Architecture

Dependancies

• Ament workspace
  • ament_cmake_export_jar : use for build Java with CMake (and deploy JAVAPATH)
  • ament_build_type_gradle : use for build Java with Gradle (and deploy launcher and JAVAPATH)
• ros2_java workspace
  • rosidl_generate_java : use for build Java message/service with CMake
  • rcljava
  • rcljava_common

rcljava core

Relation between rcljava and rcljava_common are special case.

For building, rcljava is dependant of rcljava_common. But at runtime, rcljava_common use rcljava for loading JNI libraries.