make ros2 version build with paho libs installed via apt

Author: lreiher

mqtt_client/CMakeLists.txt

@@ -17,23 +17,27 @@ if(${ROS_VERSION} EQUAL 2)
 
   find_package(mqtt_client_interfaces REQUIRED)
   find_package(rclcpp REQUIRED)
-  find_package(sensor_msgs REQUIRED)
   find_package(std_msgs REQUIRED)
 
-  find_package(PahoMqttCpp REQUIRED)
-  set(PahoMqttCpp_LIBRARIES PahoMqttCpp::paho-mqttpp3)
+  # Paho MQTT C++ apt package doesn't include cMake config
+  # find_package(PahoMqttCpp REQUIRED)
+  find_library(PahoMqttC_LIBRARY libpaho-mqtt3as.so.1 REQUIRED)
+  find_library(PahoMqttCpp_LIBRARY libpaho-mqttpp3.so.1 REQUIRED)
 
   add_executable(${PROJECT_NAME} src/MqttClient.ros2.cpp)
 
   target_include_directories(${PROJECT_NAME} PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
 
+  target_link_libraries(${PROJECT_NAME}
+    ${PahoMqttC_LIBRARY}
+    ${PahoMqttCpp_LIBRARY}
+  )
+
   ament_target_dependencies(${PROJECT_NAME}
     mqtt_client_interfaces
-    PahoMqttCpp
     rclcpp
-    sensor_msgs
     std_msgs
   )
 
@@ -287,4 +291,4 @@ elseif(${ROS_VERSION} EQUAL 1)
   ## Add folders to be run by python nosetests
   # catkin_add_nosetests(test)
 
-endif()
+endif()

mqtt_client/package.xml

@@ -23,6 +23,8 @@
 
   <!-- ROS2 -->
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+  <depend condition="$ROS_VERSION == 2">libpaho-mqtt-dev</depend>
+  <depend condition="$ROS_VERSION == 2">libpaho-mqttpp-dev</depend>
   <depend condition="$ROS_VERSION == 2">rclcpp</depend>
   <depend condition="$ROS_VERSION == 2">rcpputils</depend>
 
@@ -39,4 +41,4 @@
     <nodelet condition="$ROS_VERSION == 1" plugin="${prefix}/nodelet_plugins.xml" />
   </export>
 
-</package>
+</package>