drake_ament_cmake_installed

Ament CMake Project with an Installed Drake

This example uses the ament_cmake build system and colcon command line tool, as used by the Robot Operating System (ROS) 2, with an installed instance of the Drake binary packages.

Instructions

To use ament_cmake and colcon from the ROS 2 Foxy package archive, install the required packages and configure your environment as follows:

sudo ../scripts/setup/linux/ubuntu/focal/install_prereqs --ros-foxy
source /opt/ros/foxy/setup.bash

To build the drake_ament_cmake_installed library:

colcon build --cmake-args "-DCMAKE_PREFIX_PATH=/path/to/drake;$CMAKE_PREFIX_PATH"

If the Drake binary package is installed to /opt/drake, you may omit the --cmake-args <args> argument.

To build and run the drake_ament_cmake_installed test executable:

colcon test