Installation Instructions

System dependencies

• Ubuntu 14.04 or above
• CMake 3.5.1 or above
• gcc for C++11 5.4.0 or above
• Python 3.6 or above
• ROS Indigo or above (optional)
• ZMQ 3 or above (optional)
• Doxygen (optional)
• Moxygen (https://github.com/sourcey/moxygen) (optional)

Dependencies installed by kpsr-core

• 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)

System requirements

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

Installation

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:

• -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_ZMQ=true for building the ZeroMQ binding
• -DKPSR_TEST_PERFORMANCE=true for building the performance tests
• -DKPSR_WITH_SOCKET for building SOCKET binding
• -DKPSR_ENABLE_EXAMPLES=true for building examples files (default false)
• -DKPSR_ENABLE_TESTS=true for building unit tests (default true)

Example

cmake -DKPSR_WITH_SOCKET=true ..

ROS installation

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

Documentation

Location of documentation

The last built documentation is available in the Klepsydra SDK API doc

Documentation generation

Requires moxygen and cmake -DKPSR_WITH_DOXYGEN=true option.

make doc

License

© Copyright 2023, Klepsydra Technologies AG, all rights reserved. Licensed under the terms in LICENSE.md

This software and documentation are Copyright 2023, Klepsydra Technologies AG Limited and its licensees. All rights reserved. See license file for full copyright notice and license terms.

Contact

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