Don't install ament-cmake-vendor packages to /opt

Use the standard install directories instead. This makes the packages
integrate with Nix better and doesn't appear to break anything.

distros/build-env/default.nix

@@ -10,7 +10,7 @@
 #
 # By default, all binaries in the environment are wrapped, setting the relevant
 # ROS environment variables, allowing use outside of nix-shell.
-{ lib, stdenv, buildPackages, writeText, buildEnv, symlinkJoin, makeWrapper, python, ros-environment }:
+{ lib, stdenv, buildPackages, writeText, buildEnv, makeWrapper, python, ros-environment }:
 { paths ? [], wrapPrograms ? true, postBuild ? "", passthru ? { }, ... }@args:
 
 with lib;
@@ -33,11 +33,6 @@ let
 
   propagatedPaths = propagatePackages paths;
 
-  gzEnv = symlinkJoin {
-    name = "gz-env";
-    paths = map (pkg: "${pkg}/${pkg.gzConfigPath}") (builtins.filter (pkg: pkg ? gzConfigPath) propagatedPaths.rosPackages);
-  };
-
   env = (buildEnv ((removeAttrs args [ "wrapPrograms" ]) // {
     name = "ros-env";
     # Only add ROS packages to environment. The rest are propagated like normal.
@@ -52,15 +47,6 @@ let
 
     postBuild = postBuild + ''
       "${buildPackages.perl}/bin/perl" "${./setup-hook-builder.pl}"
-
-      # Some ROS programs keep libraries and binaries in /opt.
-      if [ -d "$out/opt" ]; then
-        declare -A optMv=([lib]=lib [lib64]=lib [bin]=bin)
-        for dir in ''${!optMv[@]}; do
-          mkdir -p "$out/''${optMv["$dir"]}"
-          find -L "$out/opt" -mindepth 3 -maxdepth 3 -type f -executable -path "*/$dir/*" -not -name '.*' -exec ln -sf '{}' "$out/''${optMv["$dir"]}" \;
-        done
-      fi
     '' + optionalString wrapPrograms ''
       if [ -d "$out/bin" ]; then
         find -L "$out/bin" -executable -type f -xtype l -print0 | \
@@ -77,7 +63,7 @@ let
             --prefix CMAKE_PREFIX_PATH : "$out" \
             --prefix AMENT_PREFIX_PATH : "$out" \
             --prefix ROS_PACKAGE_PATH : "$out/share" \
-            --prefix GZ_CONFIG_PATH : '${gzEnv}' \
+            --prefix GZ_CONFIG_PATH : "$out/share/gz" \
             --set ROS_DISTRO '${ros-environment.rosDistro}' \
             --set ROS_VERSION '${toString ros-environment.rosVersion}' \
             --set ROS_PYTHON_VERSION '${lib.versions.major python.version}' \

distros/jazzy/overrides.nix

@@ -66,7 +66,7 @@ in {
     # "RPATH of binary libGrid3D.so contains a forbidden reference to
     # /build/" (see https://github.com/gazebosim/gz-gui/issues/627).
     postInstall = postInstall + ''
-      ${self.patchelf}/bin/patchelf --remove-rpath $out/opt/gz_gui_vendor/lib64/gz-gui-8/plugins/libGrid3D.so
+      ${self.patchelf}/bin/patchelf --remove-rpath $out/lib64/gz-gui-8/plugins/libGrid3D.so
     '';
   });
 
@@ -122,16 +122,24 @@ in {
     version = "2.0.1";
     hash = "sha256-sV/T53oVk1fgjwqn/SRTaPTukt+vAlGGxGvTN8+G6Mo=";
   }).overrideAttrs({
-    nativeBuildInputs ? [], propagatedNativeBuildInputs ? [], qtWrapperArgs ? [], postFixup ? "", ...
+    nativeBuildInputs ? [],
+    propagatedNativeBuildInputs ? [],
+    qtWrapperArgs ? [],
+    postFixup ? "", ...
   }: {
     nativeBuildInputs = nativeBuildInputs ++ [ self.qt5.wrapQtAppsHook ];
-    propagatedNativeBuildInputs = propagatedNativeBuildInputs ++ [self.qt5.qtquickcontrols2 self.qt5.qtgraphicaleffects self.pkg-config];
+    propagatedNativeBuildInputs = propagatedNativeBuildInputs ++ [
+      self.qt5.qtquickcontrols2
+      self.qt5.qtgraphicaleffects
+      self.pkg-config
+    ];
     qtWrapperArgs = qtWrapperArgs ++ [
-      # Use X11 by default
+      # Gazebo is currently broken on Wayland
+      # https://gazebosim.org/docs/ionic/troubleshooting/#wayland-issues
       "--set-default QT_QPA_PLATFORM xcb"
     ];
     postFixup = postFixup + ''
-      wrapQtApp "$out/opt/gz_tools_vendor/bin/gz"
+      wrapQtApp "$out/bin/gz"
     '';
   });
 

