nav2_waypoint_follower build failure due to inability to locate yaml-cpp::yaml-cpp

[Mechazo11]

Solution proposed in PR #4772

Hi,
I was attempting to build the jazzy version of navigation2 software stack in a source-built ROS 2 Jazzy workspace in Ubuntu 22.04 today. However, I kept getting an linking error specifically inability to find yaml-cpp::yaml-cpp target defined in the robot_localization package. Note, even though the hyperlink goes to my fork of robot_localization, I made no changes to it. Cannot remember why I forked robot_localization in the first place but the solution I proposed in PR #4772 uses my fork of robot_localization.

System Information
OS: Ubuntu 22.04 (also applicable to Ubuntu 24.04)
ROS 2 Version: ROS 2 Jazzy
Version: jazzy branch
DDS Implementation: CycloneDDS

Steps to reproduce issue

Assuming you have access to a base ROS 2 Jazzy workspace (binary or built from source), please build my moveit2 workspace first and git clone and build the main branch of navigation2 stack to reproduce the error (given below)

<source your global ROS 2 workspace here first>
cd ~
git clone https://github.com/Mechazo11/moveit2_nav2_jazzy_ws.git
cd moveit2_nav2_jazzy_ws
vcs import src < moveit2_nav2_jazzy.repos --recursive
rosdep install -r --from-paths src --rosdistro jazzy -i -y
colcon build --packages-up-to moveit_planners_ompl --packages-ignore stomp stomp_moveit moveit_planners_stomp --cmake-args -DCMAKE_BUILD_TYPE=Release
source ./install/setup.bash
git clone https://github.com/ros-navigation/navigation2.git
colcon build --packages-ignore stomp stomp_moveit moveit_planners_stomp --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w"

Please note without the -w flag, nav2_amcl raises a header depreciation warning which the compiles counts as an error stopping the build. This is another potential error that may need another PR to fix.

Expected behavior

nav2_waypoint_follower builds successfully.

Actual behavior

nav2_waypoint_follower fails with the following error.

--- stderr: nav2_waypoint_follower                                                             
CMake Error at /home/tigerwife/moveit2_nav2_jazzy_ws/install/robot_localization/share/robot_localization/cmake/robot_localizationExport.cmake:61 (set_target_properties):
  The link interface of target "robot_localization::rl_lib" contains:

    yaml-cpp::yaml-cpp

  but the target was not found.  Possible reasons include:

    * There is a typo in the target name.
    * A find_package call is missing for an IMPORTED target.
    * An ALIAS target is missing.

Call Stack (most recent call first):
  /home/tigerwife/moveit2_nav2_jazzy_ws/install/robot_localization/share/robot_localization/cmake/ament_cmake_export_targets-extras.cmake:9 (include)
  /home/tigerwife/moveit2_nav2_jazzy_ws/install/robot_localization/share/robot_localization/cmake/robot_localizationConfig.cmake:41 (include)
  CMakeLists.txt:20 (find_package)

[jncfa]

Given that yaml-cpp isnt really used in the nav2_waypoint_follower package, it seems more like an issue with robot_localization not exporting its dependencies properly :/

You should instead add the missing package to the ament_export_dependencies call, this should also fix your issue 😄: https://github.com/Mechazo11/robot_localization/blob/ros2/CMakeLists.txt#L352-L371

EDIT: Also, note that the main branch of navigation2 targets rolling, not jazzy, so your mileage may vary if you use this branch