Look for debug versions of fastcdr and fastrtps as well (#116)

* Revert "Merge pull request #115 from ros2/revert-75-export-libraries"

This reverts commit 321ca7e, reversing
changes made to 7149491.

* Look for debug versions of fastcdr and fastrtps as well

* Split library variables into release and debug

* Join FastRTPS_LIBRARIES_RELEASE and FastRTPS_LIBRARIES_DEBUG back into FastRTPS_LIBRARIES

* Export debug/optimized libraries separately

* Reduce if nesting

* Explicitly use 'd' as a suffix for debug libraries

* Fix indentation

fastrtps_cmake_module/cmake/Modules/FindFastRTPS.cmake

@@ -36,9 +36,65 @@ set(FastRTPS_FOUND FALSE)
 find_path(FastRTPS_INCLUDE_DIR
   NAMES fastrtps/)
 
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+
+string(REGEX MATCH "^[0-9]+\\.[0-9]+" fastcdr_MAJOR_MINOR_VERSION "${fastcdr_VERSION}")
+string(REGEX MATCH "^[0-9]+\\.[0-9]+" fastrtps_MAJOR_MINOR_VERSION "${fastrtps_VERSION}")
+
+find_library(FastCDR_LIBRARY_RELEASE
+  NAMES fastcdr-${fastcdr_MAJOR_MINOR_VERSION} fastcdr)
+
+find_library(FastCDR_LIBRARY_DEBUG
+  NAMES fastcdrd-${fastcdr_MAJOR_MINOR_VERSION})
+
+if(FastCDR_LIBRARY_RELEASE AND FastCDR_LIBRARY_DEBUG)
+  set(FastCDR_LIBRARIES
+    optimized ${FastCDR_LIBRARY_RELEASE}
+    debug ${FastCDR_LIBRARY_DEBUG}
+  )
+elseif(FastCDR_LIBRARY_RELEASE)
+  set(FastCDR_LIBRARIES
+    ${FastCDR_LIBRARY_RELEASE}
+  )
+elseif(FastCDR_LIBRARY_DEBUG)
+  set(FastCDR_LIBRARIES
+    ${FastCDR_LIBRARY_DEBUG}
+  )
+else()
+  set(FastCDR_LIBRARIES "")
+endif()
+
+find_library(FastRTPS_LIBRARY_RELEASE
+  NAMES fastrtps-${fastrtps_MAJOR_MINOR_VERSION} fastrtps)
+
+find_library(FastRTPS_LIBRARY_DEBUG
+  NAMES fastrtpsd-${fastrtps_MAJOR_MINOR_VERSION})
+
+if(FastRTPS_LIBRARY_RELEASE AND FastRTPS_LIBRARY_DEBUG)
+  set(FastRTPS_LIBRARIES
+    optimized ${FastRTPS_LIBRARY_RELEASE}
+    debug ${FastRTPS_LIBRARY_DEBUG}
+    ${FastCDR_LIBRARIES}
+  )
+elseif(FastRTPS_LIBRARY_RELEASE)
+  set(FastRTPS_LIBRARIES
+    ${FastRTPS_LIBRARY_RELEASE}
+    ${FastCDR_LIBRARIES}
+  )
+elseif(FastRTPS_LIBRARY_DEBUG)
+  set(FastRTPS_LIBRARIES
+    ${FastRTPS_LIBRARY_DEBUG}
+    ${FastCDR_LIBRARIES}
+  )
+else()
+  set(FastRTPS_LIBRARIES "")
+endif()
+
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(FastRTPS
   FOUND_VAR FastRTPS_FOUND
   REQUIRED_VARS
     FastRTPS_INCLUDE_DIR
+    FastRTPS_LIBRARIES
 )

rmw_fastrtps_cpp/CMakeLists.txt

@@ -27,6 +27,7 @@ find_package(rcutils REQUIRED)
 find_package(fastrtps_cmake_module REQUIRED)
 find_package(fastcdr REQUIRED CONFIG)
 find_package(fastrtps REQUIRED CONFIG)
+find_package(FastRTPS REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
 find_package(rosidl_generator_c REQUIRED)
@@ -59,7 +60,7 @@ ament_target_dependencies(rmw_fastrtps_cpp
 
 configure_rmw_library(rmw_fastrtps_cpp)
 
-ament_export_libraries(rmw_fastrtps_cpp fastcdr fastrtps)
+ament_export_libraries(rmw_fastrtps_cpp ${FastRTPS_LIBRARIES})
 if(NOT WIN32 AND NOT ANDROID)
   ament_export_libraries(pthread)
 endif()