From 925bdbaf7400c5e1a2d9fc4fb5a5791d832ac7ff Mon Sep 17 00:00:00 2001
From: Johnson Shih <jshih@microsoft.com>
Date: Thu, 30 Aug 2018 11:54:19 -0700
Subject: [PATCH] Strip the 'lib' prefix when load library

---
 pluginlib/CMakeLists.txt                      |  5 +++
 pluginlib/include/pluginlib/class_loader.hpp  |  6 ++++
 .../include/pluginlib/class_loader_imp.hpp    | 36 ++++++++++++++++++-
 3 files changed, 46 insertions(+), 1 deletion(-)

diff --git a/pluginlib/CMakeLists.txt b/pluginlib/CMakeLists.txt
index 4d6f672d..99542532 100644
--- a/pluginlib/CMakeLists.txt
+++ b/pluginlib/CMakeLists.txt
@@ -16,6 +16,11 @@ if(CATKIN_ENABLE_TESTING)
 
   add_library(test_plugins EXCLUDE_FROM_ALL SHARED test/test_plugins.cpp)
   target_link_libraries(test_plugins ${class_loader_LIBRARIES})
+  if(WIN32)
+    # On Windows, default library runtime output set to CATKIN_GLOBAL_BIN_DESTINATION,
+    # change it back to CATKIN_PACKAGE_LIB_DESTINATION to match the library path described in plugin description file
+    set_target_properties(test_plugins PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION})
+  endif()
 
   catkin_add_gtest(${PROJECT_NAME}_utest test/utest.cpp)
   if(TARGET ${PROJECT_NAME}_utest)
diff --git a/pluginlib/include/pluginlib/class_loader.hpp b/pluginlib/include/pluginlib/class_loader.hpp
index 7aaa0441..ab18b724 100644
--- a/pluginlib/include/pluginlib/class_loader.hpp
+++ b/pluginlib/include/pluginlib/class_loader.hpp
@@ -288,6 +288,12 @@ class ClassLoader : public ClassLoaderBase
     const std::string & library_name,
     const std::string & exporting_package_name);
 
+#ifdef _WIN32
+  std::string getClassLibraryPathFromLibraryName(
+    const std::string & library_name,
+    const std::string & package_name);
+#endif
+
   /// Return the paths where libraries are installed according to the Catkin build system.
   std::vector<std::string> getCatkinLibraryPaths();
 
diff --git a/pluginlib/include/pluginlib/class_loader_imp.hpp b/pluginlib/include/pluginlib/class_loader_imp.hpp
index f0a2c834..c75cb12e 100644
--- a/pluginlib/include/pluginlib/class_loader_imp.hpp
+++ b/pluginlib/include/pluginlib/class_loader_imp.hpp
@@ -413,8 +413,42 @@ std::string ClassLoader<T>::getClassLibraryPath(const std::string & lookup_name)
   ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Class %s maps to library %s in classes_available_.",
     lookup_name.c_str(), library_name.c_str());
 
+  std::string library_path = getClassLibraryPathFromLibraryName(library_name, it->second.package_);
+
+#ifdef _WIN32
+  // Windows does not add 'lib' prefix to libary name, remove the prefix and try again
+  if ("" == library_path) {
+    std::string only_path;
+    std::string only_file;
+    size_t c = library_name.find_last_of(getPathSeparator());
+    if (std::string::npos == c) {
+      only_path = "";
+      only_file = library_name;
+    } else {
+      only_path = library_name.substr(0, c + 1);
+      only_file = library_name.substr(c + 1, library_name.size());
+    }
+
+    const std::string lib_suffix = "lib";
+    if (boost::starts_with(only_file, lib_suffix)) {
+      only_file = only_file.substr(lib_suffix.length());
+      if (!only_file.empty()) {
+        const std::string new_library_name = only_path + only_file;
+        library_path = getClassLibraryPathFromLibraryName(new_library_name, it->second.package_);
+      }
+    }
+  }
+#endif
+
+  return library_path;
+}
+
+template<class T>
+std::string ClassLoader<T>::getClassLibraryPathFromLibraryName(const std::string & library_name, const std::string & package_name)
+/***************************************************************************/
+{
   std::vector<std::string> paths_to_try =
-    getAllLibraryPathsToTry(library_name, it->second.package_);
+    getAllLibraryPathsToTry(library_name, package_name);
 
   ROS_DEBUG_NAMED("pluginlib.ClassLoader",
     "Iterating through all possible paths where %s could be located...",