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fix: discover tinyxml2 via tinyxml2_vendor for cross-distro builds #2

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Merged
rxdu merged 1 commit into from
Jun 1, 2026
Merged

fix: discover tinyxml2 via tinyxml2_vendor for cross-distro builds #2

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10 changes: 7 additions & 3 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -47,9 +47,13 @@ find_package(rclcpp REQUIRED)
find_package(pluginlib REQUIRED)
find_package(controller_manager REQUIRED)
find_package(ament_index_cpp REQUIRED)
# System tinyxml2 (the same one ros2_control's hardware_interface links). See the
# tinyxml2 note on the mujoco_sim link step below for why this is required.
find_package(tinyxml2 REQUIRED)
# tinyxml2 (the same one ros2_control's hardware_interface links). Discover it
# through the ROS tinyxml2_vendor package so it works across distros: Ubuntu
# 24.04 ships tinyxml2's CMake config, but 22.04 (Humble) does not. tinyxml2_vendor
# prepends a FindTinyXML2 module and ensures the tinyxml2::tinyxml2 imported
# target (used on the mujoco_sim link step below) exists on both.
find_package(tinyxml2_vendor REQUIRED)
find_package(TinyXML2 REQUIRED)

add_library(${PROJECT_NAME} INTERFACE)
target_include_directories(${PROJECT_NAME} INTERFACE
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