Creating and installing nested libraries using CMakeLists - c++

Question

Installing nested libraries brings compilation errors.
I try to have a project called CROSP that contains multiple internal libraries, namely : StrainParameterisation, RodProperties, PolynomialRepresentation. These libraries are then linked to one base library : CROSP.
This one is the library that is then installed in my usr/local/...
The problem is that when I try to include the library from one external package, I get some errors saying that the compiler did not found the .so file for the internal libraries.
In the following I detail the topology of my project.
The layout of the project is the following:
.
├── cmake
│   ├── cmake_uninstall.cmake.in
│   ├── Config.cmake.in
│   └── installation_module.cmake
├── CMakeLists.txt
└── src
├── CMakeLists.txt
├── CROSP
│   └── cosserat_rod.cpp
├── include
│   └── CROSP
│   ├── CROSP
│   │   └── cosserat_rod.hpp
│   ├── polynomial_representation
│   │   └── polynomial_representation.hpp
│   ├── rod_properties
│   │   └── rod_properties.hpp
│   └── strain_parameterisation
│      └── strain_parameterisation.hpp
├── polynomial_representation
│   └── polynomial_representation.cpp
├── rod_properties
│   └── rod_properties.cpp
└── strain_parameterisation
   └── strain_parameterisation.cpp
The CMakeLists are :
Top level CMakeLists
cmake_minimum_required(VERSION 3.22 FATAL_ERROR)
project(CROSP LANGUAGES CXX VERSION 2.0)
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED True)
find_package(Eigen3 3.4 NO_MODULE REQUIRED)
# External utilities to configure the package
include(GNUInstallDirs)
set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR})
set(LIB_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR})
# Give different names for debug and Release
set(CMAKE_RELEASE_POSTFIX "")
set(CMAKE_DEBUG_POSTFIX "-debug")
add_subdirectory(src)
# Install the library using the default routine
include(cmake/installation_module.cmake)
The installation_module.cmake
# Generates ${PROJECT_NAME}Config.cmake file to use our package in other projects
include(CMakePackageConfigHelpers)
configure_package_config_file(
cmake/Config.cmake.in # input template
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake # output config file
INSTALL_DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake # where to put the config file during install
PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR # paths to be used
NO_CHECK_REQUIRED_COMPONENTS_MACRO
)
# Generates a config file to ensure that URL's version is checked when importing it
write_basic_package_version_file(
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
VERSION ${PROJECT_VERSION}
COMPATIBILITY SameMajorVersion
)
# When running make install, config files should be copied as well
install(
FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake
)
# Add the possibility tu run 'make uninstall' to remove files added via 'make install'
configure_file(
cmake/cmake_uninstall.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
IMMEDIATE #ONLY
)
add_custom_target(uninstall COMMAND ${CMAKE_COMMAND} -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
The Config.cmake.in module :
#PACKAGE_INIT#
set(#PROJECT_NAME#_VERSION #PROJECT_VERSION#)
set_and_check(#PROJECT_NAME#_INCLUDE_DIRS #PACKAGE_INCLUDE_INSTALL_DIR#/#PROJECT_NAME#)
set_and_check(#PROJECT_NAME#_LIBRARY_DIR #PACKAGE_LIB_INSTALL_DIR#)
find_library(#PROJECT_NAME#_LIBRARIES NAMES #PROJECT_NAME# PATHS ${#PROJECT_NAME#_LIBRARY_DIR} NO_DEFAULT_PATH)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(#PROJECT_NAME# DEFAULT_MSG #PROJECT_NAME#_INCLUDE_DIRS #PROJECT_NAME#_LIBRARIES)
Then We have the CMakeLists in src
include_directories(include)
add_library(PolynomialRepresentation SHARED
include/${PROJECT_NAME}/polynomial_representation/polynomial_representation.hpp
polynomial_representation/polynomial_representation.cpp
)
target_link_libraries(PolynomialRepresentation
PRIVATE
Eigen3::Eigen
)
target_compile_options(PolynomialRepresentation
PRIVATE
-Wall
-Wextra
)
add_library(RodProperties SHARED
include/${PROJECT_NAME}/rod_properties/rod_properties.hpp
rod_properties/rod_properties.cpp
)
target_link_libraries(RodProperties
PRIVATE
Eigen3::Eigen
PolynomialRepresentation
)
target_compile_options(RodProperties
PRIVATE
-Wall
-Wextra
)
add_library(StrainParameterisation SHARED
include/${PROJECT_NAME}/strain_parameterisation/strain_parameterisation.hpp
strain_parameterisation/strain_parameterisation.cpp
)
target_link_libraries(StrainParameterisation
PRIVATE
Eigen3::Eigen
PolynomialRepresentation
)
target_compile_options(RodProperties
PRIVATE
-Wall
-Wextra
)
add_library(${PROJECT_NAME} SHARED
include/${PROJECT_NAME}/${PROJECT_NAME}/cosserat_rod.hpp
${PROJECT_NAME}/cosserat_rod.cpp
)
target_link_libraries(${PROJECT_NAME}
PRIVATE
Eigen3::Eigen
PUBLIC
StrainParameterisation
RodProperties
PolynomialRepresentation
)
target_compile_options(RodProperties
PRIVATE
-Werror
-Wall
-Wextra
)
add_executable(main main.cpp)
target_link_libraries(main ${PROJECT_NAME} Eigen3::Eigen)
install(
TARGETS
${PROJECT_NAME}
DESTINATION
${CMAKE_INSTALL_LIBDIR}
)
install(DIRECTORY include/${PROJECT_NAME}
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
)
I can run and install this library.
