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installation-guide.md

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Contents

  1. Prerequisites
  2. Building with CMake
  3. Building with the build script
  4. Building with colcon

iceoryx_utils and iceoryx_posh are deployed as independent cmake packages. Posh is using some functions from utils and is depending on it. You are able to build posh and utils and integrate in into existing cmake projects.

Prerequisites

Mac OS

Before installing iceoryx you need a XCode installation, git and optional an installed ncurses library for the introspection client. To install ncurses locally into your build folder follow these steps

cd iceoryx
ICEORYX_DIR=$PWD
mkdir -p build
cd build
git clone https://github.com/mirror/ncurses.git
cd ncurses
git checkout v6.2
./configure  --prefix=$ICEORYX_DIR/build/dependencies/ --exec-prefix=$ICEORYX_DIR/build/dependencies/ --with-termlib
make -j12
make install

If you would like to use our Cyclone DDS Gateway you have to install Cyclone DDS first, see https://github.com/eclipse-cyclonedds/cyclonedds.

Linux

Although we strive to be fully POSIX-compliant, we recommend using Ubuntu 18.04 and at least GCC 7.5.0 for development.

You will need to install the following packages: sudo apt install cmake libacl1-dev libncurses5-dev pkg-config

Additionally, there is an optional dependency to the MIT licensed cpptoml library, which is used to parse a RouDi config file for the mempool config. cpptoml

Build with CMake

NOTE: Requires CMake version 3.5 or higher.

The CMakeLists.txt from iceoryx_meta can be used to easily develop iceoryx with an IDE.

  1. Clone the repository

    git clone https://github.com/eclipse/iceoryx.git

  2. Generate the necessary build files

    cd iceoryx
cmake -Bbuild -Hiceoryx_meta -DTOML_CONFIG=ON
# when you have installed external dependencies like ncurses you have to add them
# to your prefix path
cmake -Bbuild -Hiceoryx_meta -DTOML_CONFIG=ON -DCMAKE_PREFIX_PATH=$(PWD)/build/dependencies/

  3. Compile the source code

    cmake --build build

With the following CMake switches you can add additional features

switch description
dds_gateway builds the iceoryx dds gateway using the cyclonedds dds stack, cyclonedds will be fetched and built as part of the build, see cyclonedds for details
examples builds all examples
one-to-many Restricts to 1:n communication. If not set the default communication is n:m
introspection the console introspection client which requires an installed ncurses library with terminfo support
test enables module-, integration- and component-tests
TOML_CONFIG activates config file support by using toml, if this is deactivated the central broker RouDi is not being build

With the following CMake switches you can customize the iceoryx_posh build

switch description
IOX_MAX_PUBLISHERS the maximum number of publishers one RouDi instance can manage
IOX_MAX_SUBSCRIBERS_PER_PUBLISHER the maximum number of subscriber a publisher can deliver chunks to
IOX_MAX_PUBLISHER_HISTORY the maximum number chunks available for the publisher history
IOX_MAX_CHUNKS_ALLOCATED_PER_PUBLISHER_SIMULTANEOUSLY the maximum number of chunks a sender can allocate at a given time
IOX_MAX_SUBSCRIBERS the maximum number of subscribers one RouDi instance can manage
IOX_MAX_CHUNKS_HELD_PER_SUBSCRIBER_SIMULTANEOUSLY the maximum number of chunks a subscriber can hold at a given time
IOX_MAX_INTERFACE_NUMBER the maximum number for interface ports, which are used for e.g. gateways

Have a look at iceoryx_posh/cmake/iceoryx_posh_deployment.cmake for the default values of this constants.

Build with the build script

As an alternative we provide our build-test script which we use to integrate iceoryx into our infrastructure. This currently only works for Linux and QNX.

  1. Clone the repository

    git clone https://github.com/eclipse/iceoryx.git

  2. Build everything

    cd iceoryx
./tools/iceoryx_build_test.sh

With the following arguments you can add additional features:

switch description
clean Removes the build directory and performs a clean build. If you have installed ncurses locally into your build directory you have to reinstall it first.
test Enables module-, integration- and component-tests. The Googletest-Framework will be automatically fetched from github and the test will be executed and the end of the script.

Build with colcon

Alternatively, iceoryx can be built with colcon to provide a smooth integration for ROS2 developers.

mkdir -p iceoryx_ws/src
cd $_
git clone https://github.com/eclipse/iceoryx.git
cd ..
colcon build

This build method makes the most sense in combination with rmw_iceoryx