Building from source

Building from source#

Preparation#

You will need git, a c++-17 compiler, cmake, and Python 3 with pip.

Install the appropriate package manager for your system

We are going to use brew, install it from homebrew.

We are going to use apt.

We are going to use choco, install it from Chocolatey.

Note

All Windows commands below should be executed in a “Native Tools Command Prompt for VS” with admin privileges.

Install the binary dependencies:

$ brew install cmake git python3

$ sudo apt install -y build-essential cmake git python3-dev python3-pip

$ choco install -y cmake git python3

Clone this repository in the src directory

mkdir -p ws/src
cd ws
git clone https://github.com/idsia-robotics/navground src/navground

mkdir ws\src
cd ws
git clone https://github.com/idsia-robotics/navground src\navground

Building#

The following script installs everything needed to run navground simulations and some examples. Change the packages specified after --packages-up-to to install a different set of packages.

python3 -m pip install colcon-common-extensions vcstool numpy h5py PyYAML git+https://github.com/jeguzzi/pybind11_mkdoc@rst
vcs import --shallow --input src/navground/installation/deps.repos
vcs import --shallow --input src/navground/installation/ament.repos
export COLCON_DEFAULTS_FILE=src/navground/colcon/defaults.yaml
colcon build --metas src/navground/colcon/navground.meta --packages-up-to ament_cmake ament_package ament_index_cpp
source install/setup.bash
colcon build --metas src/navground/colcon/navground.meta --packages-up-to navground_examples navground_examples_py navground_examples_yaml

python -m pip install colcon-common-extensions vcstool numpy h5py git+https://github.com/jeguzzi/pybind11_mkdoc@rst
vcs import --shallow --input src/navground/installation/deps.repos
vcs import --shallow --input src/navground/installation/ament.repos
set COLCON_DEFAULTS_FILE=src/navground/colcon/defaults.yaml
colcon build --metas src/navground/colcon/navground.meta --packages-up-to ament_cmake ament_package ament_index_cpp
install\setup.bat
colcon build --metas src/navground/colcon/navground.meta --packages-up-to navground_examples navground_examples_py navground_examples_yaml

Note

You can modify the build configuration (have a look at the colcon documentation) by editing the files in src/navground/colcon:

defaults.yaml
navground.meta

ROS 2#

If you have installed ROS 2, you will need to build fewer dependencies, you can add navground_ros to the list of packages, and source the ROS 2 workspace.

python3 -m pip install h5py git+https://github.com/jeguzzi/pybind11_mkdoc@rst
vcs import --input src/navground/installation/deps-ros.repos
export COLCON_DEFAULTS_FILE=src/navground/colcon/defaults.yaml
source /opt/ros/<ROS_VERSION>/setup.bash
colcon build --metas src/navground/colcon/navground.meta --packages-up-to navground_ros navground_examples navground_examples_py navground_examples_yaml

python -m pip install h5py git+https://github.com/jeguzzi/pybind11_mkdoc@rst
vcs import --input src/navground/installation/deps-ros.repos
\dev\ros2_<ROS_VERSION>\local_setup.bat
set COLCON_DEFAULTS_FILE=src/navground/colcon/defaults.yaml
colcon build --metas src/navground/colcon/navground.meta --packages-up-to navground_ros navground_examples navground_examples_py navground_examples_yaml

Update#

To keep the build up-to-date, run

vcs custom --args remote update
vcs pull src

and then run colcon build ... again.