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 Windows 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.cmake_utils
, an eProsima utils library for CMake.cpp_utils
, an eProsima utils library for C++.
First of all, the Requirements <windows_sources_requirements>
and Dependencies <windows_sources_dependencies>
detailed below need to be met. Afterwards, the user can choose whether to follow either the colcon <windows_sources_colcon_installation>
or the CMake <windows_sources_cmake_installation>
installation instructions.
The installation of eProsima Fast DDS 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_colcon_install
[optional]windows_sources_gtest
[for test only]windows_py_yaml
[for YAML Validator only]windows_json_schema
[for YAML Validator only]
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 is a Windows package manager. It is needed to install some of eProsima Fast DDS's dependencies. Download and install it directly from the website.
These packages provide the tools required to install eProsima Fast DDS 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.
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.
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.
PyYAML is a YAML parser and emitter for Python.
It is used by the DDS-Router yaml_validator
for loading the content of configuration files.
Install pyyaml
by executing the following command:
pip3 install -U pyyaml
jsonschema is an implementation of the JSON Schema specification for Python.
It is used by the DDS-Router yaml_validator
for performing validation of configuration files against a given JSON schema.
Install jsonschema
by executing the following command:
pip3 install -U jsonschema
has the following dependencies, when installed from sources in a Windows environment:
windows_sources_asiotinyxml2
windows_sources_openssl
windows_sources_yamlcpp
windows_sources_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. 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 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 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
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 windows_sources_colcon_installation
.
Important
Run colcon within a Visual Studio prompt. To do so, launch a Developer Command Prompt from the search engine.
Create a
DDS-Router
directory and download the.repos
file that will be used to install and its dependencies:mkdir <path\to\user\workspace>\DDS-Router cd <path\to\user\workspace>\DDS-Router mkdir src 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 <windows_sources_local_installation>
or globally <windows_sources_global_installation>
.
Open a command prompt, and create a
DDS-Router
directory where to download and build and its dependencies:mkdir <path\to\user\workspace>\DDS-Router
- Clone the following dependencies and compile them using CMake.
-
cd <path\to\user\workspace>\DDS-Router git clone https://github.com/eProsima/foonathan_memory_vendor.git cd foonathan_memory_vendor mkdir build cd build cmake .. -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^ -DBUILD_SHARED_LIBS=ON cmake --build . --config Release --target install
-
cd <path\to\user\workspace>\DDS-Router git clone https://github.com/eProsima/Fast-CDR.git cd Fast-CDR mkdir build cd build cmake .. -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install cmake --build . --config Release --target install
-
cd <path\to\user\workspace>\DDS-Router git clone https://github.com/eProsima/Fast-DDS.git cd Fast-DDS mkdir build cd build cmake .. -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^ -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Router\install cmake --build . --config Release --target install
-
cd <path\to\user\workspace>/DDS-Router git clone https://github.com/eProsima/dev-utils.git mkdir dev-utils/build cd dev-util/build cmake ../cmake_utils -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>/DDS-Router/install -DCMAKE_PREFIX_PATH=<path\to\user\workspace>/DDS-Router/install cmake ../cpp_utils -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>/DDS-Router/install -DCMAKE_PREFIX_PATH=<path\to\user\workspace>/DDS-Router/install cmake --build . --target install
-
Once all dependencies are installed, install :
cd <path\to\user\workspace>\DDS-Router git clone https://github.com/eProsima/DDS-Router.git cd DDS-Router mkdir build cd build cmake ../ddsrouter_core ^ -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^ -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Router\install cmake ../ddsrouter_yaml ^ -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^ -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Router\install cmake ../tools/ddsrouter_tool ^ -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^ -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Router\install cmake --build . --config Release --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 foonathan_memory_vendor
, Fast-CDR
, Fast-DDS
, and DDS-Router
If the was compiled using colcon, when running an instance of a , the colcon overlay built in the dedicated DDS-Router
directory must be sourced. There are two possibilities:
Every time a new shell is opened, prepare the environment locally by typing the command:
setup.bat
- Add the sourcing of the colcon overlay permanently, by opening the Edit the system environment variables control panel, and adding
~/Fast-DDS/install/setup.bat
to thePATH
.
However, when running an instance of a compiled using CMake, it must be linked with its dependencies where the packages have been installed. This can be done by opening the Edit system environment variables control panel and adding to the PATH
the , Fast DDS and Fast CDR installation directories:
- Fast DDS: C:\Program Files\fastrtps
- Fast CDR: C:\Program Files\fastcdr
- : C:\Program Files\ddsrouter