[workspace] Reduce header footprint of generated LCM messages (#17289)

RobotLocomotion · May 31, 2022 · 3de381a · 3de381a
1 parent 5a76870
commit 3de381a
Show file tree

Hide file tree

Showing 3 changed files with 11 additions and 2 deletions.
diff --git a/examples/kuka_iiwa_arm/BUILD.bazel b/examples/kuka_iiwa_arm/BUILD.bazel
@@ -134,6 +134,7 @@ drake_cc_binary(
         "//lcmtypes:robot_plan",
         "//multibody/parsing",
         "//multibody/plant",
+        "@lcm",
     ],
 )
 

diff --git a/tools/workspace/lcm/lcm.bzl b/tools/workspace/lcm/lcm.bzl
@@ -206,8 +206,8 @@ def lcm_cc_library(
         )
 
     deps = kwargs.pop("deps", [])
-    if "@lcm" not in deps:
-        deps = deps + ["@lcm"]
+    if "@lcm//:lcm_coretypes" not in deps:
+        deps = deps + ["@lcm//:lcm_coretypes"]
 
     includes = kwargs.pop("includes", [])
     if "." not in includes:

diff --git a/tools/workspace/lcm/package.BUILD.bazel b/tools/workspace/lcm/package.BUILD.bazel
@@ -115,6 +115,14 @@ cc_library(
     includes = LCM_PUBLIC_HEADER_INCLUDES,
 )
 
+# This is the header-only library used by generated messages.
+cc_library(
+    name = "lcm_coretypes",
+    hdrs = ["lcm/lcm_coretypes.h"],
+    includes = ["."],
+    linkstatic = True,
+)
+
 cc_binary(
     name = "lcm-logger",
     srcs = [
-Original file line number
+Diff line change
@@ Expand Up / @@ -134,6 +134,7 @@ drake_cc_binary( @@
             "//lcmtypes:robot_plan",
             "//multibody/parsing",
             "//multibody/plant",
+            "@lcm",
         ],
     )
@@ Expand Down @@