Installation🔗
All iceoryx libraries are deployed as independent CMake packages. Posh is using functions from hoofs and is depending on it. You are able to build posh and hoofs and integrate them into existing CMake projects.
Prerequisites🔗
Dependencies🔗
- 64-bit hardware (e.g. x86_64 or aarch64; 32-bit hardware might work, but is not supported)
- CMake, 3.16 or later
- One of the following compilers:
- libacl, 2.2 or later. Only for Linux & QNX.
- optional, ncurses, 6.2 or later. Required by introspection tool (only for Linux, QNX and MacOS).
Optional, Cyclone DDS Gateway🔗
The Cyclone DDS gateway depends currently on Cyclone DDS.
When building it with the CMake option -DDDS_GATEWAY=ON
it will be automatically installed as a dependency.
Furthermore, you have to install:
- GNU Bison, 3.0.4 or later
Mac OS🔗
Before installing iceoryx you need to install XCode and git. Optionally, ncurses library is required 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
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 gcc g++ cmake libacl1-dev libncurses5-dev pkg-config
Additionally, there is an optional dependency to the cpptoml library, which is used to parse the RouDi config file containing mempool configuration.
QNX🔗
QNX SDP 7.0 and 7.1 are supported (shipping with gcc 5.4 and gcc 8.3 respectively).
The easiest way to build iceoryx on QNX is by using the build script and providing a toolchain file.
We provide generic QNX SDP 7.0 toolchain files for ARM_64 and X86_64 in ./tools/toolchains/qnx
(Direct Link).
ARM_64:
./tools/iceoryx_build_test.sh -t /home/user/toolchains/qnx/qnx_sdp70_aarch64le.cmake
X86_64:
./tools/iceoryx_build_test.sh -t /home/user/toolchains/qnx/qnx_sdp70_x86_64.cmake
Attention
Please ensure that the folder /var/lock
exist and the filesystem supports file locking.
Windows🔗
In case you do not have a Windows installation, Microsoft provides free developer images from here.
Additionally, CMake and git are required. The option to add CMake to the system PATH for all users should be set when it is installed.
If the developer image from Microsoft is used, Visual Studio Community 2019 is already installed, else it can be found here.
To be able to compile iceoryx, the Desktop development with C++
Workload must be installed. This is done by running VisualStudioInstaller
and selecting the Modify
button on Visual Studio Community 2019
.
Either VS Code
or Developer Command Prompt
can be used to build iceoryx with CMake. Maybe one or two restarts are required to let CMake find the compiler.
Alternatively, C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Auxiliary\Build\vcvars64.bat
can be executed in any shell to setup all the paths for compilation.
Build with CMake🔗
Note
Building with CMake is the preferred way, for more complex actions like a coverage scan is a script available (see chapter below).
The CMakeLists.txt
from iceoryx_meta
can be used to easily develop iceoryx with an IDE.
-
Clone the repository
git clone https://github.com/eclipse-iceoryx/iceoryx.git
-
Generate the necessary build files
cd iceoryx cmake -Bbuild -Hiceoryx_meta # when you have installed external dependencies like ncurses you have to add them # to your prefix path cmake -Bbuild -Hiceoryx_meta -DCMAKE_PREFIX_PATH=$(PWD)/build/dependencies/
Tip
To build all iceoryx components add
-DBUILD_ALL=ON
to the CMake command. For Windows it is currently recommended to use thecmake -Bbuild -Hiceoryx_meta -DBUILD_TEST=ON -DINTROSPECTION=OFF -DBINDING_C=ON -DEXAMPLES=ON
instead -
Compile the source code
cmake --build build
Tip
You can speed up the build by appending
-j 4
where 4 stands for the number of parallel build processes. You can choose more or less depending on your available CPU cores on your machine. -
Install to system
Mac:
cmake --build build --target install
Linux:
sudo cmake --build build --target install
Tip
The installation directory is usually left at its default, which is
/usr/local
Note
iceoryx is built in release mode as static library with
-O3
optimization by default. If you want to enable debug symbols please setCMAKE_BUILD_TYPE=Deb
.
Build options🔗
Please take a look at the CMake file build_options.cmake to get an overview of the available build options for enabling additional features.
Build with script🔗
As an alternative, we provide a build-test script which we use to integrate iceoryx into our infrastructure. The intention of the script goes beyond building iceoryx, it is also used for the code coverage scan or the address-sanitizer runs on the CI. The script currently works for Linux and QNX only, it is planned to offer a multi-platform solution.
-
Clone the repository
git clone https://github.com/eclipse-iceoryx/iceoryx.git
-
Build everything
cd iceoryx ./tools/iceoryx_build_test.sh build-all
Note
The build script is installing the header files and binaries into
build/install/prefix
.
You can use the help
argument for getting an overview of the available options:
./tools/iceoryx_build_test.sh help
Tip
The examples can be built with -DEXAMPLES=ON
with iceoryx_meta or by providing the examples
argument to the build script.
Build with colcon🔗
Alternatively, iceoryx can be built with colcon to provide a smooth integration for ROS 2 developers. To build the iceoryx_integrationtest package one requires a minimal ROS 2 installation.
Install required ROS 2 packages:
sudo apt install ros-foxy-ros-testing ros-foxy-ros-base
source /opt/ros/foxy/setup.bash
build with colcon:
mkdir -p iceoryx_ws/src
cd $_
git clone https://github.com/eclipse-iceoryx/iceoryx.git
cd ..
colcon build
Note
If you don't want to install ROS 2, you can skip the iceoryx_integrationtest package by calling:
colcon build --packages-skip iceoryx_integrationtest
This build method makes the most sense in combination with rmw_iceoryx