##安装依赖
$ pip3 install -U colcon-common-extensions vcstool
$ sudo apt update
$ sudo apt install -y libasio-dev libtinyxml2-dev
$ sudo apt update
$ sudo apt install -y swig libpython3-dev
##构建安装
$ mkdir -p fastdds_python_ws/src
$ cd fastdds_python_ws
$ wget https://raw.fastgit.org/eProsima/Fast-DDS-python/main/fastdds_python.repos
$ vcs import src < fastdds_python.repos
$ colcon build
##测试:
$ cd fastdds_python_ws/src/fastdds_python/fastdds_python_examples/HelloWorldExample
终端1
$ python3 HelloWorldExample.py -p publisher
终端2
$ python3 HelloWorldExample.py -p subscriber
系统环境问题解决:
cmake版本太低(需要下载cmake 3.13以上版本)
#下载
wget https://cmake.org/files/v3.14/cmake-3.14.2-Linux-x86_64.tar.gz
#解压
tar zxvf cmake-3.14.2-Linux-x86_64.tar.gz
#移动到opt下
sudo mv cmake-3.14.2-Linux-x86_64 /opt/cmake-3.14.2
#创建软连接
sudo ln -sf /opt/cmake-3.14.2/bin/* /usr/bin/
#验证
cmake --version
error: could not find git for clone of XXX
缺少git(如不缺少可跳过)
sudo apt install git
对于缺少module(_FastDdsPythonWrapper)
$ cd fastdds_python_ws/build/fastdds_python/src/swig/
$ sudo cp _FastDdsPythonWrapper.so /usr/lib/python3.6
对于缺少module(HelloWorld; _HelloWorldWrapper)
$ cd fastdds_python_ws/build/fastdds_python_examples/HelloWorldExample
$ sudo cp HelloWorld.py /usr/lib/python3.6
$ sudo cp _HelloWorldWrapper.so /usr/lib/python3.6
对于缺少module(fastdds)
$ cd fastdds_python_ws/build/fastdds_python/src/swig
$ sudo cp fastdds.py /usr/lib/python3.6