diff --git a/source/Installation/DDS-Implementations.rst b/source/Installation/DDS-Implementations.rst index 7e26a11ecf..d412ab7c16 100644 --- a/source/Installation/DDS-Implementations.rst +++ b/source/Installation/DDS-Implementations.rst @@ -10,6 +10,7 @@ The default DDS vendor is eProsima's Fast DDS. * :doc:`Working with Eclipse Cyclone DDS ` explains how to utilize Cyclone DDS. * :doc:`Working with eProsima Fast DDS ` explains how to utilize Fast DDS. +* :doc:`Working with RTI Connext DDS ` explains how to utilize and evaluate RTI Connext DDS. * :doc:`Working with GurumNetworks GurumDDS ` explains how to utilize GurumDDS. .. toctree:: @@ -22,178 +23,3 @@ If you would like to use one of the other vendors you will need to install their The ROS 2 build will automatically build support for vendors that have been installed and sourced correctly. Once you've installed a new DDS vendor, you can change the vendor used at runtime: :doc:`Working with Multiple RMW Implementations <../How-To-Guides/Working-with-multiple-RMW-implementations>`. - -Detailed instructions for installing other DDS vendors are provided below. - -.. contents:: Platforms / Installation types - :depth: 1 - :local: - -Ubuntu Linux source install ---------------------------- - -RTI Connext (version 6.0.1, amd64 only) -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -Deb packages provided in the ROS 2 apt repositories -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - -You can install a deb package of RTI Connext available on the ROS 2 apt repositories. -You will need to accept a license from RTI. - -.. code-block:: bash - - sudo apt update && sudo apt install -q -y rti-connext-dds-6.0.1 - -Source the setup file to set the ``NDDSHOME`` environment variable. - -.. code-block:: bash - - cd /opt/rti.com/rti_connext_dds-6.0.1/resource/scripts && source ./rtisetenv_x64Linux4gcc7.3.0.bash; cd - - -Note: when using ``zsh`` you need to be in the directory of the script when sourcing it to have it work properly - -Now you can build as normal and support for RTI will be built as well. - -Official binary packages from RTI -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - -You can install the Connext 6.0.1 package for Linux provided by RTI, via options available for :doc:`university, purchase or evaluation ` - -After downloading, use ``chmod +x`` on the ``.run`` executable and then execute it. -Note that if you're installing to a system directory use ``sudo`` as well. - -The default location is ``~/rti_connext_dds-6.0.1`` - -After installation, run RTI launcher and point it to your license file (obtained from RTI). - -Add the following line to your ``.bashrc`` file pointing to your copy of the license. - -.. code-block:: bash - - export RTI_LICENSE_FILE=path/to/rti_license.dat - -Source the setup file to set the ``NDDSHOME`` environment variable. - -.. code-block:: bash - - cd ~/rti_connext_dds-6.0.1/resource/scripts && source ./rtisetenv_x64Linux4gcc7.3.0.bash; cd - - -Now you can build as normal and support for RTI will be built as well. - -Ubuntu Linux binary install ---------------------------- - -RTI Connext (version 6.0.1, amd64 only) -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -To use RTI Connext DDS there are full-suite install options available for :doc:`university, purchase or evaluation ` -or you can install a libraries-only deb package of RTI Connext 6.0.1, available from the OSRF Apt repository -under a `non-commercial license `__. - -To install the libs-only deb package: - -.. code-block:: bash - - sudo apt update && sudo apt install -q -y rti-connext-dds-6.0.1 - -You will need to accept a license agreement from RTI, and will find an 'rti_license.dat file in the installation. - -Add the following line to your ``.bashrc`` file pointing to your copy of the license (and source it). - -.. code-block:: bash - - export RTI_LICENSE_FILE=path/to/rti_license.dat - -All options need you to source the setup file to set the ``NDDSHOME`` environment variable: - -.. code-block:: bash - - cd /opt/rti.com/rti_connext_dds-6.0.1/resource/scripts && source ./rtisetenv_x64Linux4gcc7.3.0.bash; cd - - -Note: the above may need modification to match your RTI installation location - -If you want to install the Connext DDS-Security plugins please refer to :doc:`this page `. - -OSX source install ------------------- - -RTI Connext (6.0.1) -^^^^^^^^^^^^^^^^^^^ - -If you would like to also build against RTI Connext DDS there are options available for :doc:`university, purchase or evaluation ` - -You also need a Java runtime installed to run the RTI code generator, which you can get `here `__. - -After installing, run RTI launcher and point it to your license file. - -Source the setup file to set the ``NDDSHOME`` environment variable before building your workspace. - -.. code-block:: bash - - source /Applications/rti_connext_dds-6.0.1/resource/scripts/rtisetenv_x64Darwin17clang9.0.bash - -You may need to increase shared memory resources following https://community.rti.com/kb/osx510 - -If you want to install the Connext DDS-Security plugins please refer to :doc:`this page `. - -OSX binary install ------------------- - - -Enable Connext support -^^^^^^^^^^^^^^^^^^^^^^ - -To use RTI Connext DDS there are options available for :doc:`university, purchase or evaluation ` - -After installing, run RTI launcher and point it to your license file. - -Source the setup file to set the ``NDDSHOME`` environment variable before building your workspace. - -.. code-block:: bash - - source /Applications/rti_connext_dds-6.0.1/resource/scripts/rtisetenv_x64Darwin17clang9.0.bash - -You may need to increase shared memory resources following https://community.rti.com/kb/osx510. - -If you want to install the Connext DDS-Security plugins please refer to :doc:`this page `. - -Windows source install ----------------------- - -RTI Connext 6.0.1 -^^^^^^^^^^^^^^^^^ - -If you would like to also build against RTI Connext DDS there are options available for :doc:`university, purchase or evaluation ` - -After installing, use the RTI Launcher to load your license file. - -Then before building ROS 2, set up the Connext environment: - -.. code-block:: bash - - call "C:\Program Files\rti_connext_dds-6.0.1\resource\scripts\rtisetenv_x64Win64VS2017.bat" - -Note that this path might need to be slightly altered depending on where you selected to install RTI Connext DDS, and which version of Visual Studio was selected. -The path above is the current default path as of version 6.0.1, but will change as the version numbers increment in the future. - -If you want to install the Connext DDS-Security plugins please refer to :doc:`this page `. - -Windows binary install ----------------------- - - -RTI Connext -^^^^^^^^^^^ - -To use RTI Connext DDS there are options available for :doc:`university, purchase or evaluation ` - -After installing, run RTI launcher and point it to your license file. - -Then before using ROS 2, set up the Connext environment: - -.. code-block:: bash - - call "C:\Program Files\rti_connext_dds-6.0.1\resource\scripts\rtisetenv_x64Win64VS2017.bat" - -If you want to install the Connext DDS-Security plugins please refer to :doc:`this page `. diff --git a/source/Installation/DDS-Implementations/Install-Connext-University-Eval.rst b/source/Installation/DDS-Implementations/Install-Connext-University-Eval.rst index 0f312b092c..ea33fa5a48 100644 --- a/source/Installation/DDS-Implementations/Install-Connext-University-Eval.rst +++ b/source/Installation/DDS-Implementations/Install-Connext-University-Eval.rst @@ -1,6 +1,10 @@ RTI Connext DDS =============== +.. contents:: Table of Contents + :depth: 1 + :local: + A libraries-only version of RTI Connext DDS 6.0.1 may be installed per the :doc:`installation instructions <../../Installation>` for Debian/Ubuntu Linux (amd64) platforms only, under a `non-commercial license `__. @@ -24,3 +28,174 @@ To install RTI Connext DDS **version 6.0.1** Evalution: * Contact license@rti.com for an evaluation license. * Install RTI Connext 6.0.1 by running the installation program. When finished, it will run the RTI Launcher. * Use the RTI Launcher to install the license file (rti_license.dat) if needed. The launcher may also be used to launch the diagnostic tools and services. + +Detailed instructions for each platform are provided below. + +Ubuntu Linux source install +--------------------------- + +RTI Connext (version 6.0.1, amd64 only) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Deb packages provided in the ROS 2 apt repositories +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +You can install a deb package of RTI Connext available on the ROS 2 apt repositories. +You will need to accept a license from RTI. + +.. code-block:: bash + + sudo apt update && sudo apt install -q -y ros-{DISTRO}-rmw-connextdds rti-connext-dds-6.0.1 + +Source the setup file to set the ``NDDSHOME`` environment variable. + +.. code-block:: bash + + cd /opt/rti.com/rti_connext_dds-6.0.1/resource/scripts && source ./rtisetenv_x64Linux4gcc7.3.0.bash; cd - + +Note: when using ``zsh`` you need to be in the directory of the script when sourcing it to have it work properly + +Now you can build as normal and support for RTI will be built as well. + +Official binary packages from RTI +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +You can install the Connext 6.0.1 package for Linux provided by RTI, via options available for :doc:`university, purchase or evaluation <./Install-Connext-University-Eval>` + +After downloading, use ``chmod +x`` on the ``.run`` executable and then execute it. +Note that if you're installing to a system directory use ``sudo`` as well. + +The default location is ``~/rti_connext_dds-6.0.1`` + +After installation, run RTI launcher and point it to your license file (obtained from RTI). + +Add the following line to