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README_dependencies.md

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Required Toolchain

Note about install commands:

  • for Windows, we use choco.
  • for MacOS, we use brew.
  • In case of an error in cmake, make sure that the dependencies are on the PATH.

Too Long, Didn't Install

This is a really long list of dependencies, and it's easy to mess up. That's why:

Docker

We have a Docker image that's already set up for you. See the Docker instructions.

Setup-cpp

We have setup-cpp that is a cross-platform tool to install all the compilers and dependencies on the system.

Please check the setup-cpp documentation for more information.

For example, on Windows, you can run the following to install llvm, cmake, ninja, ccache, and cppcheck.

# windows example (open shell as admin)
curl -LJO "https://github.com/aminya/setup-cpp/releases/download/v0.5.7/setup_cpp_windows.exe"
./setup_cpp_windows --compiler llvm --cmake true --ninja true --ccache true --cppcheck true

RefreshEnv.cmd # reload the environment

Necessary Dependencies

  1. A C++ compiler that supports C++17. See cppreference.com to see which features are supported by each compiler. The following compilers should work:

  • gcc 7+

    Install command

    • Debian/Ubuntu:

        sudo apt install build-essential

    • Windows:

        choco install mingw -y

    • MacOS:

        brew install gcc

  • clang 6+

    Install command

    • Debian/Ubuntu:

        bash -c "$(wget -O - https://apt.llvm.org/llvm.sh)"

    • Windows:

      Visual Studio 2019 ships with LLVM (see the Visual Studio section). However, to install LLVM separately:

        choco install llvm -y

      llvm-utils for using external LLVM with Visual Studio generator:

        git clone https://github.com/zufuliu/llvm-utils.git
  cd llvm-utils/VS2017
  .\install.bat

    • MacOS:

        brew install llvm

  • Visual Studio 2019 or higher

    Install command + Environment setup

    On Windows, you need to install Visual Studio 2019 because of the SDK and libraries that ship with it.

    Visual Studio IDE - 2019 Community (installs Clang too):

    choco install -y visualstudio2019community --package-parameters "add Microsoft.VisualStudio.Workload.NativeDesktop --includeRecommended --includeOptional --passive --locale en-US"

    Put MSVC compiler, Clang compiler, and vcvarsall.bat on the path:

    	choco install vswhere -y
	refreshenv

	# change to x86 for 32bit
	$clpath = vswhere -products * -latest -prerelease -find **/Hostx64/x64/*
	$clangpath = vswhere -products * -latest -prerelease -find **/Llvm/bin/*
	$vcvarsallpath =  vswhere -products * -latest -prerelease -find **/Auxiliary/Build/*

	$path = [System.Environment]::GetEnvironmentVariable("PATH", "User")
	[Environment]::SetEnvironmentVariable("Path", $path + ";$clpath" + ";$clangpath" + ";$vcvarsallpath", "User")
	refreshenv

  1. CMake 3.15+

    Install Command

    • Debian/Ubuntu:

        sudo apt-get install cmake

    • Windows:

        choco install cmake -y

    • MacOS:

        brew install cmake

Optional Dependencies

C++ Tools

  • Doxygen

    Install Command

    • Debian/Ubuntu:

        sudo apt-get install doxygen
  sudo apt-get install graphviz

    • Windows:

        choco install doxygen.install -y
  choco install graphviz -y

    • MacOS:

        brew install doxygen
  brew install graphviz

  • ccache

    Install Command

    • Debian/Ubuntu:

        sudo apt-get install ccache

    • Windows:

        choco install ccache -y

    • MacOS:

        brew install ccache

  • Cppcheck

    Install Command

    • Debian/Ubuntu:

        sudo apt-get install cppcheck

    • Windows:

        choco install cppcheck -y

    • MacOS:

        brew install cppcheck

  • include-what-you-use

    Install Command

    Follow instructions here: https://github.com/include-what-you-use/include-what-you-use#how-to-install

Dependencies

Ubuntu

Primarily, the library dependencies for this project are handled by CPM.cmake. Nonetheless, there are a few dependencies that require manual installation. Below, you will find the instructions for manually installing these dependencies specifically for Ubuntu systems.

build_and_install() {
    repo=$1

    git clone "https://github.com/ros/${repo}" && \
    cd "${repo}" && \
    mkdir build && \
    cd build && \
    cmake .. && \
    make && \
    make install
    cd ../..
}

build_and_install console_bridge
build_and_install urdfdom_headers
apt-get update && apt-get install -y --no-install-recommends libtinyxml2-dev
build_and_install urdfdom

Mac OS

brew install urdfdom
brew install tinyxml2

Windows

Currently, installation instructions for Windows are not available. We recommend using the Docker image provided. Alternatively, you could attempt to install the application using the respective package managers for the platform, or choose to build directly from the source.