add NO_UNDEFINED_SYMBOLS to rclcpp_components_register_node cmake macro (#2746) (#2764)

Signed-off-by: Jonas Otto <[email protected]>
Signed-off-by: Jonas Otto <[email protected]>
(cherry picked from commit c31daa6)

Co-authored-by: Jonas Otto <[email protected]>

Author: mergify[bot]

rclcpp_components/cmake/rclcpp_components_register_node.cmake

@@ -28,9 +28,11 @@
 # :type EXECUTOR: string
 # :param RESOURCE_INDEX: the ament resource index to register the components
 # :type RESOURCE_INDEX: string
+# :param NO_UNDEFINED_SYMBOLS: add linker flags to deny undefined symbols
+# :type NO_UNDEFINED_SYMBOLS: option
 #
 macro(rclcpp_components_register_node target)
-  cmake_parse_arguments(ARGS "" "PLUGIN;EXECUTABLE;EXECUTOR;RESOURCE_INDEX" "" ${ARGN})
+  cmake_parse_arguments(ARGS "NO_UNDEFINED_SYMBOLS" "PLUGIN;EXECUTABLE;EXECUTOR;RESOURCE_INDEX" "" ${ARGN})
   if(ARGS_UNPARSED_ARGUMENTS)
     message(FATAL_ERROR "rclcpp_components_register_node() called with unused "
       "arguments: ${ARGS_UNPARSED_ARGUMENTS}")
@@ -67,6 +69,26 @@ macro(rclcpp_components_register_node target)
     "${_RCLCPP_COMPONENTS_${resource_index}__NODES}${component};${_path}/$<TARGET_FILE_NAME:${target}>\n")
   list(APPEND _RCLCPP_COMPONENTS_PACKAGE_RESOURCE_INDICES ${resource_index})
 
+  if(ARGS_NO_UNDEFINED_SYMBOLS AND WIN32)
+    message(WARNING "NO_UNDEFINED_SYMBOLS is enabled for target \"${target}\", but this is unsupported on windows.")
+  elseif(ARGS_NO_UNDEFINED_SYMBOLS AND NOT WIN32)
+    check_cxx_compiler_flag("-Wl,--no-undefined" linker_supports_no_undefined)
+    if(linker_supports_no_undefined)
+      target_link_options("${target}" PRIVATE "-Wl,--no-undefined")
+    else()
+      message(WARNING "NO_UNDEFINED_SYMBOLS is enabled for target \"${target}\",\
+                but the linker does not support the \"--no-undefined\" flag.")
+    endif()
+
+    check_cxx_compiler_flag("-Wl,--no-allow-shlib-undefined" linker_supports_no_allow_shlib_undefined)
+    if(linker_supports_no_allow_shlib_undefined)
+      target_link_options("${target}" PRIVATE "-Wl,--no-allow-shlib-undefined")
+    else()
+      message(WARNING "NO_UNDEFINED_SYMBOLS is enabled for target \"${target}\",\
+                but the linker does not support the \"--no-allow-shlib-undefined\" flag.")
+    endif()
+  endif()
+
   configure_file(${rclcpp_components_NODE_TEMPLATE}
     ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_configured_${node}.cpp.in)
   file(GENERATE OUTPUT ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_${node}.cpp