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Fix --package runtime dependency resolution for user-prefix Chrono and ROS-provided urdfdom #20

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Fix --package runtime dependency resolution for user-prefix Chrono and ROS-provided urdfdom #20

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Copilot Sep 17, 2026
0626735
Resolve Chrono runtime deps from user prefix and exclude ROS when pac…
Copilot Sep 17, 2026
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28 changes: 28 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -638,12 +638,38 @@ if(TARGET run_seastack)
"^/usr/lib/"
"^/lib/"
"^/usr/libexec/"
# ROS is an external runtime requirement, not a bundled dependency. urdfdom and
# friends arrive transitively via Chrono::Chrono_parsers when Chrono is built
# with ROS support; a consumer needing those components is expected to have ROS.
"^/opt/ros/"
# Transitive Chrono/SWIG stacks may reference Python; SEA-Stack does not ship it.
"Python3\\.framework"
"Python\\.framework")

# file(GET_RUNTIME_DEPENDENCIES) ignores LD_LIBRARY_PATH by design, so a Chrono
# installed outside the system paths must be pointed at explicitly.
set(SEASTACK_RUNTIME_DEP_DIRS "" CACHE STRING
"Extra directories searched when bundling runtime dependencies for the release package.")

set(_seastack_dep_dirs ${SEASTACK_RUNTIME_DEP_DIRS})
if(TARGET Chrono::Chrono_core)
foreach(_prop IMPORTED_LOCATION_RELEASE IMPORTED_LOCATION)
get_target_property(_chrono_core_loc Chrono::Chrono_core ${_prop})
if(_chrono_core_loc)
get_filename_component(_chrono_lib_dir "${_chrono_core_loc}" DIRECTORY)
list(APPEND _seastack_dep_dirs "${_chrono_lib_dir}")
break()
endif()
endforeach()
endif()
if(_seastack_dep_dirs)
list(REMOVE_DUPLICATES _seastack_dep_dirs)
endif()

if(APPLE)
install(TARGETS run_seastack
RUNTIME_DEPENDENCIES
DIRECTORIES ${_seastack_dep_dirs}
POST_EXCLUDE_REGEXES ${_seastack_dep_exclude}
CONFIGURATIONS Release
RUNTIME DESTINATION bin COMPONENT runtime
Expand All @@ -652,12 +678,14 @@ if(TARGET run_seastack)
else()
install(TARGETS run_seastack
RUNTIME_DEPENDENCIES
DIRECTORIES ${_seastack_dep_dirs}
POST_EXCLUDE_REGEXES ${_seastack_dep_exclude}
CONFIGURATIONS Release
RUNTIME DESTINATION bin COMPONENT runtime
LIBRARY DESTINATION lib COMPONENT runtime)
endif()
unset(_seastack_dep_exclude)
unset(_seastack_dep_dirs)
endif()
endif()

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