distros/rolling/overrides.nix

@@ -66,7 +66,7 @@ in {
     # "RPATH of binary libGrid3D.so contains a forbidden reference to
     # /build/" (see https://github.com/gazebosim/gz-gui/issues/627).
     postInstall = postInstall + ''
-      ${self.patchelf}/bin/patchelf --remove-rpath $out/opt/gz_gui_vendor/lib64/gz-gui-9/plugins/libGrid3D.so
+      ${self.patchelf}/bin/patchelf --remove-rpath $out/lib64/gz-gui-9/plugins/libGrid3D.so
     '';
   });
 
@@ -122,16 +122,24 @@ in {
     version = "2.0.1";
     hash = "sha256-sV/T53oVk1fgjwqn/SRTaPTukt+vAlGGxGvTN8+G6Mo=";
   }).overrideAttrs({
-    nativeBuildInputs ? [], propagatedNativeBuildInputs ? [], qtWrapperArgs ? [], postFixup ? "", ...
+    nativeBuildInputs ? [],
+    propagatedNativeBuildInputs ? [],
+    qtWrapperArgs ? [],
+    postFixup ? "", ...
   }: {
     nativeBuildInputs = nativeBuildInputs ++ [ self.qt5.wrapQtAppsHook ];
-    propagatedNativeBuildInputs = propagatedNativeBuildInputs ++ [self.qt5.qtquickcontrols2 self.qt5.qtgraphicaleffects self.pkg-config];
+    propagatedNativeBuildInputs = propagatedNativeBuildInputs ++ [
+      self.qt5.qtquickcontrols2
+      self.qt5.qtgraphicaleffects
+      self.pkg-config
+    ];
     qtWrapperArgs = qtWrapperArgs ++ [
-      # Use X11 by default
+      # Gazebo is currently broken on Wayland
+      # https://gazebosim.org/docs/ionic/troubleshooting/#wayland-issues
       "--set-default QT_QPA_PLATFORM xcb"
     ];
     postFixup = postFixup + ''
-      wrapQtApp "$out/opt/gz_tools_vendor/bin/gz"
+      wrapQtApp "$out/bin/gz"
     '';
   });
 

distros/ros2-overlay.nix

@@ -13,10 +13,22 @@ rosSelf: rosSuper: with rosSelf.lib; {
   });
 
   ament-cmake-vendor-package = rosSuper.ament-cmake-vendor-package.overrideAttrs ({
-    # the regular cmake fixing replaces <snip>/opt<snip> with /var/empty, even within
-    # the local ros2 install folder, which completely breaks vendoring, since the
-    # cmake_prefix_path will no longer point the where the files are.
-    dontFixCmake = true;
+    postPatch ? "", ...
+  }: {
+    # Install to standard directories instead of /opt. With Nix, we don't have
+    # to worry about collisions with system packages and Nix tooling generally
+    # expects standard directories.
+    postPatch = postPatch + ''
+      ls -l cmake/templates
+      substituteInPlace cmake/ament_vendor.cmake \
+        --replace-fail 'opt/''${PROJECT_NAME}' .
+      substituteInPlace cmake/templates/vendor_package.dsv.in \
+        --replace-fail 'opt/@PROJECT_NAME@/' ""
+      substituteInPlace cmake/templates/{vendor_package.sh.in,vendor_package_cmake_prefix.cmake.in,vendor_package_cmake_prefix.sh.in} \
+        --replace-fail '/opt/@PROJECT_NAME@' ""
+      substituteInPlace cmake/templates/vendor_package_cmake_prefix.dsv.in \
+        --replace-fail 'opt/@PROJECT_NAME@' ""
+    '';
   });
 
   cyclonedds = rosSuper.cyclonedds.overrideAttrs ({
@@ -62,6 +74,17 @@ rosSelf: rosSuper: with rosSelf.lib; {
     nativeBuildInputs = nativeBuildInputs ++ [ self.buildPackages.cmake ];
   });
 
