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Allow use of non-vendored Zenoh if present #908

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Merged
JEnoch merged 3 commits into from
Feb 18, 2026
Merged

Allow use of non-vendored Zenoh if present #908

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263cd74
Allow use of non-vendored Zenoh if present
oysstu Feb 15, 2026
c65a0bc
Make the use of non-vendored zenoh explicit
oysstu Feb 16, 2026
dfc411d
Update README with information about USE_SYSTEM_ZENOH option
oysstu Feb 16, 2026
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9 changes: 8 additions & 1 deletion zenoh_cpp_vendor/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,9 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_vendor_package REQUIRED)

find_package(zenohc QUIET)
find_package(zenohcxx QUIET)

# Add a set of usefull features that are not enabled by default in zenoh-c.
# For a complete list of features see: https://github.com/eclipse-zenoh/zenoh/blob/main/zenoh/Cargo.toml
# Note: the list of features are separated with whitespaces.
Expand All @@ -29,6 +32,7 @@ set(ZENOHC_CARGO_FLAGS "--features=shared-memory zenoh/transport_serial")
# * Metrics per key (requires to add "zenoh/stats" feature to ZENOHC_CARGO_FLAGS for build)
# - https://github.com/eclipse-zenoh/zenoh/pull/2284
ament_vendor(zenoh_c_vendor
SATISFIED ${zenohc_FOUND}
VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
VCS_VERSION 73e7a0bdcf78b8263a02b7aee453ee6de8187589
CMAKE_ARGS
Expand All @@ -41,13 +45,16 @@ ament_vendor(zenoh_c_vendor
ament_export_dependencies(zenohc)

ament_vendor(zenoh_cpp_vendor
SATISFIED ${zenohcxx_FOUND}
VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
VCS_VERSION 47a80d345d74ebef16f3783423bf3bbd89cd6c30
CMAKE_ARGS
-DZENOHCXX_ZENOHC=OFF
)

externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)
if(NOT zenohcxx_FOUND)
externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)
endif()

ament_export_dependencies(zenohcxx)

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