I am trying to create a simple ROS package, while following the "latest" advice on installs to use GNUInstallDirs for a humble package. https://youtu.be/m0DwB4OvDXk?t=2057

https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html

https://cmake.org/cmake/help/latest/command/install.html#command:install

From the CMake docs on the install command: For regular executables, static libraries and shared libraries, the DESTINATION argument is not required. For these target types, when DESTINATION is omitted, a default destination will be taken from the appropriate variable from GNUInstallDirs, or set to a built-in default value if that variable is not defined.

However, in the ament docs, GNUInstallDirs is not used. https://docs.ros.org/en/humble/How-To-Guides/Ament-CMake-Documentation.html#building-a-library

For example, a simple example of a ROS node executable, here is the CMake code

 project(foo)

 add_executable(${PROJECT_NAME}_exe main.cpp) # my ROS 2 node

 include(GNUInstallDirs)

 install(
    TARGETS ${CMAKE_PROJECT_NAME}_exe
    EXPORT export_${CMAKE_PROJECT_NAME}
    # DESTINATION lib/${PROJECT_NAME} # When commented out, ros2 run cannot find the executable
 )

# ament_export_targets and ament_export_dependencies would go here but are omitted for brevity.

The CMake docs say I don't need a DESTINATION keyword, however, it seems ROS requires me to install my executable into a nonstandard location than what GNUInstallDirs provides for executables, which is bin instead of lib. If I don't, the executables don't show up with ros2 run foo foo_exe or ros2 pkg executables foo. Normally in CMake, lib is for the .lib and .so libraries created with add_library, while bin is for targets created with add_executable.

Is there a reason ROS 2 is requiring users to put their executables in a nonstandard location counter to what GNUInstallDirs sets as a default?