ros2 安装cyclonedds | apt install、源码编译

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

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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

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如何使用：

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# 然后执行`ros2 run ...`等命令