Ubuntu18.04安装fast-dds-python及用例参考

##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