build-from-source.md

Build gz-sim-yarp-plugins from source

Table of Contents

• Dependencies
• Compile from source using conda-forge dependencies on Linux, macOS or Windows
• Compile from source using apt dependencies on Linux, macOS or Windows
• Usage

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:

• Modern Gazebo
• YARP
• YCM CMake Modules

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

Compile from source using conda-forge dependencies on Linux, macOS or Windows

If you are using conda (or mamba), 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.

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 Linux, macOS or Windows

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 Harmonic:

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

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, 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