2. Windows installation from sources¶
The instructions for installing the eProsima DDS Record application from sources and its required dependencies are provided in this page. It is organized as follows:
2.1. Dependencies installation¶
eProsima DDS Record depends on eProsima Fast DDS library and certain Debian packages. This section describes the instructions for installing eProsima DDS Record dependencies and requirements in a Windows 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.fastrtps
, 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.
2.1.1. Requirements¶
The installation of eProsima Fast DDS in a Windows environment from sources requires the following tools to be installed in the system:
2.1.1.1. Visual Studio¶
Visual Studio is required to have a C++ compiler in the system. For this purpose, make sure to check the Desktop development with C++
option during the Visual Studio installation process.
If Visual Studio is already installed but the Visual C++ Redistributable packages are not, open Visual Studio and go to Tools
-> Get Tools and Features
and in the Workloads
tab enable Desktop development with C++
.
Finally, click Modify
at the bottom right.
2.1.1.2. Chocolatey¶
Chocolatey is a Windows package manager. It is needed to install some of eProsima Fast DDS’s dependencies. Download and install it directly from the website.
2.1.1.3. CMake, pip3, wget and git¶
These packages provide the tools required to install eProsima Fast DDS and its dependencies from command line.
Download and install CMake, pip3, wget and git by following the instructions detailed in the respective websites.
Once installed, add the path to the executables to the PATH
from the Edit the system environment variables control panel.
2.1.1.4. Colcon¶
colcon is a command line tool based on CMake aimed at building sets of software packages. Install the ROS 2 development tools (colcon and vcstool) by executing the following command:
pip3 install -U colcon-common-extensions vcstool
Note
If this fails due to an Environment Error, add the --user
flag to the pip3
installation command.
2.1.1.5. Gtest¶
Gtest is a unit testing library for C++. By default, eProsima DDS Record 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.
Run the following commands on your workspace to install Gtest.
git clone https://github.com/google/googletest.git
cmake -DCMAKE_INSTALL_PREFIX='C:\Program Files\gtest' -Dgtest_force_shared_crt=ON -DBUILD_GMOCK=ON ^
-B build\gtest -A x64 -T host=x64 googletest
cmake --build build\gtest --config Release --target install
or refer to the Gtest Installation Guide for a detailed description of the Gtest installation process.
2.1.2. Dependencies¶
eProsima DDS Record has the following dependencies, when installed from sources in a Windows environment:
2.1.2.1. 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. They can be downloaded directly from the links below:
After downloading these packages, open an administrative shell with PowerShell and execute the following command:
choco install -y -s <PATH_TO_DOWNLOADS> asio tinyxml2
where <PATH_TO_DOWNLOADS>
is the folder into which the packages have been downloaded.
2.1.2.2. OpenSSL¶
OpenSSL is a robust toolkit for the TLS and SSL protocols and a general-purpose cryptography library.
Download and install the latest OpenSSL version for Windows at this link.
After installing, add the environment variable OPENSSL_ROOT_DIR
pointing to the installation root directory.
For example:
OPENSSL_ROOT_DIR=C:\Program Files\OpenSSL-Win64
2.1.2.3. yaml-cpp¶
yaml-cpp
is a YAML parser and emitter in C++ matching the YAML 1.2 spec, and is used by DDS Recorder application to parse the provided configuration files.
From an administrative shell with PowerShell, execute the following commands in order to download and install yaml-cpp
for Windows:
git clone --branch yaml-cpp-0.7.0 https://github.com/jbeder/yaml-cpp
cmake -DCMAKE_INSTALL_PREFIX='C:\Program Files\yamlcpp' -B build\yamlcpp yaml-cpp
cmake --build build\yamlcpp --target install # If building in Debug mode, add --config Debug
2.1.2.4. eProsima dependencies¶
If it already exists in the system an installation of Fast DDS and DDS Pipe libraries, just source this libraries when building the eProsima DDS Record application by using the command:
source <fastdds-installation-path>/install/setup.bash
source <ddspipe-installation-path>/install/setup.bash
In other case, just skip this step.
2.2. Colcon installation (recommended)¶
Important
Run colcon within a Visual Studio prompt. To do so, launch a Developer Command Prompt from the search engine.
Create a
DDS-Recorder
directory and download the.repos
file that will be used to install eProsima DDS Record and its dependencies:mkdir <path\to\user\workspace>\DDS-Recorder cd <path\to\user\workspace>\DDS-Recorder mkdir src wget https://raw.githubusercontent.com/eProsima/DDS-Recorder/main/ddsrecorder.repos vcs import src < ddsrecorder.repos
Note
In case there is already a Fast DDS installation in the system it is not required to download and build every dependency in the
.repos
file. It is just needed to download and build the eProsima DDS Record project having sourced its dependencies. Refer to section eProsima dependencies in order to check how to source Fast DDS library.Build the packages:
colcon build
Note
Being based on CMake, it is possible to pass the CMake configuration options to the colcon build
command.
For more information on the specific syntax, please refer to the CMake specific arguments page of the colcon manual.
