cnr_common

A collection of commonly used utility libraries.

Status

Download

To download the submodules, first move to the workspace directory and create a /src folder:

cd ~/path_to_your_ws
mkdir src
cd src

and then use the following command:

git clone --recurse-submodules https://github.com/JRL-CARI-CNR-UNIBS/cnr_common.git

Keep the submodules up to date with:

cd ~/path_to_your_ws/src/cnr_common
git submodule update --init --recursive
. update_submodules.sh

Build & Install

First, install the dependencies:

sudo apt update
sudo apt -y install libboost-all-dev libeigen3-dev libyaml-cpp-dev libpoco-dev liblog4cxx-dev libgtest-dev

Since cnr_common contains common packages, it is recommended to compile the workspace without any other workspaces and ROS sourced. If you have a chained workspace setup, this should be the first one in the chain.

Build with colcon

If you are using colcon, you can build these packages with colcon build.

Build with CMake

The package provides a .sh file to automate the process of compiling and installing all the packages using cmake. Navigate to the workspace folder where cnr_common is located (~/path_to_your_ws) and follow these instructions:

1. Copy and prepare the build script:

   cp src/cnr_common/build_template.sh build.sh && sed -i '1i PATH_TO_WS="$(pwd)"' build.sh

2. Run the build script:

   . build.sh

3. At the end of the process, add these lines to your ~/.bashrc file to ensure the installed libraries are visible:

export CNR_COMMON_WS_INSTALL_FOLDER="$HOME/path_to_your_ws/install"

if [[ ":$PATH:" != *":$CNR_COMMON_WS_INSTALL_FOLDER/bin:"* ]]; then
    export PATH="$CNR_COMMON_WS_INSTALL_FOLDER/bin:$PATH"
fi
if [[ ":$LD_LIBRARY_PATH:" != *":$CNR_COMMON_WS_INSTALL_FOLDER/lib:"* ]]; then
    export LD_LIBRARY_PATH="$CNR_COMMON_WS_INSTALL_FOLDER/lib:$LD_LIBRARY_PATH"
fi
if [[ ":$CMAKE_PREFIX_PATH:" != *":$CNR_COMMON_WS_INSTALL_FOLDER:"* ]]; then
    export CMAKE_PREFIX_PATH="$CNR_COMMON_WS_INSTALL_FOLDER:$CMAKE_PREFIX_PATH"
fi

Assign to the variable $CNR_COMMON_WS_INSTALL_FOLDER the actual path to your install folder. These settings are necessary to make the installed libraries visible.

Environment Configuration

Note that cnr_param requires the environment variable CNR_PARAM_ROOT_DIRECTORY to be defined. For example, you can define it in the ~/.bashrc file as follows:

export CNR_PARAM_ROOT_DIRECTORY="/tmp/cnr_param"

This is the folder used by cnr_param to save parameters. See the dedicated GitHub page for more information.