fpsdk_build.hpp

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/**
 * \verbatim
 * ___    ___
 * \  \  /  /
 *  \  \/  /   Copyright (c) Fixposition AG (www.fixposition.com) and contributors
 *  /  /\  \   License: see the LICENSE file
 * /__/  \__\
 * \endverbatim
 *
 * @file
 * @brief Fixposition SDK: Documentation
 */
 
#ifndef __FPSDK_BUILD_HPP__
#define __FPSDK_BUILD_HPP__
 
namespace fpsdk {
/* ****************************************************************************************************************** */
// clang-format off
 
/*!
 
    @page FPSDK_BUILD_DOC Fixposition SDK: Build and installation
 
    @section FPSDK_BUILD_DOC_OVERVIEW Overview
 
    This page describes how the Fixposition SDK can be built and installed. This is intended for users who are familiar
    with developing c++ code and building software and who want to build their own applications using the @ref
    FPSDK_COMMON_DOC (etc.)
 
    For users interested in simply *using* the @ref FPSDK_APPS_DOC it is recommended to use the @ref FPSDK_RUN_DOC
    instead of building and installing those themselves.
 
 
    @section FPSDK_BUILD_DEPS 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 Trixie)
    - boost            (≥ 1.71.0)
    - curl             (≥ 7.68.0)
    - Eigen3           (≥ 3.3.7)
    - yaml-cpp         (≥ 0.6.2)
    - zlib1g           (≥ 1.2.11)
    - OpenSSL (libssl) (≥ 1.1.x)
    - nlohmann-json3   (≥ 3.7.3)
    - Various Linux tools, including Bash, CMake, make, xxd, sed, awk, ...
    - PROJ         (*) (≥ 9.4.x)
    - FFmpeg (libavcodec, libavutil, ...) (**) (= 7.1.x)
    - ROS1         (*) (Noetic), or
    - ROS2         (*) (Humble, Jazzy or Lyrical)
 
    (*) Optional dependencies. Without these some functionality in the libraries and apps is unavailable (compiled out).
 
    (**) Optional. The FFmpeg libraries must be configured with --disable-gpl and --disable-nonfree in order to comply
         with the Fixposition SDK license. See *Configure* below for related build configuration options.
 
    For development additionally:
 
    - clang-format (≥ 19, tested with 19)
    - Doxygen      (≥ 1.11.0, tested with 1.14.0)
    - GTest        (≥ 1.13.0)
 
    See @ref FPSDK_BUILD_CIVERSIONS for the versions used in the CI builds.
 
    <!-- trick doxygen -->
 
    @page FPSDK_BUILD_DOC
 
    @section FPSDK_BUILD_BUILD Building
 
    @subsection FPSDK_BUILD_BUILD_TLDR tl;dr
 
    @code{sh}
    ./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
    @endcode
 
    <!-- trick doxygen -->
 
    @subsection FPSDK_BUILD_BUILD_DEVCONTAINER VSCode devcontainer
 
    Open the fpsdk.code-workspace, change to one of the provided devcontainers, and in a terminal do:
 
    @code{sh}
    make install
    ./fpsdk/bin/fpltool
    @endcode
 
    <!-- trick doxygen -->
 
    @subsection FPSDK_BUILD_BUILD_DOCKER Docker container
 
    Docker images are provided that include all the dependencies:
 
    @code{sh}
    ./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
    @endcode
 
    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.
 
    <!-- trick doxygen -->
 
    @subsection FPSDK_BUILD_BUILD_CI Run CI
 
    @code{sh}
    ./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
    ./docker/docker.sh run lyrical-ci ./docker/ci.sh
    @endcode
 
    <!-- trick doxygen -->
 
    @subsection FPSDK_BUILD_BUILD_MANUAL 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 Trixie) 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.
 
