Next Tutorial: Nodes and Topics
Overview
This page contains instructions to install Ignition Transport on all the support platforms including major Linux distributions, Mac OS X and Windows.
You can find all Ignition Transport versions at https://ignitionrobotics.org/libs/transport.
Ubuntu Linux
Setup your computer to accept software from packages.osrfoundation.org:
Setup keys:
Install Ignition Transport:
Mac OS X
Ignition Transport and several of its dependencies can be compiled on OS X with Homebrew using the osrf/simulation tap. Ignition Transport is straightforward to install on Mac OS X 10.9 (Mavericks) or higher. Installation on older versions requires changing the default standard library and rebuilding dependencies due to the use of c++11. For purposes of this documentation, I will assume OS X 10.9 or greater is in use. Here are the instructions:
Install homebrew, which should also prompt you to install the XCode command-line tools:
Run the following commands:
Windows
At this moment, compilation has been tested on Windows 7 and 8.1 and is supported when using Visual Studio 2013. Patches for other versions are welcome.
This installation procedure uses pre-compiled binaries in a local workspace. To make things easier, use a MinGW shell for your editing work (such as the Git Bash Shell with Mercurial), and only use the Windows cmd for configuring and building. You might also need to disable the Windows firewall.
Make a directory to work in, e.g.:
Download the following dependencies into that directory:
Choose one of these options:
Unzip each of them. The Windows unzip utility will likely create an incorrect directory structure, where a directory with the name of the zip contains the directory that has the source files. Here is an example:
The correct structure is
To fix this problem, manually move the nested directories up one level.
Clone and prepare the Ignition Math dependency:
In a Windows Command Prompt, load your compiler setup, e.g.:
In the Windows Command Prompt, configure and build:
Clone and prepare the Ignition Msgs dependency:
In the Windows Command Prompt, configure and build:
Clone ign-transport:
In a Windows Command Prompt, load your compiler setup, e.g.:
Configure and build:
You should now have an installation of ign-transport in ign-ws/ign-transport/build/install
.
Before running any executables, you need to modify your PATH
to include the bin
subdirectory of ZeroMQ to let Windows find dynamic libs (similar to LD_LIBRARY_PATH
on Linux). Don't put quotes around the path, even if it contains spaces. E.g., if you're working in C:\My Stuff\ign-ws
:
Now build the examples:
Now try an example. In one Windows terminal run:
In another Windows terminal run:
Install from sources (Ubuntu Linux)
For compiling the latest version of Ignition Transport you will need an Ubuntu distribution equal to 18.04 (Bionic) or newer.
Make sure you have removed the Ubuntu pre-compiled binaries before installing from source:
Install prerequisites. A clean Ubuntu system will need:
Clone the repository into a directory and go into it:
Create a build directory and go there:
Configure Ignition Transport (choose either method a or b below):
A. Release mode: This will generate optimized code, but will not have debug symbols. Use this mode if you don't need to use GDB.
Note: You can use a custom install path to make it easier to switch between source and debian installs:
B. Debug mode: This will generate code with debug symbols. Ignition Transport will run slower, but you'll be able to use GDB.
The output from cmake ../
may generate a number of errors and warnings about missing packages. You must install the missing packages that have errors and re-run cmake ../
. Make sure all the build errors are resolved before continuing (they should be there from the earlier step in which you installed prerequisites).
Make note of your install path, which is output from cmake and should look something like:
Build Ignition Transport:
Install Ignition Transport:
If you decide to install gazebo in a local directory you'll need to modify your LD_LIBRARY_PATH
:
Uninstalling Source-based Install
If you need to uninstall Ignition Transport or switch back to a debian-based install when you currently have installed the library from source, navigate to your source code directory's build folders and run make uninstall
: