For context: Our package, adi_tmc_coe, which is already released on the ROS index, uses ethercat-grant to run without root privilege.
ethercat-grant is included in both CMakelist and package.xml of our package. When installing the package from source (dependencies were installed via $rosdep install command), everything works fine. However, we encounter error from ethercat-grant when installing our package via binary (dependencies were automatically installed when installing our package via $sudo apt install).
We also checked other packages in ROS index that use ethercat-grant, specifically rokubimini_ethercat. We tested both source and binary installations, and, like our package, we encountered the same error during the binary install.
Our analysis suggests that ethercat-grant is copying the executable (in this case, the shared object of the package) and modifying its permissions. However, since it is installed as a binary, the shared object is located in /opt/ros/noetic/ which requires root permissions thus the error we encountered.
Has anyone experienced the same issue? What suggestions do you have? Thank you!