ubuntu可以直接apt install: sudo apt install ros-foxy-rmw-cyclonedds-cpp
- 非foxy版本同理,比如
sudo apt install ros-humble-rmw-cyclonedds-cpp
源码编译好像没用?
官方 https://github.com/eclipse-cyclonedds/cyclonedds
编译安装方法见readme
$ git clone https://github.com/eclipse-cyclonedds/cyclonedds.git
$ cd cyclonedds
$ mkdir build
$ cd build
$ cmake -DCMAKE_INSTALL_PREFIX=<install-location> ..
$ cmake --build .
$ cmake --build . --target install
将会安装到如下位置:
<install-location>/lib
<install-location>/bin
<install-location>/include/ddsc
<install-location>/share/CycloneDDS
如何使用:
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# 然后执行`ros2 run ...`等命令