Use GNUInstallDirs with CACHE variables for install destinations (fixes #1120)#1152
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facontidavide merged 1 commit intoJul 6, 2026
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Replace hardcoded `set()` with `set(... CACHE STRING ...)` defaulting to GNUInstallDirs values. This allows Debian/Ubuntu packagers to override installation directories (e.g. `-DBTCPP_LIB_DESTINATION=lib/x86_64-linux-gnu`) for multiarch support while preserving backward compatibility. Fixes BehaviorTree#1120
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@facontidavide this breaks the ROS build farm binaries resulting in this conversation ament/ament_cmake#630. I noted here my workaround to temporarily use the binaries to get going I would recommend reverting since we cannot set those flags in the ros build farm & this blocks the release of packages that depend on BT.CPP, including Nav2. |
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The ROS build farm (bloom/debhelper) configures with -DCMAKE_INSTALL_LIBDIR=lib/<multiarch-triplet>. Since #1152 made the BTCPP_*_DESTINATION variables honor GNUInstallDirs, farm binaries installed libbehaviortree_cpp.so to /opt/ros/<distro>/lib/x86_64-linux-gnu, which breaks ament_export_libraries lookup in downstream packages and is not on the LD_LIBRARY_PATH set by the ament environment hooks. Shadow the cache variables with plain set() in the ament build path, so ROS builds always install to $prefix/lib regardless of CMAKE_INSTALL_LIBDIR, while standalone builds keep the GNUInstallDirs override behavior introduced for #1120. Also add a ros2-lyrical CI job that emulates the build farm flags and asserts the library lands in $prefix/lib. Co-authored-by: Claude Fable 5 <noreply@anthropic.com>
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@SteveMacenski if my expensive slop generator isn't wrong, PR #1176 should fix the issue. I will release 4.10.0 |
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Fixes #1120
Problem
The install destination variables use plain
set(), which prevents overriding them from the CMake command line. This blocks Debian/Ubuntu packagers from installing to multiarch directories (e.g.lib/x86_64-linux-gnu).Solution
include(GNUInstallDirs)withset(... CACHE STRING ...)defaults.Two override mechanisms:
-DBTCPP_LIB_DESTINATION=lib/x86_64-linux-gnu(project-specific)-DCMAKE_INSTALL_LIBDIR=lib/x86_64-linux-gnu(system-wide, standard)API / ABI / Backward compatibility
No API or ABI changes: this is a build system change only.
ament_build.cmakeonly callsmark_as_advanced()on these variables; ament handles installation separately.CMAKE_INSTALL_LIBDIRresolves tolib: no change from current behavior.-DBTCPP_LIB_DESTINATION=...usage: still works, CACHE variable takes precedence.Pre-commit / clang-tidy
Not applicable: this PR changes only
CMakeLists.txt. Theclang-formatandclang-tidyhooks target.cpp/.hpp/.hfiles only.Verified
BTCPP_LIB_DESTINATION: liblib/libbehaviortree_cpp.so-DBTCPP_LIB_DESTINATION=custom/lib->custom/lib/libbehaviortree_cpp.so