The instructions for installing the application from sources and its required dependencies are provided in this page. It is organized as follows:
depends on eProsima Fast DDS library and certain Debian packages. This section describes the instructions for installing dependencies and requirements in a Linux environment from sources. The following packages will be installed:
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.
First of all, the Requirements <requirements>
and Dependencies <dependencies>
detailed below need to be met. Afterwards, the user can choose whether to follow either the colcon <colcon_installation>
or the CMake <cmake_installation>
installation instructions.
The installation of in a Linux environment from sources requires the following tools to be installed in the system:
cmake_gcc_pip_wget_git_sl
colcon_install
[optional]gtest_sl
[for test only]
These packages provide the tools required to install and its dependencies from command line. Install CMake, g++, pip, wget and git using the package manager of the appropriate Linux distribution. For example, on Ubuntu use the command:
sudo apt install cmake g++ pip wget git
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 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. For a detailed description of the Gtest installation process, please refer to the Gtest Installation Guide.
It is also possible to clone the Gtest Github repository into the workspace and compile it with colcon as a dependency package. Use the following command to download the code:
git clone --branch release-1.10.0 https://github.com/google/googletest src/googletest-distribution
has the following dependencies, when installed from sources in a Linux environment:
asiotinyxml2_sl
openssl_sl
yaml_cpp
eprosima_dependencies
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. Install these libraries using the package manager of the appropriate Linux distribution. For example, on Ubuntu use the command:
sudo apt install libasio-dev libtinyxml2-dev
OpenSSL is a robust toolkit for the TLS and SSL protocols and a general-purpose cryptography library. Install OpenSSL using the package manager of the appropriate Linux distribution. For example, on Ubuntu use the command:
sudo apt install libssl-dev
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. Install yaml-cpp using the package manager of the appropriate Linux distribution. For example, on Ubuntu use the command:
sudo apt install libyaml-cpp-dev
If it already exists in the system an installation of Fast DDS library with version greater than 2.4.0, just source this library when building the application by using the command:
source <fastdds-installation-path>/install/setup.bash
In other case, just download Fast DDS project from sources and build it together with using colcon as it is explained in section colcon_installation
.
Create a
DDS-Router
directory and download the.repos
file that will be used to install and its dependencies:mkdir -p ~/DDS-Router/src cd ~/DDS-Router wget https://raw.githubusercontent.com/eProsima/DDS-Router/main/ddsrouter.repos vcs import src < ddsrouter.repos
Note
In case there is already a Fast DDS installation in the system it is not required to download and build every dependency in the
.repos
file. It is just needed to download and build the project having sourced its dependencies. Refer to sectioneprosima_dependencies
in order to check how to source Fast DDS library.Build the packages:
colcon build
Note
Being based on CMake, it is possible to pass the CMake configuration options to the colcon build
command. For more information on the specific syntax, please refer to the CMake specific arguments page of the colcon manual.
This section explains how to compile with CMake, either locally <local_installation_sl>
or globally <global_installation_sl>
.
Create a
DDS-Router
directory where to download and build and its dependencies:mkdir ~/DDS-Router
- Clone the following dependencies and compile them using CMake.
-
cd ~/DDS-Router git clone https://github.com/eProsima/foonathan_memory_vendor.git mkdir foonathan_memory_vendor/build cd foonathan_memory_vendor/build cmake .. -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DBUILD_SHARED_LIBS=ON cmake --build . --target install
-
cd ~/DDS-Router git clone https://github.com/eProsima/Fast-CDR.git mkdir Fast-CDR/build cd Fast-CDR/build cmake .. -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install cmake --build . --target install
-
cd ~/DDS-Router git clone https://github.com/eProsima/Fast-DDS.git mkdir Fast-DDS/build cd Fast-DDS/build cmake .. -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install cmake --build . --target install
-
Once all dependencies are installed, install :
cd ~/DDS-Router git clone https://github.com/eProsima/DDS-Router.git mkdir DDS-Router/build cd DDS-Router/build cmake .. -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install cmake --build . --target install
Note
By default, does not compile tests. However, they can be activated by downloading and installing Gtest and building with CMake option -DBUILD_TESTS=ON
.
To install system-wide instead of locally, remove all the flags that appear in the configuration steps of Fast-CDR
, Fast-DDS
, and DDS-Router
, and change the first in the configuration step of foonathan_memory_vendor
to the following:
-DCMAKE_INSTALL_PREFIX=/usr/local/ -DBUILD_SHARED_LIBS=ON
To run the application, source the Fast DDS library and execute the executable file that has been installed in <install-path>/ddsrouter/bin/ddsrouter
:
# If built has been done using colcon, all projects could be sourced as follows
source install/setup.bash
./<install-path>/ddsrouter/bin/ddsrouter
Be sure that this executable has execute permissions.