your ``.bashrc`` file pointing to your copy of the license. + +.. code-block:: bash + + export RTI_LICENSE_FILE=path/to/rti_license.dat + +Source the setup file to set the ``NDDSHOME`` environment variable. + +.. code-block:: bash + + cd ~/rti_connext_dds-6.0.1/resource/scripts && source ./rtisetenv_x64Linux4gcc7.3.0.bash; cd - + +Now you can build as normal and support for RTI will be built as well. + +Ubuntu Linux binary install +--------------------------- + +RTI Connext (version 6.0.1, amd64 only) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +To use RTI Connext DDS there are full-suite install options available for :doc:`university, purchase or evaluation <./Install-Connext-University-Eval>` +or you can install a libraries-only deb package of RTI Connext 6.0.1, available from the OSRF Apt repository +under a `non-commercial license `__. + +To install the libs-only deb package: + +.. code-block:: bash + + sudo apt update && sudo apt install -q -y ros-{DISTRO}-rmw-connextdds rti-connext-dds-6.0.1 + +You will need to accept a license agreement from RTI, and will find an 'rti_license.dat file in the installation. + +Add the following line to your ``.bashrc`` file pointing to your copy of the license (and source it). + +.. code-block:: bash + + export RTI_LICENSE_FILE=path/to/rti_license.dat + +All options need you to source the setup file to set the ``NDDSHOME`` environment variable: + +.. code-block:: bash + + cd /opt/rti.com/rti_connext_dds-6.0.1/resource/scripts && source ./rtisetenv_x64Linux4gcc7.3.0.bash; cd - + +Note: the above may need modification to match your RTI installation location + +If you want to install the Connext DDS-Security plugins please refer to :doc:`this page <./Install-Connext-Security-Plugins>`. + +OSX source install +------------------ + +RTI Connext (6.0.1) +^^^^^^^^^^^^^^^^^^^ + +If you would like to also build against RTI Connext DDS there are options available for :doc:`university, purchase or evaluation <./Install-Connext-University-Eval>` + +You also need a Java runtime installed to run the RTI code generator, which you can get `here `__. + +After installing, run RTI launcher and point it to your license file. + +Source the setup file to set the ``NDDSHOME`` environment variable before building your workspace. + +.. code-block:: bash + + source /Applications/rti_connext_dds-6.0.1/resource/scripts/rtisetenv_x64Darwin17clang9.0.bash + +You may need to increase shared memory resources following https://community.rti.com/kb/osx510 + +If you want to install the Connext DDS-Security plugins please refer to :doc:`this page <./Install-Connext-Security-Plugins>`. + +OSX binary install +------------------ + + +Enable Connext support +^^^^^^^^^^^^^^^^^^^^^^ + +To use RTI Connext DDS there are options available for :doc:`university, purchase or evaluation <./Install-Connext-University-Eval>` + +After installing, run RTI launcher and point it to your license file. + +Source the setup file to set the ``NDDSHOME`` environment variable before building your workspace. + +.. code-block:: bash + + source /Applications/rti_connext_dds-6.0.1/resource/scripts/rtisetenv_x64Darwin17clang9.0.bash + +You may need to increase shared memory resources following https://community.rti.com/kb/osx510. + +If you want to install the Connext DDS-Security plugins please refer to :doc:`this page <./Install-Connext-Security-Plugins>`. + +Windows source install +---------------------- + +RTI Connext 6.0.1 +^^^^^^^^^^^^^^^^^ + +If you would like to also build against RTI Connext DDS there are options available for :doc:`university, purchase or evaluation <./Install-Connext-University-Eval>` + +After installing, use the RTI Launcher to load your license file. + +Then before building ROS 2, set up the Connext environment: + +.. code-block:: bash + + call "C:\Program Files\rti_connext_dds-6.0.1\resource\scripts\rtisetenv_x64Win64VS2017.bat" + +Note that this path might need to be slightly altered depending on where you selected to install RTI Connext DDS, and which version of Visual Studio was selected. +The path above is the current default path as of version 6.0.1, but will change as the version numbers increment in the future. + +If you want to install the Connext DDS-Security plugins please refer to :doc:`this page <./Install-Connext-Security-Plugins>`. + +Windows binary install +---------------------- + + +RTI Connext +^^^^^^^^^^^ + +To use RTI Connext DDS there are options available for :doc:`university, purchase or evaluation <./Install-Connext-University-Eval>` + +After installing, run RTI launcher and point it to your license file. + +Then before using ROS 2, set up the Connext environment: + +.. code-block:: bash + + call "C:\Program Files\rti_connext_dds-6.0.1\resource\scripts\rtisetenv_x64Win64VS2017.bat" + +If you want to install the Connext DDS-Security plugins please refer to :doc:`this page <./Install-Connext-Security-Plugins>`.