Skip to content
This repository has been archived by the owner on Apr 12, 2024. It is now read-only.

Latest commit

 

History

History
103 lines (70 loc) · 2.58 KB

README.md

File metadata and controls

103 lines (70 loc) · 2.58 KB
Raw

Installation Instructions

System dependencies

Klepsydra dependencies

  • kpsr-core with YAML support (and State Machine)
  • kpsr-robotics

Installation

Given $KLEPSYDRA_HOME, for example $HOME/klepsydra:

git clone https://github.com/klepsydra-technologies/kpsr-bst.git
cd kpsr-bst
git submodule update --init
mkdir build
cd build
cmake ..
make
make test
sudo make install

This will install the klespydra bst in

/usr/local/

The install location can be controlled using the CMAKE_INSTALL_PREFIX variable.

The cmake has the following options:

  • -DKPSR_WITH_DDS=true for building the DDS binding
  • -DKPSR_WITH_ZMQ=true for building the ZeroMQ binding.
  • -DBST_SDK_HOME. Location of BST sdk repo. E.g. if the BST repo is installed in $HOME/development/swiftpilot/sdk.
  • -DCMAKE_PREFIX_PATH for the Pistache install path (pistache/build) Example:
cmake -DKPSR_WITH_ZMQ=true -DBST_SDK_HOME=$HOME/development/swiftpilot/sdk ..

BST SDK

The BST SDK is assumed to be compiled and installed using the make_all.sh script provided in the repo.

Installation packages.

Besides the API libraries for the use of KPSR-BST, several executables are included in this repo:

In memory Eventloop client server. Example of use:

cd build
./bin/kpsr_mem_bst_client_server_el -f ./../bst_client_server/modules/mem_mdlw/conf/bst_mem_el_client_server.yaml

ZMQ Executables: BST server, client and proxy:

./bin/kpsr_zmq_bst_server -f ./../bst_client_server/modules/zmq_mdlw/conf/bst_zmq_server.yaml
./bin/kpsr_zmq_bst_client -f ./../bst_client_server/modules/zmq_mdlw/conf/bst_zmq_client.yaml
./bin/kpsr_zmq_bst_proxy -f ./../bst_client_server/modules/zmq_mdlw/conf/bst_zmq_proxy_server.yaml

Documentation

Documentation generation

make doc

Location of documentation

The last built documentation is available in Klepsydra BST API DOC

License

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

This software and documentation are 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]