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Windows installation from sources

Sub-packages

The is constituted of several sub-packages. Depending on the use of those packages, some or all of them must be built. These are the packages of and the dependencies between them:

Sub-package Description Depends on
Main C++ library with the implementation and API to create Nodes.
Project to auto-generate a Python library from .
Main Python library with API to create AML-IP Nodes.
Sphinx documentation project.

Dependencies

The installation of in a Windows environment from sources requires the following tools to be installed in the system:

  • windows_sources_visual_studio
  • windows_sources_chocolatey
  • windows_sources_cmake_pip3_wget_git
  • windows_sources_asiotinyxml2
  • windows_sources_openssl
  • windows_sources_yamlcpp
  • windows_sources_colcon_install [optional]
  • windows_sources_gtest [for test only]
  • windows_sources_eprosima_dependencies

Visual Studio

Visual Studio is required to have a C++ compiler in the system. For this purpose, make sure to check the Desktop development with C++ option during the Visual Studio installation process.

If Visual Studio is already installed but the Visual C++ Redistributable packages are not, open Visual Studio and go to Tools -> Get Tools and Features and in the Workloads tab enable Desktop development with C++. Finally, click Modify at the bottom right.

Chocolatey

Chocolatey is a Windows package manager. It is needed to install some of 's dependencies. Download and install it directly from the website.

CMake, pip3, wget and git

These packages provide the tools required to install and its dependencies from command line. Download and install CMake, pip3, wget and git by following the instructions detailed in the respective websites. Once installed, add the path to the executables to the PATH from the Edit the system environment variables control panel.

Asio and TinyXML2 libraries

Asio is a cross-platform C++ library for network and low-level I/O programming, which provides a consistent asynchronous model. TinyXML2 is a simple, small and efficient C++ XML parser. They can be downloaded directly from the links below:

After downloading these packages, open an administrative shell with PowerShell and execute the following command:

choco install -y -s <PATH_TO_DOWNLOADS> asio tinyxml2

where <PATH_TO_DOWNLOADS> is the folder into which the packages have been downloaded.

OpenSSL

OpenSSL is a robust toolkit for the TLS and SSL protocols and a general-purpose cryptography library. Download and install the latest OpenSSL version for Windows at this link. After installing, add the environment variable OPENSSL_ROOT_DIR pointing to the installation root directory.

For example:

OPENSSL_ROOT_DIR=C:\Program Files\OpenSSL-Win64

yaml-cpp

yaml-cpp is a YAML parser and emitter in C++ matching the YAML 1.2 spec, and is used by DDS Router application to parse the provided configuration files. From an administrative shell with PowerShell, execute the following commands in order to download and install yaml-cpp for Windows:

git clone --branch yaml-cpp-0.7.0 https://github.com/jbeder/yaml-cpp
cmake -DCMAKE_INSTALL_PREFIX='C:\Program Files\yamlcpp' -B build\yamlcpp yaml-cpp
cmake --build build\yamlcpp --target install    # If building in Debug mode, add --config Debug

SWIG

SWIG is a software development tool that connects programs written in C and C++ with a variety of high-level programming languages. In this project, it is used to wrap C++ API to generate a Python library. Install SWIG using the package manager of the appropriate Linux distribution. For example, on Ubuntu use the command:

choco install swig --allow-downgrade --version=4.0.2.04082020

Colcon

colcon is a command line tool based on CMake aimed at building sets of software packages. Install the ROS 2 development tools (colcon and vcstool) by executing the following command:

pip3 install -U colcon-common-extensions vcstool

Note

If this fails due to an Environment Error, add the --user flag to the pip3 installation command.

Gtest

Gtest is a unit testing library for C++. By default, does not compile tests. It is possible to activate them with the opportune CMake options when calling colcon or CMake. For more details, please refer to the cmake_options section.

Run the following commands on your workspace to install Gtest.

git clone https://github.com/google/googletest.git
cmake -DCMAKE_INSTALL_PREFIX='C:\Program Files\gtest' -Dgtest_force_shared_crt=ON -DBUILD_GMOCK=ON ^
    -B build\gtest -A x64 -T host=x64 googletest
cmake --build build\gtest --config Release --target install

or refer to the Gtest Installation Guide for a detailed description of the Gtest installation process.

eProsima dependencies

These are the eProsima libraries required for building :

  • foonathan_memory_vendor, an STL compatible C++ memory allocation library.
  • fastcdr, a C++ library that serializes according to the standard CDR serialization mechanism.
  • fastrtps, the core library of eProsima Fast DDS library.
  • cmake_utils, an eProsima utilities library for CMake.
  • cpp_utils, an eProsima utilities library for C++.
  • ddsrouter_core, the eProsima DDS Router library C++.

If it already exists in the system an installation of these libraries there is no need to build them again, just source them when building the . If using CMake, add the already libraries installation paths to PATH. If using colcon, use the following command to source them:

source <eprosima-dependencies-installation-path>/install/setup.bash

Installation methods

There are two main possibilities to build from sources in Windows. One of them uses CMake and the other colcon, an auto-build framework.

Note

Colcon version is advised for non advanced users as it is easier and neater.

Colcon <windows_colcon> CMake <windows_cmake>