fix(lidar_centerpoint): fixed the lidar_centerpoint related packages for their use without installing symlinks

[knzo25]

Description

When compiling this package without the symlink option, the cuda library is not installed.

Before this PR:

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to lidar_centerpoint


find . -name 'libcenterpoint_cuda_lib.so'
>>> ./build/lidar_centerpoint/libcenterpoint_cuda_lib.so


ldd ./install/lidar_centerpoint/lib/libcenterpoint_lib.so | grep 'libcenterpoint_cuda_lib.so'
	libcenterpoint_cuda_lib.so => not found

After this PR:

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to lidar_centerpoint

 find . -name 'libcenterpoint_cuda_lib.so'
./build/lidar_centerpoint/libcenterpoint_cuda_lib.so
./install/lidar_centerpoint/lib/libcenterpoint_cuda_lib.so

ldd ./install/lidar_centerpoint/lib/libcenterpoint_lib.so | grep 'libcenterpoint_cuda_lib.so'
	libcenterpoint_cuda_lib.so => /***/install/lidar_centerpoint/lib/libcenterpoint_cuda_lib.so (0x00007fe81d9d0000)

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[yukkysaito]

@yukke42 Can you check this PR?

[yukke42]

Related Issue: #1256

[yukke42]

I clean the install/build/log directory and ccache files, but cuda library cannot be linked yet ..., it may be the problem of my environment ...

~/ghq/github.com/tier4/pilot-auto.xx1.pr tier4/universe 1m 40s
❯ find . -name 'libcenterpoint_cuda_lib.so'
./install/lidar_centerpoint/lib/libcenterpoint_cuda_lib.so
./build/lidar_centerpoint/libcenterpoint_cuda_lib.so

~/ghq/github.com/tier4/pilot-auto.xx1.pr tier4/universe
❯ ldd ./install/lidar_centerpoint/lib/libcenterpoint_lib.so | grep 'libcenterpoint_cuda_lib.so'
	libcenterpoint_cuda_lib.so => not found

[knzo25]

I forgot to add it into the description but we need to source , or otherwise the library path is not added

bu default cmake is stripping the rpath and we rely on the ldd library path

[yukke42]

I forgot to add it into the description but we need to source , or otherwise the library path is not added

bu default cmake is stripping the rpath and we rely on the ldd library path

ha ha ha... what a simple mistake...

❯ ldd ./install/lidar_centerpoint/lib/libcenterpoint_lib.so | grep 'libcenterpoint_cuda_lib.so'
	libcenterpoint_cuda_lib.so => /home/yusuke/ghq/github.com/tier4/pilot-auto.xx1.pr/install/lidar_centerpoint/lib/libcenterpoint_cuda_lib.so (0x00007f205f8cf000)

[knzo25]

I actually forgot it too and did not understand why there were so many ldd errors 😆

[codecov]

Codecov Report

Base: 10.33% // Head: 10.33% // No change to project coverage 👍

Coverage data is based on head (5912bd5) compared to base (478c759).
Patch has no changes to coverable lines.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #1916   +/-   ##
=======================================
  Coverage   10.33%   10.33%           
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  Files        1147     1147           
  Lines       81613    81613           
  Branches    19048    19048           
=======================================
  Hits         8434     8434           
  Misses      64184    64184           
  Partials     8995     8995           

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <ø> (?)
total	10.31% <ø> (ø)		Carriedforward from 478c759

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[twbabyduck]

Dear @knzo25 @yukke42,
I can confirm there was an issue found when users attempted to test CenterPoint inside a docker container, which has been fixed in this PR.

Below attached the test result.