From 1aa568f15c2ecb7ff5400e8df0289f6c2209b605 Mon Sep 17 00:00:00 2001
From: James Prestwood <jprestwood@locusrobotics.com>
Date: Fri, 6 Mar 2026 07:23:16 -0800
Subject: [PATCH 1/4] Fix Ceres inclusion and path export

Ceres is referenced in fuse header files and the existing way it was
being included in fuse_core did not export the include paths for
Ceres which breaks downstream packages when they include fuse_core
headers.

This was only exposed through the per-package builds since the
existing merged builds get lucky that all the include dirs are
merged together.
---
 fuse_core/CMakeLists.txt | 21 ++++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/fuse_core/CMakeLists.txt b/fuse_core/CMakeLists.txt
index 03b004dad..57bab06e7 100644
--- a/fuse_core/CMakeLists.txt
+++ b/fuse_core/CMakeLists.txt
@@ -12,6 +12,15 @@ find_package(catkin REQUIRED COMPONENTS
 )
 find_package(Boost REQUIRED COMPONENTS serialization)
 find_package(Ceres REQUIRED)
+
+if(TARGET Ceres::ceres)
+  get_target_property(CERES_INCLUDEDIRS Ceres::ceres INTERFACE_INCLUDE_DIRECTORIES)
+  message(STATUS "Ceres::ceres INTERFACE include dirs: '${CERES_INCLUDEDIRS}'")
+else()
+  message(WARNING "Ceres::ceres imported target not found; CERES_INCLUDEDIRS will be empty.")
+  set(CERES_INCLUDEDIRS "")
+endif()
+
 find_package(Eigen3 REQUIRED)
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(libglog REQUIRED)
@@ -19,6 +28,7 @@ pkg_check_modules(libglog REQUIRED)
 catkin_package(
   INCLUDE_DIRS
     include
+    ${CERES_INCLUDEDIRS}
   LIBRARIES
     ${PROJECT_NAME}
   CATKIN_DEPENDS
@@ -73,15 +83,16 @@ target_include_directories(${PROJECT_NAME}
   SYSTEM PUBLIC
     ${Boost_INCLUDE_DIRS}
     ${catkin_INCLUDE_DIRS}
-    ${CERES_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIRS}
     ${GLOG_INCLUDE_DIRS}
 )
 target_link_libraries(${PROJECT_NAME}
-  ${Boost_LIBRARIES}
-  ${catkin_LIBRARIES}
-  ${CERES_LIBRARIES}
-  ${GLOG_LIBRARIES}
+  PUBLIC
+    Ceres::ceres
+    ${catkin_INCLUDE_DIRS}
+  PRIVATE
+    ${Boost_LIBRARIES}
+    ${GLOG_LIBRARIES}
 )
 set_target_properties(${PROJECT_NAME}
   PROPERTIES

From a80afc8139f09a75266bb05b115d01e81f6456c9 Mon Sep 17 00:00:00 2001
From: James Prestwood <jprestwood@locusrobotics.com>
Date: Fri, 6 Mar 2026 08:01:11 -0800
Subject: [PATCH 2/4] Fix typo INCLUDE_DIRS -> LIBRARIES

---
 fuse_core/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fuse_core/CMakeLists.txt b/fuse_core/CMakeLists.txt
index 57bab06e7..624efb840 100644
--- a/fuse_core/CMakeLists.txt
+++ b/fuse_core/CMakeLists.txt
@@ -89,7 +89,7 @@ target_include_directories(${PROJECT_NAME}
 target_link_libraries(${PROJECT_NAME}
   PUBLIC
     Ceres::ceres
-    ${catkin_INCLUDE_DIRS}
+    ${catkin_LIBRARIES}
   PRIVATE
     ${Boost_LIBRARIES}
     ${GLOG_LIBRARIES}

From d3b965a0b19f618d0c8bbc3a7631668f70b0603a Mon Sep 17 00:00:00 2001
From: James Prestwood <jprestwood@locusrobotics.com>
Date: Fri, 6 Mar 2026 09:28:43 -0800
Subject: [PATCH 3/4] Harden logic for CERES_INCLUDEDIRS

In case INTERFACE_INCLUDE_DIRS isn't a valid property we can revert
back to the existing behavior when no include dirs are set.
---
 fuse_core/CMakeLists.txt | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/fuse_core/CMakeLists.txt b/fuse_core/CMakeLists.txt
index 624efb840..ca9f74ae6 100644
--- a/fuse_core/CMakeLists.txt
+++ b/fuse_core/CMakeLists.txt
@@ -15,7 +15,13 @@ find_package(Ceres REQUIRED)
 
 if(TARGET Ceres::ceres)
   get_target_property(CERES_INCLUDEDIRS Ceres::ceres INTERFACE_INCLUDE_DIRECTORIES)
-  message(STATUS "Ceres::ceres INTERFACE include dirs: '${CERES_INCLUDEDIRS}'")
+
+  if("${CERES_INCLUDEDIRS}" STREQUAL "CERES_INCLUDEDIRS-NOTFOUND")
+      message(STATUS "Ceres::ceres INTERFACE_INCLUDE_DIRS not found; CERES_INCLUDEDIRS will be empty")
+      set(CERES_INCLUDEDIRS, "")
+  else()
+      message(STATUS "Ceres::ceres INTERFACE_INCLUDE_DIRS: '${CERES_INCLUDEDIRS}'")
+  endif()
 else()
   message(WARNING "Ceres::ceres imported target not found; CERES_INCLUDEDIRS will be empty.")
   set(CERES_INCLUDEDIRS "")

From 7087da2808bf3d650c57790fc1dd272be4f114b1 Mon Sep 17 00:00:00 2001
From: James Prestwood <jprestwood@locusrobotics.com>
Date: Fri, 6 Mar 2026 09:31:28 -0800
Subject: [PATCH 4/4] Keep includes for target_include_directories

---
 fuse_core/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/fuse_core/CMakeLists.txt b/fuse_core/CMakeLists.txt
index ca9f74ae6..11c59fb7b 100644
--- a/fuse_core/CMakeLists.txt
+++ b/fuse_core/CMakeLists.txt
@@ -89,6 +89,7 @@ target_include_directories(${PROJECT_NAME}
   SYSTEM PUBLIC
     ${Boost_INCLUDE_DIRS}
     ${catkin_INCLUDE_DIRS}
+    ${CERES_INCLUDEDIRS}
     ${EIGEN3_INCLUDE_DIRS}
     ${GLOG_INCLUDE_DIRS}
 )