_HEADER_INSTALL_DIR)

This produces installed headers:

/opt/st/core/st_ptz_control
|-- include
|   `-- st_ptz_control
|       |-- st
|       |   `-- camera
|       |       `-- ptz
|       |           |-- commands.hpp -> /workspace/STcore/core/src/camera/st_ptz_control/include/st/camera/ptz/commands.hpp
|       |           |-- onvif_ptz.hpp -> /workspace/STcore/core/src/camera/st_ptz_control/include/st/camera/ptz/onvif_ptz.hpp
|       |           |-- ptz.hpp -> /workspace/STcore/core/src/camera/st_ptz_control/include/st/camera/ptz/ptz.hpp
|       |           `-- visibility_control.hpp -> /workspace/STcore/core/src/camera/st_ptz_control/include/st/camera/ptz/visibility_control.hpp
|       `-- st_ptz_control_params.hpp -> /workspace/STcore/core/build/st_ptz_control/include/st_ptz_control/st_ptz_control_params.hpp

This package is used by a downstream package with the header

src/camera/st_flir/src/flir.hpp

which has the line

#include "st/camera/ptz/onvif_ptz.hpp"

and its package.xml has

  <depend>st_ptz_control</depend>

Issues

As-written, this generates a compilation error in st_flir:

--- stderr: st_flir
In file included from /opt/st/core/st_ptz_control/include/st_ptz_control/st/camera/ptz/onvif_ptz.hpp:3,
                 from /workspace/STcore/core/src/camera/st_flir/src/flir.hpp:3,
                 from /workspace/STcore/core/src/camera/st_flir/src/flir.cpp:1:
/opt/st/core/st_ptz_control/include/st_ptz_control/st/camera/ptz/ptz.hpp:6:10: fatal error: st_ptz_control/st_ptz_control_params.hpp: No such file or directory
    6 | #include <st_ptz_control/st_ptz_control_params.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/st_flir_component.dir/build.make:76: CMakeFiles/st_flir_component.dir/src/flir.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/st_flir_component.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< st_flir [0.12s, exited with code 2]

If I modify the include in onvif_ptz.hpp to be just #include <st_ptz_control_params.hpp> then I get a deprecation warning:

--- stderr: st_ptz_control
In file included from /workspace/STcore/core/src/camera/st_ptz_control/include/st/camera/ptz/ptz.hpp:5,
                 from /workspace/STcore/core/src/camera/st_ptz_control/src/ptz.cpp:1:
/workspace/STcore/core/build/st_ptz_control/include/st_ptz_control_params.hpp:1:137: note: ‘#pragma message: #include "st_ptz_control_params.hpp" is deprecated. Use #include <st_ptz_control/st_ptz_control_params.hpp> instead.’
    1 | #pragma message("#include \"st_ptz_control_params.hpp\" is deprecated. Use #include <st_ptz_control/st_ptz_control_params.hpp> instead.")

Which, if I follow the instructions in the deprecation warning, it appears to be a valid path based on the installed header structure.

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