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Build gz-sim-yarp-plugins from source

Table of Contents

Dependencies

gz-sim-yarp-plugins is a fairly classical C++ project build with CMake, so it should be quite easy to build if you are already familiar with how you build C++ projects with CMake. If you are not familiar with the use of CMake, you can check some documentation on https://cmake.org/runningcmake/ or https://cgold.readthedocs.io.

Before building gz-sim-yarp-plugins, you need to install its dependencies, the main ones being:

in addition to the usual dependencies used to configure, compile and test C++ packages.

To compile gz-sim-yarp-plugins from source, follow just one out of the following sections.

Compile from source with pixi on Linux, macOS or Windows

If you want to use pixi to compile the project, just clone the repo and in the gz-sim-yarp-plugins folder run:

pixi run build

This will automatically download all dependencies, and build the project.

To run the test suite, run:

pixi run test

To install the project in the environment created by pixi, run:

pixi run install

Then you can launch programs in this environment with pixi run, for example:

pixi run gz sim

If you prefer to launch programs with prepending them with pixi run, you can activate the pixi environment with:

pixi shell

and then run your commands as in a normal shell.

The default environment of pixi uses Gazebo Harmonic (gz-sim8), if you want to use Gazebo Ionic (gz-sim9) just add -e ionic after pixi run, for example to run the tests under Ionic:

pixi run -e ionic test

Compile from source with conda on Linux, macOS or Windows

If you are using conda, the dependencies of gz-sim-yarp-plugins can be installed with:

conda install -c conda-forge libgz-sim8 yarp ycm-cmake-modules cmake ninja pkg-config cmake compilers gtest cli11

This command should be executed in a terminal with the environment activated. If you want to use Gazebo Ionic (gz-sim9) in place of Gazebo Harmonic (gz-sim8), just change libgz-sim8 to libgz-sim9.

Build

You can then compile abd install gz-sim-yarp-plugins itself, using the following commands on Linux and macOS:

git clone https://github.dev/robotology/gz-sim-yarp-plugins
mkdir build
cd build
cmake -GNinja -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_PREFIX_PATH=$CONDA_PREFIX ..
ninja
ninja install

or the following commands on Windows:

git clone https://github.dev/robotology/gz-sim-yarp-plugins
mkdir build
cd build
cmake -GNinja -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library -DCMAKE_PREFIX_PATH=%CONDA_PREFIX%\Library ..
ninja
ninja install

Compile from source using apt dependencies on Ubuntu Linux

If you are using an apt-based distribution such as Ubuntu and you want to use apt, the dependencies can be installed via:

sudo apt-get update
sudo apt-get install lsb-release wget gnupg cmake pkg-config ninja-build build-essential libcli11-dev libgtest-dev

and then install Gazebo:

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-harmonic

If you want to use Gazebo Ionic (gz-sim9) in place of Gazebo Harmonic (gz-sim8), just change gz-harmonic to gz-ionic.

Then, you need to install ycm-cmake-modules and yarp, for which no apt binaries are available. You can install them easily via the robotology-superbuild, or otherwise with the following commands:

mkdir ~/gsyp_ws
cd ~/gsyp_ws
git clone https://github.com/robotology/ycm
git clone https://github.com/robotology/yarp
cd ycm
mkdir build
cd build
cmake -GNinja -DCMAKE_INSTALL_PREFIX=~/gsyp_ws/install -DCMAKE_PREFIX_PATH=~/gsyp_ws/install ..
ninja
ninja install
cd ~/gsyp_ws/yarp
cd yarp
git checkout v3.9.0
mkdir build
cd build
cmake -GNinja -DCMAKE_INSTALL_PREFIX=~/gsyp_ws/install -DCMAKE_PREFIX_PATH=~/gsyp_ws/install ..
ninja
ninja install

Then, build and install gz-sim-yarp-plugins itself:

git clone https://github.dev/robotology/gz-sim-yarp-plugins
mkdir build
cd build
cmake -GNinja -DCMAKE_INSTALL_PREFIX=~/gsyp_ws/install -DCMAKE_PREFIX_PATH=~/gsyp_ws/install ..
ninja
ninja install

Usage

To notify Gazebo of the new plugins compiled, unless you are using pixi it is necessary to modify the GZ_SIM_SYSTEM_PLUGIN_PATH environment variable, for example on Linux:

export GZ_SIM_SYSTEM_PLUGIN_PATH=${GZ_SIM_SYSTEM_PLUGIN_PATH}:<install_location>/lib

where <install_location> is the directory passed to CMAKE_INSTALL_PREFIX during the CMake configuration.

To ensure that the tools are found, instead you need to add their location to the PATH:

export PATH=${PATH}:<install_location>/bin