4. Building¶
RTI nano-agent can be built from source using CMake.
4.1. Build Dependencies¶
RTI nano-agent requires RTI Connext DDS 6.0.0 or later to be installed on the build host.
Consult RTI Connext DDS’ documentation for more information on how to do this.
4.2. Building with CMake¶
The CMake script requires the RTI Connext DDS installation to be configured
using variables CONNEXTDDS_DIR and CONNEXTDDS_ARCH.
The following snippet will build nanoagentd using default build options:
# Create a build directory and enter it
mkdir build && cd build
# Run cmake to configure build
cmake /path/to/nano-agent -DCONNEXTDDS_DIR=/path/to/rti_connext_dds \
-DCONNEXTDDS_ARCH=x64Linux4gcc7.3.0
# Call native build tool
cmake --build . --target install
4.3. Cross-compilation with CMake¶
4.3.1. Raspberry Pi¶
#
# This toolchain file can be used to cross-compile RTI nano-client and
# nano-agent for Raspberry Pi.
#
# Make sure that the following variables are set in your shell's
# environment:
#
# - RPI_TOOLS_DIR : clone of https://github.com/raspberrypi/tools
#
# If you are building nano-agent, make sure to also set the following variables:
#
# - CONNEXTDDS_DIR: installation of RTI Connext DDS
# (host bundle and target libraries).
#
# - CONNEXTDDS_ARCH: architecture for RaspberryPi target
# (e.g. armv7Linux4gcc7.3.0).
#
if("$ENV{CONNEXTDDS_DIR}" STREQUAL "" OR
"$ENV{CONNEXTDDS_ARCH}" STREQUAL "")
message(FATAL_ERROR "Invalid CONNEXTDDS_DIR or CONNEXTDDS_ARCH")
endif()
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_VERSION 1)
# This toolchain can be used for both RPi2 and RPi3.
# Might need a different toolchain for RPi4/64bit
set(RPI_TOOLCHAIN_DIR
$ENV{RPI_TOOLS_DIR}/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian)
set(CMAKE_C_COMPILER ${RPI_TOOLCHAIN_DIR}/bin/arm-linux-gnueabihf-gcc)
set(CMAKE_CXX_COMPILER ${RPI_TOOLCHAIN_DIR}/bin/arm-linux-gnueabihf-g++)
list(APPEND CMAKE_FIND_ROOT_PATH ${RPI_TOOLCHAIN_DIR})
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
# Explicitly link rt library to nanocore library
set(NANO_CORE_EXTRA_LIBS rt)
# Since the toolchain file restricts CMake's find() functions,
# We must add the following Connext paths to CMake's search path
# to help FindRTIConnextDDS.cmake
list(APPEND CMAKE_FIND_ROOT_PATH
$ENV{CONNEXTDDS_DIR}
$ENV{CONNEXTDDS_DIR}/bin
$ENV{CONNEXTDDS_DIR}/lib/$ENV{CONNEXTDDS_ARCH}
$ENV{CONNEXTDDS_DIR}/include/ndds)
Save the previous block in a file named rpi_toolchain.cmake and
build RTI nano-agent with the following snippet:
# Clone RPi build tools and export their location as RPI_TOOLCHAIN_DIR
git clone https://github.com/raspberrypi/tools
export RPI_TOOLCHAIN_DIR=$(pwd)/tools
# Create a build directory and enter it
mkdir build-rpi && cd build-rpi
# Configure build using the custom toolchain. Optional: build examples.
cmake /path/to/nano-agent -DCMAKE_TOOLCHAIN_FILE=rpi_toolchain.cmake \
-DENABLE_EXAMPLES=ON
# Compile and copy to install location (./install)
cmake --build . --target install -- -j8
# Copy install tree to RPi home directory, e.g. with rsync:
rsync -ra ./install/nano pi@my-rpi:~/
4.4. CMake Build Options¶
This section provides information of variables that can be used to control the behavior of RTI nano-agent’s CMake build script.
4.4.1. BUILD_EXECUTABLES¶
- Description:
Build included executables (
nanoagentd, examples, …).- Accepted Values:
ON,OFF- Default Value:
ON
4.4.2. BUILD_LIBRARIES¶
- Description:
Build included libraries.
- Accepted Values:
ON,OFF- Default Value:
ON
4.4.4. CMAKE_BUILD_TYPE¶
- Description:
Standard CMake option which controls the type of libraries and executables to build.
- Accepted Values:
"Release","Debug","RelWithDebInfo","MinSizeRel"- Default Value:
Release
4.4.5. CMAKE_INSTALL_PREFIX¶
- Description:
Standard CMake option which controls the type of libraries and executables to build.
- Accepted Values:
A valid path in CMake syntax (i.e. using forward-slashes
/only).- Default Value:
${CMAKE_CURRENT_BUILD_DIR}/install
4.4.6. CONNEXTDDS_ARCH¶
- Description:
Name of the target architecture for the RTI Connext DDS libraries;
- Accepted Values:
A valid RTI architecture name.
- Default Value:
Environment variable
${CONNEXTDDS_ARCH}
4.4.7. CONNEXTDDS_DIR¶
- Description:
Directory where RTI Connext DDS is installed (a.k.a.
NDDSHOME).- Accepted Values:
A valid path in CMake syntax (i.e. using forward-slashes
/only).- Default Value:
Environment variable
${CONNEXTDDS_DIR}