composition_sep

Prerequisites / System Setup

Ubuntu 18.04 with

ROS2

sudo apt-get install ros-eloquent-ros2bag ros-eloquent-rosbag2* ros-eloquent-ros1-bridge ros-eloquent-rosbag2-storage-default-plugins-dbgsym 
sudo apt install build-essential git python3-colcon-common-extensions python3-pip python-rosdep python3-vcstool wget
sudo apt install ros-eloquent-launch*

Latest cmake

sudo snap install cmake --classic --channel=latest/stable
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt install g++-9
sudo apt install gcc-9
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 90 --slave /usr/bin/g++ g++ /usr/bin/g++-9 --slave /usr/bin/gcov gcov /usr/bin/gcov-9

In .bashrc add the following line

export PATH=/snap/bin:$PATH

Build

export AMENT_CURRENT_PREFIX=/opt/ros/eloquent
export AMENT_PREFIX_PATH=/opt/ros/eloquent
export PYTHONPATH=/opt/ros/eloquent/lib/python3.6/site-packages
mkdir build
cd build
cmake -DCMAKE_PREFIX_PATH=/opt/ros/eloquent ..
make

Run

export LD_LIBRARY_PATH=/opt/ros/eloquent/lib
./manual_composition

Package and Install

cpack
sudo dpkg -i composition-1.0.0_amd64.deb
/opt/composition-1.0.0/bin/manual_composition