From 294396ff0c6e6eabb83c31d0254ddf79192541de Mon Sep 17 00:00:00 2001
From: vagrant <vagrant@u2404-docker>
Date: Thu, 23 Apr 2026 16:35:23 +0900
Subject: [PATCH] Added check for existence of SSM library directory.

---
 CMakeLists.txt                                 | 14 ++++++++++++++
 packages/deb/debian/rules.ros2-only-support.in |  3 ++-
 src/ext/transport/SSMTransport/CMakeLists.txt  |  4 ++--
 3 files changed, 18 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9299ee35c..b0beacb6f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -128,6 +128,13 @@ elseif(UNIX)
 			set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --param max-inline-insns-single=1000 --param inline-unit-growth=1000 --param large-function-growth=2000")
 		endif()
 	endif()
+	if(SSM_ROOT)
+		if(IS_DIRECTORY "${SSM_ROOT}/lib64")
+			set(SSM_LIB_PATH "${SSM_ROOT}/lib64")
+		else()
+			set(SSM_LIB_PATH "${SSM_ROOT}/lib")
+		endif()
+	endif()
 else()
 	set(INSTALL_RTM_SCRIPT_DIR lib/openrtm-${RTM_MAJOR_VERSION}.${RTM_MINOR_VERSION}/py_helper)
 	set(INSTALL_RTM_BIN_DIR bin)
@@ -141,6 +148,13 @@ else()
 	set(INSTALL_RTM_CMAKE_DIR lib/openrtm-${RTM_MAJOR_VERSION}.${RTM_MINOR_VERSION}/cmake)
 	set(INSTALL_RTM_ETC_DIR etc)
 	set(INSTALL_RTM_SHARE_DIR share)
+	if(SSM_ROOT)
+		if(IS_DIRECTORY "${SSM_ROOT}/lib64")
+			set(SSM_LIB_PATH "${SSM_ROOT}/lib64")
+		else()
+			set(SSM_LIB_PATH "${SSM_ROOT}/lib")
+		endif()
+	endif()
 endif(MSVC)
 
 set(HTTP_ENABLE FALSE CACHE BOOL "set HTTP_ENABLE")
diff --git a/packages/deb/debian/rules.ros2-only-support.in b/packages/deb/debian/rules.ros2-only-support.in
index 638f761fa..2c192743a 100755
--- a/packages/deb/debian/rules.ros2-only-support.in
+++ b/packages/deb/debian/rules.ros2-only-support.in
@@ -20,6 +20,7 @@ INSTALL_PREFIX = @CMAKE_INSTALL_PREFIX@
 RTM_LIB_DIR=@INSTALL_RTM_LIB_DIR@
 RTM_EXT_DIR=@INSTALL_RTM_EXT_DIR@
 ROS2TRANSPORT_CMAKE_DIR=@INSTALL_ROS2TRANSPORT_CMAKE_DIR@
+SSM_LIB_DIR=@SSM_LIB_PATH@
 
 # These are used for cross-compiling and for saving the configure script
 # from having to guess our platform (since we know it already)
@@ -158,7 +159,7 @@ install-arch:
 	(mkdir -p $(TARGET_ssm)/etc/transport)
 	(cp $(INSTALL_PREFIX)/etc/transport/rtc.ssm.conf $(TARGET_ssm)/etc/transport)
 	(mkdir -p $(TARGET_ssm)/${RTM_LIB_DIR})
-	(cp -a /usr/local/lib64/libssm.so* $(TARGET_ssm)/${RTM_LIB_DIR})
+	(cp -a ${SSM_LIB_DIR}/libssm.so* $(TARGET_ssm)/${RTM_LIB_DIR})
 	(mkdir -p $(TARGET_ssm)/bin)
 	(cp -r /usr/local/bin/*ssm* $(TARGET_ssm)/bin)
 
diff --git a/src/ext/transport/SSMTransport/CMakeLists.txt b/src/ext/transport/SSMTransport/CMakeLists.txt
index 8c68a8738..806a8c9ec 100644
--- a/src/ext/transport/SSMTransport/CMakeLists.txt
+++ b/src/ext/transport/SSMTransport/CMakeLists.txt
@@ -11,8 +11,8 @@ set(SSM_ROOT ${SSM_ROOT} CACHE PATH "set SSM_ROOT")
 
 
 if(SSM_ROOT)
-	link_directories(${SSM_ROOT}/lib ${SSM_ROOT}/lib64)
-	set(SSM_LIBRARY "-Wl,--whole-archive" "${SSM_ROOT}/lib64/libssm.a" "-Wl,--no-whole-archive")
+	link_directories(${SSM_LIB_PATH})
+	set(SSM_LIBRARY "-Wl,--whole-archive" "${SSM_LIB_PATH}/libssm.a" "-Wl,--no-whole-archive")
 endif()
 
 if(WIN32)