Fix missing radar_msgs libraries for standalone build (#256)

* Fix missing radar_msgs libraries for standalone build

* Remove duplicates for dlls before installing

* Smuggling: improve external library test

Author: msz-rai

ros2_standalone/CMakeLists.txt

@@ -104,6 +104,17 @@ macro(get_standalone_dependencies _library_name)
             endif()
         endif()
 
+        # If library is msgs, fetch all targets to get libraries for dynamic type support
+        # Those libraries are not listed in <XX>_LIBRARIES (which stands for libraries to link against to use <XX>)
+        if(${_library_name} MATCHES ".*\_msgs$")
+            foreach(entry ${${_library_name}_TARGETS})
+                fetch_target_lib(${entry})
+                string(REGEX REPLACE "::" "_" entry_normalized ${entry})
+                list(APPEND REQ_STANDALONE_LIBS
+                        ${${entry_normalized}_LIB_PATH})
+            endforeach()
+        endif()
+
         # Get spdlog and dependency
         if(UNIX AND "${_library_name}" STREQUAL "spdlog")
             include(${${_library_name}_CONFIG})
@@ -148,8 +159,9 @@ macro(install_standalone_dependencies)
             string(REGEX REPLACE "\.lib$" ".dll" dll_path ${bin_path})
             list(APPEND REQ_STANDALONE_DLLS ${dll_path})
         endforeach()
+        list(REMOVE_DUPLICATES REQ_STANDALONE_DLLS)
         install(FILES ${REQ_STANDALONE_DLLS}
-                DESTINATION ${INSTALL_DESTINATION_DIR}
+            DESTINATION ${INSTALL_DESTINATION_DIR}
         )
     elseif(UNIX)
         set(_resolvedFiles "")
@@ -160,7 +172,7 @@ macro(install_standalone_dependencies)
         endforeach()
 
         install(FILES ${_resolvedFiles}
-                DESTINATION ${INSTALL_DESTINATION_DIR}
+            DESTINATION ${INSTALL_DESTINATION_DIR}
         )
 
         # Fix soversion files

test/src/externalLibraryTest.cpp

@@ -26,13 +26,13 @@ TEST_F(ExternalLibraryTest, RclcppInitializeAndShutDownProperly)
 	ASSERT_EXIT(
 	    {
 		    rgl_node_t ros2pub = nullptr;
-		    rgl_node_points_ros2_publish(&ros2pub, "rglTopic", "rglFrame");
-		    rgl_cleanup();
+		    ASSERT_RGL_SUCCESS(rgl_node_points_ros2_publish(&ros2pub, "rglTopic", "rglFrame"));
+		    ASSERT_RGL_SUCCESS(rgl_cleanup());
 		    exit(0);
 	    },
 	    ::testing::ExitedWithCode(0), "")
 	    << "Test for rclcpp (de)initialization failed. "
-	    << "It is probably caused by a mismatched version of the spdlog library for RGL and ROS2. "
-	    << "Check its compatibility.";
+	    << "It is probably caused by a mismatched version of the spdlog library for RGL and ROS2 "
+	    << "or internal ROS2 error.";
 }
 #endif