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Migrating off just install-local

TL;DR. deleted just install-local, the build/install/ prefix, every install(...) rule, every Config.cmake.in template, and the find_package(NanoRos) consumption path. nano-ros is now consumed exclusively via add_subdirectory(<repo-root>) from the user’s CMakeLists.txt.

If your project was on a pre-140 checkout, this page is the one-page rewrite that gets you onto the supported shape.

Before (pre-140)

cmake_minimum_required(VERSION 3.16)
project(my_app C)

find_package(NanoRos REQUIRED CONFIG)
nano_ros_generate_interfaces(std_msgs SKIP_INSTALL)
add_executable(my_app src/main.c)
target_link_libraries(my_app PRIVATE
    std_msgs__nano_ros_c
    NanoRos::NanoRos)

Build:

# In the nano-ros checkout:
just install-local                                # populates build/install/

# In the user project:
cmake -S . -B build -DCMAKE_PREFIX_PATH=<nano-ros>/build/install
cmake --build build

After (post-140)

cmake_minimum_required(VERSION 3.22)
project(my_app C)

set(NANO_ROS_PLATFORM posix)
set(NANO_ROS_RMW     zenoh)
add_subdirectory(<path-to-nano-ros> nano_ros)

nano_ros_generate_interfaces(std_msgs SKIP_INSTALL)
add_executable(my_app src/main.c)
target_link_libraries(my_app PRIVATE
    std_msgs__nano_ros_c
    NanoRos::NanoRos)
nros_platform_link_app(my_app)

Build:

# No nano-ros-side install step. Just configure your project.
cmake -S . -B build
cmake --build build

What changed

Pre-140Post-140
find_package(NanoRos REQUIRED CONFIG)add_subdirectory(<path-to-nano-ros>) after set(NANO_ROS_PLATFORM ...) + set(NANO_ROS_RMW ...)
just install-local(deleted) — nano-ros builds in-tree per-example via Corrosion
cmake -DCMAKE_PREFIX_PATH=<nano-ros>/build/install(not needed)
nano_ros_link_platform(target) / nano_ros_link_rmw(target)(folded into NanoRos::NanoRos’s INTERFACE link libraries)
nros_freertos_compose_platform(target) / nros_threadx_compose_platform(target)nros_platform_link_app(target) — single per-app fixup hook
find_package(NrosRmwCyclonedds CONFIG REQUIRED)(auto-wired when NANO_ROS_RMW=cyclonedds)
cmake_minimum_required(VERSION 3.16)cmake_minimum_required(VERSION 3.22) (matches root nano-ros)

RTOS-specific notes

  • Zephyr. Consume nano-ros via the zephyr/ module — drop nano-ros into your west.yml, set CONFIG_NROS=y + CONFIG_NROS_RMW="zenoh" in prj.conf.
  • ESP-IDF. integrations/nano-ros/ is a component manifest — add it to your idf_component.yml.
  • NuttX. integrations/nuttx/ is a apps/external/ shim — symlink (or copy) and enable via make menuconfig.
  • PX4. integrations/px4/module-template/ is a EXTERNAL_MODULES_LOCATION template — copy out, edit the user glue, point PX4 at it.

Each shell internally does add_subdirectory(<nano-ros>) with the right NANO_ROS_PLATFORM cache var set; user-side code is the same as the C/C++ snippet above.

What you lose

  • A pre-built <prefix>/lib/libnros_c.a you could link from arbitrary external projects. Post-140, each consumer builds the staticlib in its own build tree (Corrosion handles caching via the Cargo target dir).
  • The build/install/share/nano-ros/interfaces/ bundled-interface drop. Codegen now resolves interface files via the ament index (when colcon-discovered) or directly from packages/codegen/interfaces/ inside the nano-ros checkout.
  • The cmake --install build step. There is nothing nano-ros-side to install. Your own project ships its binary; nano-ros is a static dependency.

Why this change

find_package(NanoRos) was a Debian-style “library installed once, consumed by many projects” model. The RTOS workflows that nano-ros actually targets (Zephyr west, ESP-IDF, NuttX apps/external, PX4 EXTERNAL_MODULES_LOCATION) all consume dependencies as source trees inside the user’s workspace — not from an installed prefix. The install path drifted out of sync with the cargo path more than once (UDP multicast linker error was the proof) and added ~30 s warm / ~10 min cold to every test-all run. Removing it collapses two surfaces into one.

See docs/roadmap/phase-140-install-local-rip-off.md for the full design notes and the audit table that drove the deletion.