Ensure .dll files in Windows gets installed in %CONDA_PREFIX%/Library/bin and not %CONDA_PREFIX%/Library/lib

[traversaro]

Solution to issue cannot be found in the documentation.

• I checked the documentation.

Issue

See #374 (comment) .

.dll files currently installed in lib:

• diagnostic_aggregator.dll (probably not necessary as it is a plugin: https://github.com/ros-perception/image_common/blob/21aac6a4b84017c10e8ed7ad86bc59826a77aa1f/image_transport/CMakeLists.txt#L44)
• eigen_conversions.dll (already done upstream in updated library install for better portability. (#208) ros/geometry#214, but never released)
• image_transport.dll (probably not necessary as it is a plugin: https://github.com/ros-perception/image_common/blob/21aac6a4b84017c10e8ed7ad86bc59826a77aa1f/image_transport/CMakeLists.txt#L44)
• image_transport_plugins.dll (probably not necessary as it is a plugin: https://github.com/ros-perception/image_common/blob/21aac6a4b84017c10e8ed7ad86bc59826a77aa1f/image_transport/CMakeLists.txt#L44)
• kdl_conversions.dll (already done upstream in updated library install for better portability. (#208) ros/geometry#214, but never released)
• resource_retriever.dll (On Windows install .dll libraries in <prefix>/bin ros/resource_retriever#91)
• tf_conversions.dll (already done upstream in updated library install for better portability. (#208) ros/geometry#214, but never released)
• srfdom.dll (On Windows install .dll libraries in <prefix>/bin moveit/srdfdom#119)

[traversaro]

A specific case of this was reported in #381 .

[Tobias-Fischer]

Great investigation as always @traversaro, thanks a lot! I wonder whether we should include a test section in vinca that looks for any dlls installed in the wrong location, to avoid issues in the future? Also, do you think we have similar problems in ros-humble? It might be worth checking.

[traversaro]

I wonder whether we should include a test section in vinca that looks for any dlls installed in the wrong location, to avoid issues in the future?

Unfortunately it seems that some packages install their .dll in the form of plugin that are expected to be found in %CONDA_PREFIX%\Library\lib, as such location is declared in a .xml file to locate the plugin, so those are ok, so we can't just check that there are no .dll in %CONDA_PREFIX%\Library\lib, unless we have a test that we skip for some packages, but that is a bit more complex.

[traversaro]

Also, do you think we have similar problems in ros-humble? It might be worth checking.

Good point, installing ros-humble-desktop ros-humble-moveit there are two problematic files:

 Directory of C:\Users\straversaro\AppData\Local\miniforge3\envs\ros-humble\Library\lib

09/17/2023  06:18 AM            84,992 backward.dll
02/07/2023  08:17 PM            13,312 tf2_eigen_kdl.dll
               2 File(s)         98,304 bytes
               0 Dir(s)  443,462,447,104 bytes free

I will open a ros-humble issue to tackle those.

[traversaro]

For backward_dll, this was already fixed upstream in pal-robotics/backward_ros@1ca04e3 .

[Tobias-Fischer]

Reopening till packages are rebuilt