Skip to content

Fast_DDS.md

Latest commit

 

History

History
71 lines (66 loc) · 2.52 KB

Fast_DDS.md

File metadata and controls

71 lines (66 loc) · 2.52 KB

Fast DDS and Fast-DDS-Gen Installation Source Link

Even though the installation instructions are brief, it may be exhaustive so please follow the below commands to install Fast-DDS and FastRTPS-Gen for PX4.

  1. Requirements for Fast DDS and FastRTPS-Gen

    • CMake, g++, python3-pip wget git : `sudo apt install cmake g++ python3-pip wget git Note: cmake version 3.22.x or higher is required.
    • SDKMan :
      • curl -s "https://get.sdkman.io" | bash
      • source "$HOME/.sdkman/bin/sdkman-init.sh"
      • sdk version - Should return the version of SDKMan if installed correctly.
    • General Requirements :
      • sudo apt install python3-colcon-common-extensions
      • sudo apt install openjdk-8-jdk
      • pip3 install --user pyros-genmsg
      • pip3 install --user jinja2
      • pip3 install kconfiglib
      • pip3 install --user jsonschema
      • pip3 install --user toml
    • Gradle :
      • sdk install gradle 7.3
      • gradle -v - Should return the version of Gradle if installed correctly.

  2. Fast DDS and FastRTPS-Gen Installation

    A CMake Global Installation is the only correct installation that works with px4_ros_com. The steps for this is documented in this section

    cd 
mkdir ~/Fast-DDS
  • Foonathan Memory 
    cd ~/Fast-DDS
git clone https://github.com/eProsima/foonathan_memory_vendor.git
mkdir foonathan_memory_vendor/build
cd foonathan_memory_vendor/build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/ -DBUILD_SHARED_LIBS=ON
sudo cmake --build . --target install
  • FAST-CDR 
    cd ~/Fast-DDS
git clone https://github.com/eProsima/Fast-CDR.git
mkdir Fast-CDR/build
cd Fast-CDR/build
cmake ..
sudo cmake --build . --target install
  • FAST-DDS 
    cd ~/Fast-DDS
git clone https://github.com/eProsima/Fast-DDS.git
mkdir Fast-DDS/build
cd Fast-DDS/build
cmake ..
sudo cmake --build . --target install
  • Fast-DDS-Gen 
    cd ~
git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4
cd Fast-DDS-Gen
./gradlew assemble
sudo ./gradlew install
  • Verify Installtion :
    • Now to check if correctly installed or not do the following in a new terminal: which fastrtpsgen
    • It should return something sort of the following: /usr/local/bin/fastrtpsgen
    • If it does not return anything, then the installation is not correct. Please check the installation steps again.