The following code compiles and runs fine.
#include "CROSP/CROSP/cosserat_rod.hpp"
int main(int argc, char *argv[])
{
::CROSP::polynomial_representation::PolynomialRepresentation poly(5);
::CROSP::rod_properties::MaterialProperties material(200, 100, 10);
::CROSP::CosseratRod rod(poly, material);
::CROSP::CosseratRod rod2(15);
::CROSP::CosseratRod rod3;
return 0;
}
The installation in my usr folder has the following layout
usr
└── local
   ├── include
│   └── CROSP
│   ├── CROSP
│ │ └── cosserat_rod.hpp
│   ├── polynomial_representation
│ │ └── polynomial_representation.hpp
│   ├── rod_properties
│ │ └── rod_properties.hpp
│   └── strain_parameterisation
│ └── strain_parameterisation.hpp
   ├── lib
│   ├── libCROSP-debug.so
│   └── libCROSP.so
   └── share
   └── CROSP
   └── cmake
   ├── CROSPConfig.cmake
   └── CROSPConfigVersion.cmake
From another project, I can include the library without problem.
Here there is an example
cmake_minimum_required(VERSION 3.5)
project(test_crosp_library LANGUAGES CXX)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
find_package(CROSP REQUIRED)
find_package(Eigen3 3.4 NO_MODULE REQUIRED)
add_executable(test_crosp_library main.cpp)
target_link_libraries(test_crosp_library
PUBLIC
CROSP
Eigen3::Eigen
)
And the main.cpp looks like this
#include "CROSP/CROSP/cosserat_rod.hpp"
int main()
{
::CROSP::CosseratRod rod; // errors
return 0;
}
I get the following errors
[ 50%] Linking CXX executable test_crosp_library
/usr/bin/ld: warning: libStrainParameterisation.so, needed by /usr/local/lib/libCROSP.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libRodProperties.so, needed by /usr/local/lib/libCROSP.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: /usr/local/lib/libCROSP.so: undefined reference to `LieAlgebra::SE3Pose::getRotationMatrix() const'
/usr/bin/ld: /usr/local/lib/libCROSP.so: undefined reference to `CROSP::strain_parameterisation::StrainParameterisation::StrainParameterisation(CROSP::polynomial_representation::PolynomialRepresentation, unsigned int)'
/usr/bin/ld: /usr/local/lib/libCROSP.so: undefined reference to `CROSP::strain_parameterisation::StrainParameterisation::StrainParameterisation(CROSP::polynomial_representation::PolynomialRepresentation, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, unsigned int)'
/usr/bin/ld: /usr/local/lib/libCROSP.so: undefined reference to `CROSP::rod_properties::RodProperties::RodProperties(CROSP::polynomial_representation::PolynomialRepresentation)'
/usr/bin/ld: /usr/local/lib/libCROSP.so: undefined reference to `CROSP::strain_parameterisation::StrainParameterisation::updateStacks(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/test_crosp_library.dir/build.make:97: test_crosp_library] Error 1
make[1]: *** [CMakeFiles/Makefile2:83: CMakeFiles/test_crosp_library.dir/all] Error 2
make: *** [Makefile:91: all] Error 2
Can you tell what is wrong ?
Moreover, I would like to know if I can use the INTERFACE functionality in order to install the internal libraries in my usr/local with namespaces.
So the CMakeLists.txt of a package using CROSP will be:
find_package(CROSP REQUIRED)
add_executable(main main.cpp)
target_link_libraries(main
CROSP::MaterialProperties
CROSP::StrainParameterisation
)