FastRTPS 安装

logo eProsima Fast RTPS 是 RTPS(实时发布订阅者)协议的 C++ 实现,它在不可靠的传输(如 UDP)上提供发布者-订阅者通信,由对象管理组(OMG)定义和维护社区。 RTPS 也是为数据分发服务(DDS)标准定义的有线互操作性协议,也是由 OMG 定义的。

PX4 使用 FastRTPS,使 RTPS 接口能够与板外组件(包括机器人和模拟器工具)共享 PX4 uORB 主题。 RTPS 是 DDS 的基本协议,是 OMG(对象管理组)提供实时发布/订阅中间件的标准,广泛应用于航空航天、国防和物联网应用。 它也被用作 ROS2 机器人工具包的中间件。 有关详细信息,请参阅:RTPS/ROS2 接口:PX4-FastRTPS Bridge

For Ubuntu, at time of writing, you will need to install Fast-RTPS 1.8.2 from source.

This topic is derived from the official eProsima Fast RTPS documentation. For more information see:

标准安装

在某些平台上,RTPS 作为 PX4 开发环境的一部分安装:

下面的说明对于在其他环境中添加 FastRTPS 支持非常有用。

要求

eProsima Fast RTPS 需要以下软件包才能正常工作。

依赖

Java

Java 需要使用我们内置的代码生成工具-fastrtpsgen。 建议使用 Java JDK 8

Windows 7 32位和64位

Visual C++ 2013 or 2015 Redistributable Package

*eProsima Fast RTPS</0 > 需要在安装或编译过程中选择的 Visual Studio 版本的 Visual C++ 可再发行包。 安装程序为您提供下载和安装它们的选项。</p>

源码安装

在 Github 上下载项目:

$ git clone --recursive https://github.com/eProsima/Fast-RTPS.git -b 1.8.x ~/FastRTPS-1.8.2
$ cd ~/FastRTPS-1.8.2
$ mkdir build && cd build

You may need to install Gradle to build the source (e.g. this is true on vanilla Fedora Linux). A build warning will be displayed if this is the case.

如果您在 Linux 上,请执行:

$ cmake -DTHIRDPARTY=ON -DBUILD_JAVA=ON ..
$ make
$ sudo make install

这会将 FastRTPS 安装在 /usr/local。 You can use -DCMAKE_INSTALL_PREFIX=<path> to install to a custom location. Afterwards make sure the fastrtpsgen application is in your PATH. You can check with which fastrtpsgen.

Then install Fast-RTPS-Gen (Gradle is required for this):

git clone --recursive https://github.com/eProsima/Fast-RTPS-Gen.git -b v1.0.2 ~/Fast-RTPS-Gen \
    && cd ~/Fast-RTPS-Gen \
    && gradle assemble \
    && sudo cp share/fastrtps/fastrtpsgen.jar /usr/local/share/fastrtps/ \
    && sudo cp scripts/fastrtpsgen /usr/local/bin/

If you are on Windows, choose your version of Visual Studio:

> cmake -G "Visual Studio 14 2015 Win64" -DTHIRDPARTY=ON -DBUILD_JAVA=ON ..
> cmake --build . --target install

If you want to compile the examples, you will need to add the argument -DCOMPILE_EXAMPLES=ON when calling CMake.

If you want to compile the performance tests, you will need to add the argument -DPERFORMANCE_TESTS=ON when calling CMake.

二进制安装

You can always download the latest binary release of eProsima Fast RTPS from the company website.

Documentation on how to do this can be found here: Installation from Binaries (eProsima Fast RTPS official documentation)

Windows 7 32位和64位

Execute the installer and follow the instructions, choosing your preferred Visual Studio version and architecture when prompted.

环境变量

eProsima Fast RTPS requires the following environmental variable setup in order to function properly

  • FASTRTPSHOMEeProsima Fast RTPS 根目录已安装。
  • 添加到 PATH:所选 Visual Studio 版本的 /bin 文件夹和子文件夹应追加到 PATH 中。

These variables are set automatically by checking the corresponding box during the installation process.

Linux

Extract the contents of the package. It will contain both eProsima Fast RTPS and its required package eProsima Fast CDR. You will have follow the same procedure for both packages, starting with Fast CDR.

Configure the compilation:

$ ./configure --libdir=/usr/lib

If you want to compile with debug symbols (which also enables verbose mode):

$ ./configure CXXFLAGS="-g -D__DEBUG"  --libdir=/usr/lib

After configuring the project compile and install the library:

$ sudo make install

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