Fixposition SDK: Build and installation

Dependencies

For building the libraries and apps:

• Linux, GCC (C++-17), glibc, cmake, bash, etc. (tested with Ubuntu 20.04/22.04/24.04 and Debian Bookworm)
• boost (≥ 1.71.0, tested with 1.71.0, 1.74.1, 1.83.0)
• curl (≥ 7.68.0, tested with 7.68.0, 7.88.1, 8.5.0)
• Eigen3 (≥ 3.3.7, tested with 3.3.7, 3.4.0)
• yaml-cpp (≥ 0.6.2, tested with 0.6.2, 0.7.0, 0.8.0)
• zlib1g (≥ 1.2.11, tested with 1.2.11, 1.2.13, 1.3)
• OpenSSL (libssl) (≥ 1.1.x, tested with 1.1.1, 3.0.2, 3.0.13, 3.0.15)
• PROJ (*) (≥ 9.4.x, tested with 9.4.0, 9.4.1)
• ROS1 (*) (Noetic), or
• ROS2 (*) (Humble or Jazzy)

(*) Optional dependencies. Without these some functionality in the libraries and apps is unavailable (compiled out).

For development additionally:

• clang-format (≥ 17, tested with 17)
• Doxygen (≥ 1.11.0, tested with 1.11.0)
• GTest (≥ 1.12.0, tested with 1.12.1 and 1.13.0)

Building

tl;dr

./docker/docker.sh pull noetic-dev       # Or "docker.sh build noetic-dev" to build the image locally
./docker/docker.sh run noetic-dev bash
# Now inside Docker do:
source /opt/ros/noetic/setup.bash
make install
./fpsdk/bin/fpltool -h

VSCode devcontainer

Open the fpsdk.code-workspace, change to one of the provided devcontainers, and in a terminal do:

make install
./fpsdk/bin/fpltool

Docker container

Docker images are provided that include all the dependencies:

./docker/docker.sh pull noetic-dev       # Or "docker.sh build noetic-dev" to build the image locally
./docker/docker.sh run noetic-dev bash
source /opt/ros/noetic/setup.bash
make install
./fpsdk/bin/fpltool

Note that the "docker.sh" script does not give you a suitable ROS runtime (or development, playground, ...) environment! Its only purpose is to run the CI for this repo and to demonstrate the building here. For a ROS run-time environment please setup a docker container yourself elsewhere (perhaps using the docker image provided here). See ROS and Docker documentation and the Internet for help.

Run CI

./docker/docker.sh run noetic-ci ./docker/ci.sh
./docker/docker.sh run humble-ci ./docker/ci.sh
./docker/docker.sh run jazzy-ci ./docker/ci.sh

Manual build

This details the manual setup of the dependencies and building the SDK on a ROS1 system (for example, Ubuntu 20.04 with ROS Noetic). It works similarly for ROS2 (for example, Ubuntu 22.04 with ROS Humble) or non-ROS (for example, Debian Bookworm) based systems. Refer to the Docker configration files and scripts in the docker/ folder on installing the required dependencies.

1. Setup build system, install dependencies

   The exact steps required depend on your system. You'll need the dependencies mentioned above installed system wide or otherwise tell CMake where to find them.

   sudo apt install libyaml-cpp-dev libboost-all-dev zlib1g-dev libeigen3-dev linux-libc-dev       # For building
   sudo apt install libgtest-dev clang-format doxygen pre-commit                                   # For development
   source /opt/ros/noetic/setup.bash                                                               # If you have ROS1

2. Configure

   cmake -B build -DCMAKE_INSTALL_PREFIX=~/fpsdk

   Additional parameters include (see CMakeList.txt files of the projects for details):

   • Build type: -DCMAKE_BUILD_TYPE=Debug or -DCMAKE_BUILD_TYPE=Release (default)
   • Force ROS1 package path: -DROS_PACKAGE_PATH=/path/to/ros (default: auto-detect)
   • Explicitly enable or disable testing: -DBUILD_TESTING=OFF or -DBUILD_TESTING=ON. The default is to automatically enable testing if a suitable GTest library is found.
   • Explicitly enable or disable use of the PROJ library: -DUSE_PROJ=ON or -DUSE_PROJ=OFF. The default is to automatically use the PROJ library if a suitable version is found

3. Build

   cmake --build build

4. Install

   cmake --install build

5. Enjoy!

   For example:

   ~/fpsdk/bin/fpltool -h

Documentation

make doc

Individual packages

For example to build the fpsdk_common package (library):

cmake -B build -S fpsdk_common -DCMAKE_INSTALL_PREFIX=~/fpsdk
cmake --build build
cmake --install build

ROS workspace

The packages build in a ROS workspace using catkin (ROS1) resp. colcon (ROS2). For example:

catkin build fpsdk_common

Note that if you clone this repository directly to your ros_workspace/src directory, you'll have to place CATKIN_IGNORE resp. COLCON_IGNORE files in some places. For example:

# ROS1 catkin workspace
touch src/fixposition-sdk/examples/CATKIN_IGNORE                   # Ignore all examples, or
touch src/fixposition-sdk/examples/ros1_fpsdk_demo/CATKIN_IGNORE   # Ignore only this example
touch src/fixposition-sdk/fpsdk_ros2/CATKIN_IGNORE

# ROS2 colcon workspace
touch src/fixposition-sdk/examples/COLCON_IGNORE                   # Ignore all examples, or
touch src/fixposition-sdk/examples/ros2_fpsdk_demo/COLCON_IGNORE   # Ignore only this example
touch src/fixposition-sdk/fpsdk_ros1/COLCON_IGNORE

Details

Refer to the various CMakeList.txt files, the CI workflow configuration (.github/workflows/ci.yml) and the CI script (docker/ci.sh) for details on how things are done.