3. Linux installation from sources¶
3.1. Fast DDS library installation¶
This section describes the instructions for installing eProsima Fast DDS in a Linux environment from sources. The following packages will be installed:
foonathan_memory_vendor, an STL compatible C++ memory allocator library.
fastcdr, a C++ library that serializes according to the standard CDR serialization mechanism.
fastrtps, the core library of eProsima Fast DDS library.
The installation of eProsima Fast DDS in a Linux environment from sources requires the following tools to be installed in the system:
188.8.131.52. CMake, g++, pip3, wget and git¶
These packages provide the tools required to install eProsima Fast DDS and its dependencies from command line. Install CMake, g++, pip3, wget and git using the package manager of the appropriate Linux distribution. For example, on Ubuntu use the command:
sudo apt install cmake g++ python3-pip wget git
GTest is a unit testing library for C++. By default, eProsima Fast DDS does not compile tests. It is possible to activate them with the opportune CMake configuration options when calling colcon or CMake. For more details, please refer to the CMake options section. Also add the Gtest repository into the workspace directory.
git clone https://github.com/google/googletest src/googletest-distribution
eProsima Fast DDS has the following dependencies, when installed from binaries 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. Libp11 and SoftHSM libraries¶
Libp11 provides PKCS#11 support for OpenSSL. This is an optional dependency, that is needed only when eprosima Fast DDS is used with security and PKCS#11 URIs.
Install libp11 using the package manager of the appropriate Linux distribution. For example, on Ubuntu use the command:
sudo apt install libp11-dev libengine-pkcs11-openssl
SoftHSM is a software implementation of an HSM (Hardware Security Module). If eProsima Fast DDS tests are activated and libp11 is installed on the system, SoftHSM is additionally required to run tests of PKCS#11 features.
Install SoftHSM using the package manager of the appropriate Linux distribution. For example, on Ubuntu use the command:
sudo apt install softhsm2
OpenSSL access HSM and other hardware devices through its engine functionality. In order to set up a new engine the OpenSSL configuration files (usually /etc/ssl/openssl.cnf) must be updated specifying the libp11 and hardware module (here SoftHSM) dynamic libraries location.
This configuration step can be avoided using p11kit which allows OpenSSL to find PKCS#11 devices on runtime without static configuration. This kit is often available through the Linux distribution package manager. On Ubuntu, for example:
sudo apt install libengine-pkcs11-openssl
In order to check if OpenSSL is able to access PKCS#11 engine use:
openssl engine pkcs11 -t
3.1.3. Colcon installation¶
pip3 install -U colcon-common-extensions vcstool
If this fails due to an Environment Error, add the
--userflag to the
Fast-DDSdirectory and download the repos file that will be used to install eProsima Fast DDS and its dependencies:
mkdir ~/Fast-DDS cd ~/Fast-DDS wget https://raw.githubusercontent.com/eProsima/Fast-DDS/master/fastrtps.repos mkdir src vcs import src < fastrtps.repos
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.
18.104.22.168. Run an application¶
When running an instance of an application using eProsima Fast DDS, the colcon overlay built in the
Fast-DDS 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 to the
PATH, by typing the following:
echo 'source ~/Fast-DDS/install/setup.bash' >> ~/.bashrc
3.1.4. CMake installation¶
22.214.171.124. Local installation¶
Fast-DDSdirectory where to download and build eProsima Fast DDS and its dependencies:
Clone the following dependencies and compile them using CMake.
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=~/Fast-DDS/install -DBUILD_SHARED_LIBS=ON sudo cmake --build . --target install
cd ~/Fast-DDS git clone https://github.com/eProsima/Fast-CDR.git mkdir Fast-CDR/build cd Fast-CDR/build cmake .. -DCMAKE_INSTALL_PREFIX=~/Fast-DDS/install sudo cmake --build . --target install
Once all dependencies are installed, install eProsima Fast DDS:
cd ~/Fast-DDS git clone https://github.com/eProsima/Fast-DDS.git mkdir Fast-DDS/build cd Fast-DDS/build cmake .. -DCMAKE_INSTALL_PREFIX=~/Fast-DDS/install -DCMAKE_PREFIX_PATH=~/Fast-DDS/install sudo cmake --build . --target install
By default, eProsima Fast DDS does not compile tests. However, they can be activated by downloading and installing Gtest.
126.96.36.199. Global installation¶
To install eProsima Fast DDS system-wide instead of locally, remove all the flags that
appear in the configuration steps of
Fast-DDS, and change the first in the
configuration step of
foonathan_memory_vendor to the following:
188.8.131.52. Run an application¶
When running an instance of an application using eProsima Fast DDS, it must be linked with the library where the
packages have been installed, which in the case of system-wide installation is:
/usr/local/lib/ (if local
installation is used, adjust for the correct directory).
There are two possibilities:
Prepare the environment locally by typing the command:
Add it permanently it to the
PATH, by typing:
echo 'export LD_LIBRARY_PATH=/usr/local/lib/' >> ~/.bashrc
3.2. Fast DDS-Gen installation¶
This section provides the instructions for installing Fast DDS-Gen in a Linux environment from sources. Fast DDS-Gen is a Java application that generates source code using the data types defined in an IDL file. Please refer to Introduction for more information.
In order to compile Fast DDS-Gen, the following packages need to be installed in the system:
184.108.40.206. Java JDK¶
The JDK is a development environment for building applications and components using the Java language. Download and install it at the following the steps given in the Oracle website.
Gradle is an open-source build automation tool. Download and install the last stable version of Gradle in the preferred way.
SWIG is a development tool that allows connecting programs written in C/C++ with a variety of other programming languages, among them Python. This dependency is optional and only required if the option -python is going to be used, as it is required to build the generated solution. Please refer to Building Python auxiliary libraries for more information.
SWIG can be installed directly from the package manager of the appropriate Linux distribution. For Ubuntu, please run:
sudo apt install swig
3.2.2. Compiling Fast DDS-Gen¶
Once the requirements above are met, compile Fast DDS-Gen by following the steps below:
cd ~ git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git cd Fast-DDS-Gen gradle assemble
If already installed FastDDS with colcon, you may skip the git clone command; fastddsgen can be found under
src directory of FastDDS colcon workspace.
If errors occur during compilation or you do not wish to install gradle, an executable script is included which will download a gradle temporarily for the compilation step.
Fast-DDS-Gen folder contains the following packages:
share/fastddsgen, where the generated Java application is.
scripts, containing some user friendly scripts.
To make these scripts accessible from any shell session and directory, add the
scriptsfolder path to the