+  gz-tools-vendor = rosSuper.gz-tools-vendor.overrideAttrs {
+    setupHook = self.writeText "gz-tools-setup-hook.sh" ''
+      addGzConfigPath() {
+        if [ -d "$1/share/gz" ]; then
+            addToSearchPath GZ_CONFIG_PATH "$1/share/gz"
+        fi
+      }
+      addEnvHooks "$targetOffset" addGzConfigPath
+    '';
+  };
+
   iceoryx-posh = rosSuper.iceoryx-posh.overrideAttrs ({
     patches ? [],
     buildInputs ? [],
@@ -144,10 +167,12 @@ rosSelf: rosSuper: with rosSelf.lib; {
       buildInputs;
   });
 
-  ros-gz-sim = rosSuper.ros-gz-sim.overrideAttrs ({ postPatch ? "", ... }: {
+  ros-gz-sim = rosSuper.ros-gz-sim.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # This launch file attempts to run the gz tool with a Ruby interpreter, but
+    # in our case it is an regular executable because it is wrapped.
     postPatch = postPatch + ''
-      # This launch file attempts to run the gz tool with a Ruby interpreter,
-      # but it is actually a regular executable.
       substituteInPlace launch/gz_sim.launch.py.in \
         --replace-warn 'ruby $(which gz) sim' 'gz sim' \
         --replace-warn 'ruby $(which ign) gazebo' 'ign gazebo'

examples/ros2-gz-example.nix

@@ -35,6 +35,8 @@ with rosPackages.jazzy;
         ];
       })
     ];
+    # Gazebo is currently broken on Wayland
+    # https://gazebosim.org/docs/ionic/troubleshooting/#wayland-issues
     shellHook = ''
       unset QT_QPA_PLATFORM
     '';

lib/default.nix

@@ -125,35 +125,23 @@
       fetchgitArgs.hash = hash;
       inherit tarSourceArgs;
     };
-  in
-    patchedPkg.overrideAttrs ({
-      pname, postPatch ? "", preBuild ? "", postInstall ? "", passthru ? {}, ...
-    }:
-    let
-      gzConfigPath = "opt/${lib.replaceStrings ["-"] ["_"] stem}_vendor/share/gz";
-    in
-    {
-      dontFixCmake = true;      # don't replace $out/opt with $out/var/empty
-      postPatch = postPatch + ''
-        cat >> CMakeLists.txt <<'EOF'
-        if(NOT ''${LIB_VER} VERSION_EQUAL "${version}")
-          message(FATAL_ERROR "Mismatch in ${pname} version (Nix: ${version}, upstream: ''${LIB_VER}). Fix this in overrides.nix.")
-        endif()
-        EOF
-      '';
-      preBuild = preBuild + ''
-        find . -name "*build.make" -print -exec sed -i "s#var/empty#opt#g" {} \;
-      '';
-      postInstall = postInstall + ''
-        # Not all packages create a directory in share/gz, but it's easier to
-        # handle if we ensure that they do.
-        mkdir -p "$out/${gzConfigPath}"
-      '';
-      setupHook = self.writeText "${pname}-setup-hook.sh" ''
-        addToSearchPath GZ_CONFIG_PATH "@out@/${gzConfigPath}"
-      '';
-      passthru = passthru // { inherit gzConfigPath; };
-    });
+  in patchedPkg.overrideAttrs ({
+    pname, postPatch ? "", ...
+  }: {
+    postPatch = postPatch + ''
+      # Use standard installation paths rather than /opt
+      substituteInPlace CMakeLists.txt \
+        --replace-fail 'opt/''${PROJECT_NAME}/extra_cmake' 'share/extra_cmake'
+      substituteInPlace *-extras.cmake.in \
+        --replace-fail 'opt/@PROJECT_NAME@/extra_cmake' 'share/extra_cmake'
+
+      cat >> CMakeLists.txt <<'EOF'
+      if(NOT ''${LIB_VER} VERSION_EQUAL "${version}")
+        message(FATAL_ERROR "Mismatch in ${pname} version (Nix: ${version}, upstream: ''${LIB_VER}). Fix this in overrides.nix.")
+      endif()
+      EOF
+    '';
+  });
 
   patchBoostPython = pkg: pkg.overrideAttrs ({
     postPatch ? "", ...