Link urcl to rt on non-Apple Unix - #540
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urfeex merged 1 commit intoJul 24, 2026
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This upstreams RoboStack downstream patch `patch/ros-rolling-ur-client-library.osx.patch`. Best-guess rationale: Linux builds may need librt for realtime-related symbols, while macOS does not provide a separate rt library; gating the link on non-Apple Unix keeps both platforms working. Signed-off-by: Tobias Fischer <info@tobiasfischer.info>
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FYI @wep21 and @traversaro, this upstream PR comes from the RoboStack patch upstreaming tracker: RoboStack/robostack.github.io#16. Origin patch: RoboStack |
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## master #540 +/- ##
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- Coverage 78.95% 78.68% -0.28%
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Files 114 114
Lines 6501 6501
Branches 3000 3000
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- Hits 5133 5115 -18
- Misses 993 1013 +20
+ Partials 375 373 -2
Flags with carried forward coverage won't be shown. Click here to find out more. ☔ View full report in Codecov by Harness. |
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Looks good to me, thank you for providing this. From what I can see, this is only needed on systems that ship glibc < 2.17 which should be quite rare, but it also shouldn't hurt on newer systems.
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This PR is part of an effort to contribute RoboStack downstream patches back upstream.
Origin: RoboStack
patch/ros-rolling-ur-client-library.osx.patch, authored by Daisuke Nishimatsu.Best-guess rationale: Linux builds may need librt for realtime-related symbols, while macOS does not provide a separate rt library; gating the link on non-Apple Unix keeps both platforms working.
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Low Risk
Single conditional CMake link line for platform-specific library resolution; no runtime logic or security-sensitive changes.
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urclagainstlibrton Linux and other non-Apple Unix targets so builds resolve realtime-related symbols (e.g. fromclock_gettimein queue synchronization code) that may live in librt on some Linux setups.The link is gated with
UNIX AND NOT APPLEso macOS builds are unchanged, since macOS does not ship a separatertlibrary.Reviewed by Cursor Bugbot for commit 09c4113. Bugbot is set up for automated code reviews on this repo. Configure here.