2.3. CMake installation¶
This section explains how to compile eProsima DDS Record with CMake, either locally or globally.
2.3.1. Local installation¶
Open a command prompt, and create a
DDS-Record
directory where to download and build eProsima DDS Record and its dependencies:mkdir <path\to\user\workspace>\DDS-Record mkdir <path\to\user\workspace>\DDS-Record\src mkdir <path\to\user\workspace>\DDS-Record\build cd <path\to\user\workspace>\DDS-Record wget https://raw.githubusercontent.com/eProsima/DDS-Recorder/main/ddsrecorder.repos vcs import src < ddsrecorder.repos
Compile all dependencies using CMake.
-
cd <path\to\user\workspace>\DDS-Record mkdir build\foonathan_memory_vendor cd build\foonathan_memory_vendor cmake <path\to\user\workspace>\DDS-Record\src\foonathan_memory_vendor -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Record\install ^ -DBUILD_SHARED_LIBS=ON cmake --build . --config Release --target install
-
cd <path\to\user\workspace>\DDS-Record mkdir build\fastcdr cd build\fastcdr cmake <path\to\user\workspace>\DDS-Record\src\fastcdr -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Record\install cmake --build . --config Release --target install
-
cd <path\to\user\workspace>\DDS-Record mkdir build\fastdds cd build\fastdds cmake <path\to\user\workspace>\DDS-Record\src\fastdds -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Record\install ^ -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Record\install cmake --build . --config Release --target install
-
# CMake Utils cd <path\to\user\workspace>\DDS-Record mkdir build\cmake_utils cd build\cmake_utils cmake <path\to\user\workspace>\DDS-Record\src\dev-utils\cmake_utils -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Record\install ^ -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Record\install cmake --build . --config Release --target install # C++ Utils cd <path\to\user\workspace>\DDS-Record mkdir build\cpp_utils cd build\cpp_utils cmake <path\to\user\workspace>\DDS-Record\src\dev-utils\cpp_utils -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Record\install ^ -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Record\install cmake --build . --config Release --target install
-
# ddspipe_core cd <path\to\user\workspace>\DDS-Record mkdir build\ddspipe_core cd build\ddspipe_core cmake cd <path\to\user\workspace>\DDS-Record\src\ddspipe\ddspipe_core -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Record\install -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Record\install cmake --build . --target install # ddspipe_yaml cd <path\to\user\workspace>\DDS-Record mkdir build\ddspipe_yaml cd build\ddspipe_yaml cmake <path\to\user\workspace>\DDS-Record\src\ddspipe\ddspipe_yaml -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Record\install -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Record\install cmake --build . --target install # ddspipe_participants cd <path\to\user\workspace>\DDS-Record mkdir build\ddspipe_participants cd build\ddspipe_participants cmake <path\to\user\workspace>\DDS-Record\src\ddspipe\ddspipe_participants -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Record\install -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Record\install cmake --build . --target install
-
Once all dependencies are installed, install eProsima DDS Record:
# ddsrecorder_participants cd <path\to\user\workspace>\DDS-Record mkdir build\ddsrecorder_participants cd build\ddsrecorder_participants cmake <path\to\user\workspace>\DDS-Record\src\ddsrecorder\ddsrecorder_participants ^ -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Record\install -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Record\install cmake --build . --config Release --target install # ddsrecorder_yaml cd <path\to\user\workspace>\DDS-Record mkdir build\ddsrecorder_yaml cd build\ddsrecorder_yaml cmake <path\to\user\workspace>\DDS-Record\src\ddsrecorder\ddsrecorder_yaml -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Record\install ^ -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Record\install cmake --build . --config Release --target install # ddsrecorder cd <path\to\user\workspace>\DDS-Record mkdir build\ddsrecorder cd build\ddsrecorder cmake <path\to\user\workspace>\DDS-Record\src\ddsrecorder\ddsrecorder -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Record\install ^ -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Record\install cmake --build . --config Release --target install
Note
By default, eProsima DDS Record does not compile tests.
However, they can be activated by downloading and installing Gtest
and building with CMake option -DBUILD_TESTS=ON
.
2.3.2. Global installation¶
To install eProsima DDS Record 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-Record
2.4. Run an application¶
If the eProsima DDS Record was compiled using colcon, when running an instance of a DDS Recorder, the colcon overlay built in the dedicated DDS-Record
directory must be sourced.
There are two possibilities:
Every time a new shell is opened, prepare the environment locally by typing the command:
setup.bat
Add the sourcing of the colcon overlay permanently, by opening the Edit the system environment variables control panel, and adding the installation path to the
PATH
.
However, when running an instance of a DDS Recorder compiled using CMake, it must be linked with its dependencies where the packages have been installed.
This can be done by opening the Edit system environment variables control panel and adding to the PATH
the eProsima DDS Record, Fast DDS, Fast CDR, DDS Pipe installation directories:
Fast DDS:
C:\\Program Files\\fastrtps
Fast CDR:
C:\\Program Files\\fastcdr
DDS Pipe:
C:\\Program Files\\ddspipe
eProsima DDS Record:
C:\\Program Files\\ddsrecord