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The dependent ament_cmake_ros package transitively pulls in RMW-layer packages which is unnecessarily heavy to class_loader that is supposed to be an independent plugin loading library. This commit removes the ament_cmake_ros dependency and replaces with a plain ament_cmake with an explicit SHARED library type to keep the dependency minimal. Signed-off-by: CY Chen <cyc@nvidia.com>
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The dependent
ament_cmake_rospackage transitively pulls in RMW-layer packages which is unnecessarily heavy to class_loader that is supposed to be an independent plugin loading library.This PR removes the
ament_cmake_rosdependency and replaces with a plainament_cmakewith an explicit SHARED library type to keep the dependency minimal.As a side note, this fix is also required when introducing the
rosidl::Bufferfeature to the RMW layer wherepluginlibwill be used to load buffer backends.Without this fix, the following circular dependency will be formed:
class_loader->ament_cmake_ros->rmw_test_fixture_implementation-> ... ->rmw_fastrtps_cpp->rosidl_buffer_backend_registry->pluginlib->class_loader