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build: use Ninja for workspace builds #1021

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d497072
build: use Ninja for workspace builds
jaagut Jul 17, 2026
5b2128a
fix: avoid domain bridge Ninja output collision
jaagut Jul 17, 2026
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4 changes: 2 additions & 2 deletions pixi.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,11 +22,11 @@ format = {cmd = "sh -c 'pre-commit run --all-files --hook-stage \"${PRE_COMMIT_S
# Use broad warnings and treat them as errors for repository code.
# C++ also enables pedantic diagnostics. C keeps pedantic diagnostics non-fatal because ROS generators emit C code
# that is not pedantic-clean.
cmd = "colcon build --symlink-install --packages-skip zed_wrapper zed_components zed_msgs zed_ros2 --cmake-args -G 'Unix Makefiles' -DCMAKE_C_FLAGS='-Wall -Wextra -Werror -Wno-error=pedantic' -DCMAKE_CXX_FLAGS='-Wall -Wextra -Wpedantic -Werror' "
cmd = "colcon build --symlink-install --packages-skip zed_wrapper zed_components zed_msgs zed_ros2 --cmake-args -G Ninja -DCMAKE_C_FLAGS='-Wall -Wextra -Werror -Wno-error=pedantic' -DCMAKE_CXX_FLAGS='-Wall -Wextra -Wpedantic -Werror' "
description = "Builds all ROS 2 packages. Add --packages-select <package names> to build specific packages."

[feature.robot.tasks.build]
cmd = "colcon build --symlink-install --cmake-args -G 'Unix Makefiles' -DCMAKE_C_FLAGS='-Wall -Wextra -Werror -Wno-error=pedantic' -DCMAKE_CXX_FLAGS='-Wall -Wextra -Wpedantic -Werror' "
cmd = "colcon build --symlink-install --cmake-args -G Ninja -DCMAKE_C_FLAGS='-Wall -Wextra -Werror -Wno-error=pedantic' -DCMAKE_CXX_FLAGS='-Wall -Wextra -Wpedantic -Werror' "
description = "Builds all ROS 2 packages. Add --packages-select <package names> to build specific packages."

[tasks.clean]
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8 changes: 7 additions & 1 deletion src/lib/domain_bridge/CMakeLists.txt
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Expand Up @@ -74,7 +74,13 @@ add_executable(${PROJECT_NAME}_exec
ament_target_dependencies(${PROJECT_NAME}_exec
"rclcpp_components")

set_target_properties(${PROJECT_NAME}_exec PROPERTIES OUTPUT_NAME ${PROJECT_NAME} PREFIX "")
# Keep the executable output separate from the interface generation target.
# Ninja requires every generated path to have a single rule.
set_target_properties(${PROJECT_NAME}_exec PROPERTIES
OUTPUT_NAME ${PROJECT_NAME}
PREFIX ""
RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin"
)

target_link_libraries(${PROJECT_NAME}_exec
${PROJECT_NAME}_lib
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