2. Windows 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:
2.1. 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 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.
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 eProsima Fast DDS in a Windows environment from sources requires the following tools to be installed in the system:
Gtest [for test only]
22.214.171.124. 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
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.
126.96.36.199. CMake, pip3, wget and git¶
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
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
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.
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.
DDS Router has the following dependencies, when installed from sources in a Windows environment:
188.8.131.52. 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
<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
After installing, add the environment variable
OPENSSL_ROOT_DIR pointing to the installation root directory.
184.108.40.206. 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.
2.2. Colcon installation¶
Run colcon within a Visual Studio prompt. To do so, launch a Developer Command Prompt from the search engine.
DDS-Routerdirectory and download the
.reposfile that will be used to install DDS Router 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
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.
2.3. CMake installation¶
This section explains how to compile DDS Router with CMake, either locally or globally.
2.3.1. Local installation¶
Open a command prompt, and create a
DDS-Routerdirectory where to download and build DDS Router and its dependencies:
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
Once all dependencies are installed, install DDS Router:
cd <path\to\user\workspace>\DDS-Router git clone https://github.com/eProsima/DDS-Router.git cd DDS-Router 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
By default, DDS Router does not compile tests.
However, they can be activated by downloading and installing Gtest
and building with CMake option
2.3.2. Global installation¶
To install DDS Router system-wide instead of locally, remove all the flags that
appear in the configuration steps of
2.4. Run an application¶
If the DDS Router was compiled using colcon, when running an instance of a DDS Router, the colcon overlay built in the
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:
Add the sourcing of the colcon overlay permanently, by opening the Edit the system environment variables control panel, and adding
However, when running an instance of a DDS Router 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 DDS Router, Fast DDS and Fast CDR installation directories:
Fast DDS: C:\Program Files\fastrtps
Fast CDR: C:\Program Files\fastcdr
DDS Router: C:\Program Files\ddsrouter