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.

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

Clone this repository in the src directory

mkdir -p 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

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 but 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

Note

You can build navground_ros in the same colcon workspace:

colcon build --packages-up-to navground_ros

Update#

To keep the build up-to-date, run

vcs custom --args remote update
vcs pull src

and then run colcon build ... again.

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