USE_SCOPED_HEADER_INSTALL_DIR path issues

[pele1410]

Running ROS2 Jazzy on Ubuntu 24.04.3

We have started migrating to the new include path location by adding USE_SCOPED_HEADER_INSTALL_DIR to our ament_auto_package() calls in our CMakeLists.txt files (ament/ament_cmake#577). This creates a problem when the generated params.hpp header is included in a public installed header that is then included in a downstream package.

Source

Given this package

src/camera/st_ptz_control/include/st/camera/ptz/onvif_ptz.hpp
src/camera/st_ptz_control/include/st/camera/ptz/ptz.hpp

where onvif_ptz.hpp has the line

#include "st/camera/ptz/ptz.hpp"

where ptz.hpp has the line

#include <st_ptz_control/st_ptz_control_params.hpp>

and its CMakeLists (cruft removed):

generate_parameter_library(
  st_ptz_control_params
  src/params.yaml
)

ament_auto_add_library(
  st_ptz_control_component SHARED
  src/ptz.cpp
)

target_link_libraries(
  st_ptz_control_component
  st_ptz_control_params)

ament_auto_package(USE_SCOPED_HEADER_INSTALL_DIR)

This produces installed headers:

/opt/st/core/st_ptz_control
|-- include
|   `-- st_ptz_control
|       |-- st
|       |   `-- camera
|       |       `-- ptz
|       |           |-- commands.hpp -> /workspace/STcore/core/src/camera/st_ptz_control/include/st/camera/ptz/commands.hpp
|       |           |-- onvif_ptz.hpp -> /workspace/STcore/core/src/camera/st_ptz_control/include/st/camera/ptz/onvif_ptz.hpp
|       |           |-- ptz.hpp -> /workspace/STcore/core/src/camera/st_ptz_control/include/st/camera/ptz/ptz.hpp
|       |           `-- visibility_control.hpp -> /workspace/STcore/core/src/camera/st_ptz_control/include/st/camera/ptz/visibility_control.hpp
|       `-- st_ptz_control_params.hpp -> /workspace/STcore/core/build/st_ptz_control/include/st_ptz_control/st_ptz_control_params.hpp

This package is used by a downstream package with the header

src/camera/st_flir/src/flir.hpp

which has the line

#include "st/camera/ptz/onvif_ptz.hpp"

and its package.xml has

  <depend>st_ptz_control</depend>

Issues

As-written, this generates a compilation error in st_flir:

--- stderr: st_flir
In file included from /opt/st/core/st_ptz_control/include/st_ptz_control/st/camera/ptz/onvif_ptz.hpp:3,
                 from /workspace/STcore/core/src/camera/st_flir/src/flir.hpp:3,
                 from /workspace/STcore/core/src/camera/st_flir/src/flir.cpp:1:
/opt/st/core/st_ptz_control/include/st_ptz_control/st/camera/ptz/ptz.hpp:6:10: fatal error: st_ptz_control/st_ptz_control_params.hpp: No such file or directory
    6 | #include <st_ptz_control/st_ptz_control_params.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/st_flir_component.dir/build.make:76: CMakeFiles/st_flir_component.dir/src/flir.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/st_flir_component.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< st_flir [0.12s, exited with code 2]

If I modify the include in onvif_ptz.hpp to be just #include <st_ptz_control_params.hpp> then I get a deprecation warning:

--- stderr: st_ptz_control
In file included from /workspace/STcore/core/src/camera/st_ptz_control/include/st/camera/ptz/ptz.hpp:5,
                 from /workspace/STcore/core/src/camera/st_ptz_control/src/ptz.cpp:1:
/workspace/STcore/core/build/st_ptz_control/include/st_ptz_control_params.hpp:1:137: note: ‘#pragma message: #include "st_ptz_control_params.hpp" is deprecated. Use #include <st_ptz_control/st_ptz_control_params.hpp> instead.’
    1 | #pragma message("#include \"st_ptz_control_params.hpp\" is deprecated. Use #include <st_ptz_control/st_ptz_control_params.hpp> instead.")

Which, if I follow the instructions in the deprecation warning, it appears to be a valid path based on the installed header structure.