1. Linux installation from sources

The instructions for installing the eProsima DDS Enabler from sources and its required dependencies are provided in this page.

1.1. Dependencies installation

eProsima DDS Enabler depends on eProsima Fast DDS library and certain Debian packages. This section describes the instructions for installing eProsima DDS Enabler 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.

  • fastdds, the core library of eProsima Fast DDS library.

  • cmake_utils, an eProsima utils library for CMake.

  • cpp_utils, an eProsima utils library for C++.

  • ddspipe, an eProsima internal library that enables the communication of DDS interfaces.

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.

1.1.1. Requirements

The installation of eProsima DDS Enabler in a Linux environment from sources requires the following tools to be installed in the system:

  • CMake, g++, pip, wget and git

  • Colcon [optional, for colcon installation only]

sudo apt install cmake g++ pip wget git
pip3 install -U colcon-common-extensions vcstool # optional, for colcon installation only

1.1.2. Dependencies

eProsima DDS Enabler has the following dependencies, when installed from sources in a Linux environment:

  • Asio and TinyXML2 libraries

  • OpenSSL library

  • YAML-CPP library

sudo apt install libasio-dev libtinyxml2-dev libssl-dev libyaml-cpp-dev

1.1.2.1. eProsima dependencies

If it already exists in the system an installation of Fast DDS and DDS Pipe libraries, just source these libraries when building eProsima DDS Enabler by running the following commands. In other case, just skip this step.

source <fastdds-installation-path>/install/setup.bash
source <ddspipe-installation-path>/install/setup.bash

1.1.2.2. Gtest

Gtest is a unit testing library for C++. By default, eProsima DDS Enabler 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 eProsima DDS Enabler workspace and compile it with colcon as a dependency package. Use the following command to download the code:

git clone --branch release-1.12.0 https://github.com/google/googletest src/googletest-distribution

1.3. CMake installation

This section explains how to compile eProsima DDS Enabler with CMake, either locally or globally.

Note

This section is not required if you have already installed the eProsima DDS Enabler using Colcon.

1.3.1. Local installation

  1. Create a DDS-Enabler directory where to download and build eProsima DDS Enabler and its dependencies:

    mkdir -p ~/DDS-Enabler/src
mkdir -p ~/DDS-Enabler/build
cd ~/DDS-Enabler
wget https://raw.githubusercontent.com/eProsima/DDS-Enabler/main/ddsenabler.repos
vcs import src < ddsenabler.repos

  2. Compile all dependencies using CMake.

    • Foonathan memory

      cd ~/DDS-Enabler
mkdir build/foonathan_memory_vendor
cd build/foonathan_memory_vendor
cmake ~/DDS-Enabler/src/foonathan_memory_vendor -DCMAKE_INSTALL_PREFIX=~/DDS-Enabler/install -DBUILD_SHARED_LIBS=ON
cmake --build . --target install

    • Fast CDR

      cd ~/DDS-Enabler
mkdir build/fastcdr
cd build/fastcdr
cmake ~/DDS-Enabler/src/fastcdr -DCMAKE_INSTALL_PREFIX=~/DDS-Enabler/install
cmake --build . --target install

    • Fast DDS

      cd ~/DDS-Enabler
mkdir build/fastdds
cd build/fastdds
cmake ~/DDS-Enabler/src/fastdds -DCMAKE_INSTALL_PREFIX=~/DDS-Enabler/install -DCMAKE_PREFIX_PATH=~/DDS-Enabler/install
cmake --build . --target install

    • Dev Utils

      # CMake Utils
cd ~/DDS-Enabler
mkdir build/cmake_utils
cd build/cmake_utils
cmake ~/DDS-Enabler/src/dev-utils/cmake_utils -DCMAKE_INSTALL_PREFIX=~/DDS-Enabler/install -DCMAKE_PREFIX_PATH=~/DDS-Enabler/install
cmake --build . --target install

# C++ Utils
cd ~/DDS-Enabler
mkdir build/cpp_utils
cd build/cpp_utils
cmake ~/DDS-Enabler/src/dev-utils/cpp_utils -DCMAKE_INSTALL_PREFIX=~/DDS-Enabler/install -DCMAKE_PREFIX_PATH=~/DDS-Enabler/install
cmake --build . --target install

