Setup	Status
Minimal
ZMQ
ROS 16.04
ROS 18.04

• Ubuntu 14.04 or above
• Cmake 3.5.1 or above
• gcc for C++11 5.4.0 or above.
• ROS Indigo or above (optional)
• ZMQ 3 or above (optional)
• DDS (optional)
• Doxygen (optional)
• Moxygen (https://github.com/sourcey/moxygen) (optional)

• Google Test (https://github.com/klepsydra-technologies/googletest)
• ConcurrentQueue (https://github.com/klepsydra-technologies/concurrentqueue)
• Cereal (https://github.com/klepsydra-technologies/cereal)
• Spdlog (https://github.com/klepsydra-technologies/spdlog)

sudo apt-get install build-essential
sudo apt-get install git
sudo apt-get install cmake
sudo apt-get install python3-pip

If this software package is not available in the system (it is shipped with some software, e.g. ROS), dowload it and install it from https://github.com/jbeder/yaml-cpp. Please make sure it is installed in a share library mode.

Given $KLEPSYDRA_HOME, for example $HOME/klepsydra:

cd $KLEPSYDRA_HOME
git clone https://github.com/klepsydra-technologies/kpsr-core
cd kpsr-core
git submodule update --init
mkdir build
cd build
cmake ..
make
make test
sudo make install

This will install the klespydra core in default locations:

• /usr/local/include/klepsydra for kpsr-core include files
• /usr/local/include/kpsr_3parties for third party dependencies necessary for Klepsydra package
• /usr/local/lib/ for kpsr-core libraries

The cmake has the following options:

• -DKPSR_WITH_YAML=true: required when used within ROS or when in conjunction with -DKPSR_WITH_DDS or -DKPSR_WITH_ZMQ
• -DCMAKE_INSTALL_PREFIX for specifying the Klepsydra installation location (/usr/local by default)
• -DKPSR_WITH_DOXYGEN to allow generation of documentation
• -DGTEST_PATH for the google test path (default is ./thirdparties/googletest)
• -DTHIRDPARTIES_PATH for the ConcurrentQueue and Cereal path (default is ./thirdparties)
• -DKPSR_WITH_DDS=true for building the DDS binding
• -DKPSR_WITH_ZMQ=true for building the ZeroMQ binding.
• -DKPSR_TEST_PERFORMANCE=true for building the performance tests
• -DKPSR_WITH_SOCKET for building SOCKET binding

Example

cmake -DKPSR_WITH_SOCKET=true ..

We assume all ros environment variables are properly set up. Also kpsr-core must be installed first. Add the Klepsydra Core's ros projects to the ROS workspace:

cd YOUR_ROS_WORKSPACE/src
ln -s PATH_TO_KPSR_CORE/serialization/modules/ros_mdlw/kpsr_ros_serialization
ln -s PATH_TO_KPSR_CORE/core/modules/ros_mdlw/kpsr_ros_core

Next compile and install the ros projects so that they are available in your ros workspace for future projects.

cd ..
catkin_make install

make doc

The last built documentation is available in Klepsydra Robotics API DOC

© Copyright 2019-2020, Klepsydra Technologies, all rights reserved. Licensed under the terms in LICENSE.md

This software and documentation are Copyright 2019-2020, Klepsydra Technologies Limited and its licensees. All rights reserved. See license file for full copyright notice and license terms.

https://www.klepsydra.com [email protected]