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realsense: tell the linker where nix actually put librealsense2 #4054

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Merged
spomichter merged 1 commit into from
Sep 10, 2026
Merged

realsense: tell the linker where nix actually put librealsense2 #4054

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6 changes: 1 addition & 5 deletions dimos/hardware/sensors/camera/realsense/rust/Cargo.lock
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4 changes: 3 additions & 1 deletion dimos/hardware/sensors/camera/realsense/rust/build.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -14,14 +14,16 @@

// realsense-sys only emits -L for librealsense2; bake its directory in as an
// rpath so the binary runs outside the nix shell that built it. nixpkgs' .pc
// names lib/x86_64-linux-gnu while the .so sits in lib/, so walk up to it.
// names lib/x86_64-linux-gnu while the .so sits in lib/, so walk up to it --
// for the linker too, or `-lrealsense2` is not found at all.
fn main() {
let lib = pkg_config::probe_library("realsense2").expect("librealsense2 via pkg-config");
for path in lib.link_paths {
let dir = path
.ancestors()
.find(|d| d.join("librealsense2.so").exists())
.unwrap_or(&path);
println!("cargo:rustc-link-search=native={}", dir.display());
println!("cargo:rustc-link-arg=-Wl,-rpath,{}", dir.display());
}
}
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