1. Linux installation from sources¶
The instructions for installing the DDS Router application from sources and its required dependencies are provided in this page. It is organized as follows:
1.1. Dependencies installation¶
DDS Router depends on eProsima Fast DDS library and certain Debian packages. This section describes the instructions for installing DDS Router 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 and Dependencies detailed below need to be met. Afterwards, the user can choose whether to follow either the colcon or the CMake installation instructions.
The installation of DDS Router in a Linux environment from sources requires the following tools to be installed in the system:
Gtest [for test only]
188.8.131.52. CMake, g++, pip, wget and git¶
These packages provide the tools required to install DDS Router 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
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, DDS Router 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.
DDS Router has the following dependencies, when installed from sources in a Linux environment:
184.108.40.206. 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. 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
220.127.116.11. eProsima dependencies¶
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 DDS Router application by using the command:
In other case, just download Fast DDS project from sources and build it together with DDS Router using colcon as it is explained in section Colcon installation.
1.2. Colcon installation¶
DDS-Routerdirectory and download the
.reposfile that will be used to install DDS Router 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
In case there is already a Fast DDS installation in the system it is not required to download and build every dependency in the
.reposfile. It is just needed to download and build the DDS Router project having sourced its dependencies. Refer to section eProsima dependencies in order to check how to source Fast DDS library.
Build the packages:
Being based on CMake, it is possible to pass the CMake configuration options to the
command. For more information on the specific syntax, please refer to the
CMake specific arguments
page of the colcon manual.
1.3. CMake installation¶
This section explains how to compile DDS Router with CMake, either locally or globally.
1.3.1. Local installation¶
DDS-Routerdirectory where to download and build DDS Router and its dependencies:
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 DDS Router:
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
By default, DDS Router does not compile tests.
However, they can be activated by downloading and installing Gtest
and building with CMake option
1.3.2. Global installation¶
To install DDS Router system-wide instead of locally, remove all the flags that
appear in the configuration steps of
DDS-Router, and change the first in the configuration step of
foonathan_memory_vendor to the
1.4. Run an application¶
To run the DDS Router application, source the Fast DDS library
and execute the executable file that has been installed in
# 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.