[Aaravanand00]

Description

Fixes #2306

rclcpp, rclcpp_action, and rclcpp_lifecycle link several test targets against the mimick library and declare mimick_vendor as a <test_depend> in their package.xml files.

However, none of their CMakeLists.txt files actually invoked find_package(mimick_vendor REQUIRED). Without this call, CMake does not import the mimick target with its exported vendor installation paths, and instead falls back to passing plain -lmimick to the linker.

When overlaying rclcpp on top of binary installations (e.g. colcon build --allow-overriding rclcpp ...), /usr/bin/ld fails to locate libmimick.a in the isolated vendor prefix unless the environment was re-sourced after installing ros-<distro>-mimick-vendor.

This PR adds find_package(mimick_vendor REQUIRED) under BUILD_TESTING in:

• rclcpp/test/CMakeLists.txt
• rclcpp_action/CMakeLists.txt
• rclcpp_lifecycle/CMakeLists.txt

Matching the pattern already used in rcl/test/CMakeLists.txt.

Is this user-facing behavior change?

No API changes. Fixes linker failure (/usr/bin/ld: cannot find -lmimick) when compiling tests on overlay workspaces.

Did you use Generative AI?

Yes AI was used to assist with root cause analysis and verifying CMake dependency chains.

Additional Information

• Verified locally with ament_lint_cmake (0 problems found).

[github-actions]

ABI Compliance Check

✅ Verdict: compatible

Library	Verdict	Summary
libcomponent_manager.so	✅ compatible	No ABI changes detected.
librclcpp.so	✅ compatible	No ABI changes detected.
librclcpp_action.so	✅ compatible	No ABI changes detected.
librclcpp_lifecycle.so	✅ compatible	No ABI changes detected.

✅ libcomponent_manager.so — full abidiff report

Compared:

• Base: lib-base/libcomponent_manager.so
• Head: lib-pr/libcomponent_manager.so @ b15fde2

(empty report — no differences printed by abidiff)

✅ librclcpp.so — full abidiff report

Compared:

• Base: lib-base/librclcpp.so
• Head: lib-pr/librclcpp.so @ b15fde2

(empty report — no differences printed by abidiff)

✅ librclcpp_action.so — full abidiff report

Compared:

• Base: lib-base/librclcpp_action.so
• Head: lib-pr/librclcpp_action.so @ b15fde2

(empty report — no differences printed by abidiff)

✅ librclcpp_lifecycle.so — full abidiff report

Compared:

• Base: lib-base/librclcpp_lifecycle.so
• Head: lib-pr/librclcpp_lifecycle.so @ b15fde2

(empty report — no differences printed by abidiff)

_{Updated for commit b15fde2 · check run · suppressions: /home/runner/work/_temp/ros2-abi-suppressions.txt}

[Aaravanand00]

@clalancette @fujitatomoya ptal is this looks good???