在 Ubuntu 16.04 上安装 zcm 通信中间件

Steps for install the ZCM on Ubuntu 16.04

1. Prepare python-pip

   sudo apt-get install python-pip # if pip not installed
   sudo easy_install pip # if not upgraded to newer version than default, which is needed by ZCM.
   

2. Download the official tarball from master branch or specific version from github.
3. Extract it and install the dependencies automatically

   $ tar -xzf ZeroCM-zcm-<hash>.tar.gz # you got to substitute the <hash>
   $ cd ZeroCM-zcm-<hash>
   $ sudo ./scripts install-deps.sh # grab yourself a cup of coffee, because this may cost a while, and if you meet an error with pip, try `sudo easy_install pip` again.
   

4. Configure environment

   $ ./waf configure --use-all 
   

   or something like

   $ ./waf configure --use-java --use-python --python=/usr/bin/python3.6 --use-zmq  --use-elf  --use-third-party  --use-ipc --use-inproc --use-udpm --use-serial
   

5. it may ask for a setting of JAVA_HOME environment variable, try to add this to your ~/.bashrc and then source it:

   export JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64 # you should find something similar under /usr/lib/jvm/.
   export PATH=$JAVA_HOME/bin:$PATH
   

6. run ./waf build, and you should see the notice “‘build’ finished successfully”. Then run sudo ./waf install and you are fine.

After installation, commonly you can find your library in /usr/local/lib/libzcm.so and headers in /usr/local/include/zcm/. Use -lzcm with g++, include_directories(...) and target_link_libraries(target zcm) in CMake.