    • DDS Pipe

      # ddspipe_core
cd ~/DDS-Enabler
mkdir build/ddspipe_core
cd build/ddspipe_core
cmake ~/DDS-Enabler/src/ddspipe/ddspipe_core -DCMAKE_INSTALL_PREFIX=~/DDS-Enabler/install -DCMAKE_PREFIX_PATH=~/DDS-Enabler/install
cmake --build . --target install

# ddspipe_participants
cd ~/DDS-Enabler
mkdir build/ddspipe_participants
cd build/ddspipe_participants
cmake ~/DDS-Enabler/src/ddspipe/ddspipe_participants -DCMAKE_INSTALL_PREFIX=~/DDS-Enabler/install -DCMAKE_PREFIX_PATH=~/DDS-Enabler/install
cmake --build . --target install

# ddspipe_yaml
cd ~/DDS-Enabler
mkdir build/ddspipe_yaml
cd build/ddspipe_yaml
cmake ~/DDS-Enabler/src/ddspipe/ddspipe_yaml -DCMAKE_INSTALL_PREFIX=~/DDS-Enabler/install -DCMAKE_PREFIX_PATH=~/DDS-Enabler/install
cmake --build . --target install

  3. Once all dependencies are installed, install eProsima DDS Enabler:

    # dds_enabler_participants
cd ~/DDS-Enabler
mkdir build/dds_enabler_participants
cd build/dds_enabler_participants
cmake ~/DDS-Enabler/src/dds_enabler/dds_enabler_participants -DCMAKE_INSTALL_PREFIX=~/DDS-Enabler/install -DCMAKE_PREFIX_PATH=~/DDS-Enabler/install
cmake --build . --target install

# dds_enabler_yaml
cd ~/DDS-Enabler
mkdir build/dds_enabler_yaml
cd build/dds_enabler_yaml
cmake ~/DDS-Enabler/src/dds_enabler/dds_enabler_yaml -DCMAKE_INSTALL_PREFIX=~/DDS-Enabler/install -DCMAKE_PREFIX_PATH=~/DDS-Enabler/install
cmake --build . --target install

# dds_enabler
cd ~/DDS-Enabler
mkdir build/dds_enabler_tool
cd build/dds_enabler_tool
cmake ~/DDS-Enabler/src/dds_enabler/dds_enabler -DCMAKE_INSTALL_PREFIX=~/DDS-Enabler/install -DCMAKE_PREFIX_PATH=~/DDS-Enabler/install
cmake --build . --target install

    Note

    By default, eProsima DDS Enabler does not compile tests. However, they can be activated by downloading and installing Gtest and building with CMake option -DBUILD_TESTS=ON.

1.3.2. Global installation

To install eProsima DDS Enabler system-wide instead of locally, remove all the flags that appear in the configuration steps of Fast-CDR, Fast-DDS, Dev-Utils, DDS-Pipe, and DDS-Enabler, and change the first in the configuration step of foonathan_memory_vendor to the following:

-DCMAKE_INSTALL_PREFIX=/usr/local/ -DBUILD_SHARED_LIBS=ON

1.4. Run an example

In this section, we will run a publish example mimicking the behavior of the classic Hello World ROS 2 talker in a specific domain. For simplicity, we will use the eProsima DDS Enabler example application with the already provided configuration file and sample data from a test case in the dds_enabler_test package.

Note

To run a service or action example, please refer to the corresponding readme in the examples folder.

To run this eProsima DDS Enabler example, source the installation path and execute the executable file that has been installed in <install-path>/dds_enabler_tool/bin/dds_enabler:

# TERMINAL ROS2 LISTENER
source <ROS2-installation-path>/setup.bash
export ROS_DOMAIN_ID=33
ros2 run demo_nodes_cpp listener

# TERMINAL DDS ENABLER
# If built has been done using colcon, all projects could be sourced as follows
cd <dds-enabler-workspace>
source install/setup.bash
export TEST_PATH=$PWD/src/DDS-Enabler/ddsenabler_test/compose/test_cases/publish/discovered_type
./install/ddsenabler/examples/publish/ddsenabler_example_publish --config $TEST_PATH/config.yml --timeout 10 --expected-types 1 --expected-topics 1 --publish-path $TEST_PATH/samples --publish-topic rt/chatter --publish-period 200 --publish-initial-wait 5000

Important

To run the eProsima DDS Enabler examples, it is necessary to have compiled the eProsima DDS Enabler project with the CMake option -DCOMPILE_EXAMPLES=ON. For more details, please refer to the CMake options section.

Note

Be sure that the executable have execution permissions.