        @code{sh}
        sudo apt install libyaml-cpp-dev libboost-all-dev zlib1g-dev libeigen3-dev linux-libc-dev xxd   # For building
        sudo apt install libgtest-dev clang-format doxygen pre-commit                                   # For development
        source /opt/ros/noetic/setup.bash                                                               # If you have ROS1
        @endcode
 
    3. Configure
 
        @code{sh}
        cmake -B build -DCMAKE_INSTALL_PREFIX=~/fpsdk
        @endcode
 
        Additional parameters include (see CMakeList.txt files of the projects for details and more parameters):
 
        - 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: `-DFPSDK_BUILD_TESTING=ON` or `-DFPSDK_BUILD_TESTING=OFF`.
          The default is to automatically enable testing if a suitable GTest library is found.
        - Explicitly enable or disable use of the PROJ library: `-DFPSDK_USE_PROJ=ON` or `-DFPSDK_USE_PROJ=OFF`.
          The default is to automatically use the PROJ library if a suitable version is found.
        - Explicitly enable or disable use of the FFmpeg libraries: `-DFPSDK_USE_FFMPEG=ON` or `-DFPSDK_USE_FFMPEG=OFF`.
          The default is to automatically use the FFmpeg libraries if suitable versions are found.
        - Add `-DCMAKE_PREFIX_PATH=...` to hint at non-standard installation paths, such as `/path/to/ffmpeg-lgpl`.
 
    4. Build
 
        @code{sh}
        cmake --build build
        @endcode
 
    5. Install
 
        @code{sh}
        cmake --install build
        @endcode
 
    6. Enjoy!
 
        For example:
 
        @code{sh}
        ~/fpsdk/bin/fpltool -h
        @endcode
 
    <!-- trick doxygen -->
 
    @subsection FPSDK_BUILD_DOC_DOXYGEN Documentation
 
    @code{sh}
    make doc
    @endcode
 
 
    <!-- trick doxygen -->
 
    @subsection FPSDK_BUILD_PACKAGE Individual packages
 
    For example to build the fpsdk_common package (library):
 
    @code{sh}
    cmake -B build -S fpsdk_common -DCMAKE_INSTALL_PREFIX=~/fpsdk
    cmake --build build
    cmake --install build
    @endcode
 
 
    <!-- trick doxygen -->
 
    @subsection FPSDK_BUILD_ROS ROS workspace
 
    The packages build in a ROS workspace using catkin (ROS1) resp. colcon (ROS2). For example:
 
    @code{sh}
    catkin build fpsdk_common
    @endcode
 
    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:
 
    @code{sh}
    # 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
    @endcode
 
    @code{sh}
    # 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
    @endcode
 
    <!-- trick doxygen -->
 
    @subsection FPSDK_BUILD_DETAILS 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.
 
 
    @section FPSDK_BUILD_CIVERSIONS Dependency versions
 
 
    The builds using Debian 13 "Trixie" currently use:
 
    @include fpsdk_common_versions_trixie/fpsdk_common/fpsdk_common_versions.txt
 
 
    The builds using ROS Noetic (Ubuntu 20.04.6 LTS "Focal") currently use:
 
    @include fpsdk_common_versions_noetic/fpsdk_common/fpsdk_common_versions.txt
 
 
    The builds using ROS Humble (Ubuntu 22.04 LTS "Jammy") currently use:
 
    @include fpsdk_common_versions_humble/fpsdk_common/fpsdk_common_versions.txt
 
 
    The builds using ROS Jazzy (Ubuntu 24.04 LTS "Noble") currently use:
 
    @include fpsdk_common_versions_jazzy/fpsdk_common/fpsdk_common_versions.txt
 
 
    The builds using ROS Lyrical (Ubuntu 26.04 LTS "Raccoon") currently use:
 
    @include fpsdk_common_versions_lyrical/fpsdk_common/fpsdk_common_versions.txt
*/
 
// clang-format on
/* ****************************************************************************************************************** */
}  // namespace fpsdk
#endif  // __FPSDK_BUILD_HPP__